Nova Electronics MR210AU Manual de usuario

1/2-Axes Motor Control Unit

MR210AU / MR220AU

User’s Manual

2004-02-18 Ver. 1.0

2007-04-04 Ver. 1.1

2008-12-12 Ver. 3.3

2010-06-30 Ver. 3.4

NOVA electronics

- i -

Caution

Introduction

Thank you for purchasing MR210AU/MR220AU motion control unit.

■ Checking the contents

When you unpack the package, check for the following accessories. If something is missing or broken, contact the place of

purchase.

Model MR210AU MR220AU

Accessories

MR210AU

RS232CCable

USBCable

24V Power Connector (CN1)

20P MIL Connector (CN3)

16P MIL Connector (CN4)

User’s Manual

(withCD-ROM)

MR220AU

RS232C Cable

USBCable

24V Power Connector (CN1)

20P MIL Connector (CN3)

16P MIL Connector (CN4,5)

User’s Manual

(withCD-ROM)

：This mark indicates the user that improper use may cause death or injury of the user or people in the

vicinity or material damages.

：This mark indicates the user that improper use may cause damage to the equipment or the loss of valuable

data.

■ General Safety Instructions

Do not use the equipment in locations subject to oil fumes. Do not disassemble, repair or modify the

equipment. Otherwise, fire or electric shock may result and cause death or serious injury.

Prior to use, read this operation manual carefully to fully understand for correct use and follow all the

instructions given in this manual. We shall be exempted from taking responsibility and held harmless for

damage or losses incurred by the user if the user fails to observe the instructions.

Use the following environmental conditions.

Ambient Temperature 0～45℃

Humidity 20～90％(no condensation)

Floating dust Not to be excessive

Corrosive gases None

Electric supply source DC24V ±10％

Caution

Warning

Caution

- ii -

Caution

■ Handling Precautions

●When connecting the power cable or connection cable, turn off the equipment power. Otherwise, breakdown or operation

error may result.

●Do not disassemble, repair or modify the equipment.

●When using the provided software, connect a cable first and then turn on power and start the software.

●When using serial communication instead of the provided software, refer to serial communication commands book.

●RS232C and USB cables are prepared as communication cables. MR210AU/MR220AU can connect with the USB cable;

however, it can select only one cable either RS232C or USB. Otherwise, it does not work correctly. When connecting the

cable, turn off the equipment power.

Information in this manual is subject to change without notice.

Microsoft and Windows are registered trademarks of Microsoft Corporation.

- iii -

1.Outline ...........................................................................1

2.Setup Operating Program...........................................4

2.1 Operating Program Installation................................................................................................................. 4

2.1.1 Operating Program Installation ...........................................................................................................................4

2.1.2 Uninstallation ........................................................................................................................................................7

2.2 Setup with USB cable................................................................................................................................8

2.2.1 USB device driver installation .............................................................................................................................8

2.2.2 Check Operating Program Start-up....................................................................................................................8

2.3 Setup with RS232C cable ......................................................................................................................... 9

3.Driving Mode and Parameters Configuration ........10

3.1 Mode Setting ............................................................................................................................................ 10

3.2 Parameter Setting .................................................................................................................................... 14

3.3 Home Search Mode Setting.................................................................................................................... 18

3.3.1 The Description of Home Search Operation .................................................................................................. 18

3.3.2 Home Search Mode Setting ............................................................................................................................. 19

3.3.3 Example for Home Search Mode Setting ....................................................................................................... 22

4.Driving Program .........................................................25

4.1 Driving program commands.................................................................................................................... 25

4.2 Input/Output Ports.................................................................................................................................... 30

5.Driving by parallel I/F ................................................31

5.1 Home Search Execution.......................................................................................................................... 31

5.2 Index Driving............................................................................................................................................. 31

5.3 Scan Driving ............................................................................................................................................. 32

5.4 Continuous Driving .................................................................................................................................. 33

5.5 Program Driving ....................................................................................................................................... 33

6.Operation by PC ........................................................34

6.1 Start Operating Program ......................................................................................................................... 34

6.2 Main Screen.............................................................................................................................................. 35

6.3 Parameter / Mode Screen....................................................................................................................... 39

6.3.1 Mode Tab............................................................................................................................................................ 39

6.3.2 Parameter Tab ................................................................................................................................................... 40

6.3.3 Home Search Mode Tab ................................................................................................................................... 41

6.4 Program Edit Screen ............................................................................................................................... 42

6.5 Input/Output Screen................................................................................................................................. 44

- iv -

6.6 Error List.................................................................................................................................................... 45

7.Remote Box Operations ...........................................46

7.1 Data Edit Operation ................................................................................................................................. 48

7.1.1 Register Select .................................................................................................................................................. 48

7.1.2 Register Configuration ...................................................................................................................................... 48

7.1.3 Writing of Driving Programs ............................................................................................................................. 49

7.1.4 Writing of Driving Mode and Parameters........................................................................................................ 51

7.1.5 One Command Execution ................................................................................................................................52

7.2 Drive Operation ........................................................................................................................................ 52

7.2.1 Home Search..................................................................................................................................................... 52

7.2.2 Jog Feed ............................................................................................................................................................ 53

7.2.3 Program Execution............................................................................................................................................ 53

7.2.4 Current Position Writing.................................................................................................................................... 54

8.Input/Output Signal Connection...............................55

8.1 CN1 Power Connector............................................................................................................................. 55

8.2 CN2 RS232C Serial I/F Connector ........................................................................................................ 55

8.3 CN3 Parallel I/F Connector..................................................................................................................... 56

8.4 CN4, 5 Axis I/O Connector...................................................................................................................... 59

9.Package Dimensions.................................................61

10. Specifications ..........................................................62

- 1 -

1. Outline

MR210AU/220AU is a motion control unit which can control one or two axes of either stepper motor or pulse type servo drives

for position and speed controls. A built-in EEPROM can program driving parameter values and position data of up to 64 steps for

each axis. MR210AU controls 1-axis and MR220AU controls 2-axes.

Model Axes Serial Communication Port

MR210AU 1 equipped with RS-232C, USB.

MR220AU 2 equipped with RS-232C, USB.

Fig.1.1 shows the MR210AU/220AU basic circuit block diagram.

A 2-axes motion control IC “MCX302” is equipped with acceleration/deceleration drive pulse oscillation of up to 4MHz and a

position counter.

Driving pulse output to a motor driver is differential line-drive output, which can connect to the motor driver of either photo

coupler input or differential line receiver input.

Sensor input is insulated by photo coupler, which can input over run limits, a home, an in-position and alarm signal from a servo

motor driver.

Serial communication port has two interfaces, RS232C and USB. Connect the serial communication port and PC or a remote box

(option), then set data such as driving parameter mode, position data and program data. In addition, serial communication

commands are prepared so that the user can freely control the axis by programming on Windows.

Parallel interface port performs actual drive activation, stop, position and program selection, which connects to a PLC or switches.

Si ngl e C hi p

Microcomput er

Line- Driver

AM26C31

Output Buffer

TD62083A

Photo Coupler

X- A x is I / F

Y- A xi s I /F

DC 2 4V

P o we r

Fig.1.1 MR210AU/220AU Circuit Block Diagram

T89C51ED2

Photo

Output Buffer

TD62083A

＋Direction

－Direction

Ge n er a l Ou t pu t

＋Direction Limit

－ D i re c ti on Li m it

Servo Positioning

Se rv o A l er m

Encoder Z-Phase

Home

Ne a r Ho m e

MAX232C

Parallel

I/ F

RS -2 3 2C

MCX302

XOUT0

XL MT +

XL M T-

XSTOP0

XS TO P 1

XS TO P 2

XINPOS

X A LA RM

RE SE T

HO M E

STROBE

REG0～5

MODE0～1

XDRIVE

YDRIVE

CN1

CN2

CN3

Open

CN4

Y - Ax i s I/ O S i gn a l

(SameasX-Axis)

2- Ax es M ot i o n

Control IC

TLP281

Co llec tor

XE R RO R

YE R RO R

EEPROM

232

CN6

USB I/F

TLP281

CN5

[Note1] MR210AU does not have CN5.

N o te 1

注1

XP + P/ N

XP-P/N

Built-in

Cou pler

Inp ut

Pu lse Output

P ulse Outpu t

C om p le ti o n

- 2 -

■ Appearance

Fig.1.2 shows the appearance of the MR220AU, its package dimensions are 90mm (H)×36mm (W)×60mm (D). Input/output

connectors are placed on front panel and rear panel is equipped with DIN rail installing hook.

■ Operational Procedures

MR210AU/220AU operations are performed by following procedures (1)~(4).

(1) Operating Program Installation

Operating program is the tool to write driving parameter mode or driving programs from PC to MR210AU/220AU, which the user

can install from the accessory CD-ROM. See chapter 2.

(2) Setting of Driving Parameter Mode and Program

Connect PC and MR210AU/220AU with the cable that comes with the package, then set driving parameter mode and programs by

the operating program installed in step (1). These setting data will be written in a built-in EEPROM.

In addition, driving parameter mode and programs can be set through the optional remote box (MR200RB), which connects to the

RS232C port of the motor control unit.

MR220AU

PI/F

24VDC

USB

RS232C

RS- 232C Cable / USB Cable (included)

CN1 Power Source DC24V In

CN2 Serial Communication RS232C

CN6 Serial Communication USB

CN3 Parallel I/F

CN4 X-Axis In

ut/Out

CN5

-Axis In

ut/Out

36m

90m

60m

MR220AU

PI/F

24VDC

USB

RS232C

The cable comes with MR200RB.

REG DATA

REG

WRT

MR200RB

REMOTE BOX

EXC

01234

56789

RST

HOME

＋－

SPDSET

PRG STOP

.1.2 MR220AU Appearance

- 3 -

(3) Connection of Motor Driver and Sensor

Connect a motor driver to a driving pulse signal and input from a sensor to over limit signals or a home signal of each axis.

In-position and alarm input signals are prepared for the servo motor.

See chapter 8 for more details on input/output signals and connection examples of a motor driver or a sensor.

(4) Drive Activation

There are four methods to activate MR210AU/220AU as follows (a. ~ d.).

a. Activation from Parallel I/F

The method to activate by connecting a PLC or switches to parallel I/F connector. See chapter 5.

b. Activation from PC

Connect PC with the communication cable and start the operating program, the user can perform manual operations such as jog

feed of each axis, home search and program execution from main operational panel. See chapter 6.

c. Activation from Remote Box

Connect with the cable that comes with a remote box, the user can perform jog feed, home search and program execution by drive

operation of the remote box. See chapter 7.

d. Control by Serial Communications

MR210AU/220AU has serial communication commands (separate book). Connect MR210AU/220AU and your PC or a PLC with

the USB or RS232C cable, the user can control axes on your own program.

.1.3 Connection Example of Axis I/O Si

nals

Ｘ-Axis

Motor

＋Direction Driving Pulse

－

Direction Driving Pulse

In-position

Alerm

EC-Z

XLMT+

XLMT-

Motor Driver

XP+P/N

XP-P/N

XINPOS

XALARM

XEC-Z

MR220A

CN4

＋Limit

－Limit

Home

XSTOP0

XSTOP1

Stepping / Servo Motor

- 4 -

2. Setup Operating Program

The operating program is the tool to write driving parameter mode or driving programs from PC to MR210AU/220AU. The

accessory CD-ROM contains the operating program, which is composed of three directories as follows:

・InstMS Folder -------- Installer for OS before Windows XP.

・MRPRG Folder -------- MR210AU/220AU Operating program

・Driver Folder ------- USB device driver

The latest version is available on our web site: http://www.novaelec.co.jp/eng/index.html .

First install the operating program from MR200 Series CD-ROM according to chapter 2.1. Then, to make connection with the

motor control unit, if using USB communication, follow steps in chapter 2.2. If using RS232C communication, follow steps in

chapter 2.3.

2.1 Operating Program Installation

2.1.1 Operating Program Installation

(1) Insert MR200 Series CD-ROM into the CD drive.

[Note] Do not connect MR210AU/220AU and your PC at this time. Although the user can install while being connected, if using

the USB cable, operating system will ask for the driver in the first connection. In this case, the user should install the USB device

driver in advance according to chapter 2.2.1.

(2) Windows 2000 users: double-click the installer to build on your hard disc.

Windows 2000 users ------ Execute InstMsiW.exe in InstMS folder.

Windows XP users don't need to do anything for this step.

(3) Double-click MR220A.msi program file in MRPRG folder. In a while, setup screen will be invoked and then installation will

start. Follow the on-screen instructions below.

(4) When the Setup Wizard appears, click Next.

- 5 -

(5) On the Select Installation Folder screen, click Next, which uses the default settings.

(6) On the Confirm Installation screen, click Next.

（7）On the user’s account control, click “Yes”.

* Only on Windows 7.

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