MC 202, Motion Controller, Product Overview

MC 202, Motion Controller, Product Overview
Trio Motion Technology
4Trio Motion Technology3
MC 202
Motion Controller
Product Overview
Motion Coordinator MC202 Description
3-1
Trio Motion Technology
3.0 Motion Coordinator 202 Description
3.1 Motion Coordinator 202
The Motion Coordinator 202 is a miniature stepper/servo positioner with the built-in ability to control
one servo/stepper axis with additional synchronisation encoder, or two stepper axes. The MC202 is
designed to provide a compact, low cost, easy to use unit for OEM machine builders. It is designed
to be configured and programmed for the application with a Multi-tasking TRIO BASIC using a PC, and
then may be set to run "standalone" if an external computer is not required for the final system. The
Multi-tasking version of Trio BASIC for the MC202 allows up to 3 BASIC programs to be run
simultaneously on the controller using pre-emptive multi-tasking.
The Multi-tasking ability of the MC202 allows parts of a complex application to be developed, tested
and run independantly, although the tasks can share data and motion control hardware.
The MC202 has 4 built in 24v inputs and 4 built-in bi-directional input/output channels. These may
be used for system interaction or may be defined to be used by the controller for end of travel limits,
datuming and feedhold functions if required.
The MC202 can have up 256 external Input/Output
channels and up to 32 analog input channels connected using DIN rail mounted I/O modules. These
units connect to the built-in CAN channel of the MC202
The MC202 has a built in RS-232 port. In addition a further serial channel is available at TTL levels.
External adapters are available to allow this serial port to be linked to a full-duplex RS-485 channel
or a Trio membrane keypad on a fibre-optic link.
3.2 Axis Configuration
The MC202 is supplied in a single configuration (Trio product code P165). The programmer can use
Axis 0 of the controller as either a servo axis with +/-10volt output and encoder feedback, OR as a
stepper control axis using step and direction outputs. Axis 1 of the controller can be used either as
an encoder input axis for synchronisation functions, OR as a stepper control axis using step and
direction signals. A third axis, Axis 2, is provided in software only for the generation of complex motion
profiles using "virtual" axis summing.
3.3 Axis Positioning Functions
The motion control generation software receives instructions to move an axis or axes from the BASIC
language which is running concurrently on the same processor. The motion generation software
provides control during operation to ensure smooth, co-ordinated movements, velocity profiled as
specified by the controlling program. Linear interpolation may be performed in as many axes as the
controller provides, and circular or helical interpolation in any two orthogonal axes. Each axis may run
independently or they may be linked in any combination using interpolation, CAM profile or the
electronic gearbox facilities.
Consecutive movements may be merged to produce continuous path motion and the user may
program the motion using programmable units of measurement (e.g. mm,inches,revs etc.). The
module may also be programmed to control only the axis speed. The positioner checks the status of
end of travel limit switches which can be used to cancel moves in progress and alter program execution.
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Motion Coordinator MC202 Technical Reference Manual
Trio Motion Technology
3.4 Summary of Features Motion Coordinator - MC202
Size
Weight
Operating Temp.
Control Inputs
Communication Ports
Position Resolution
Interpolation modes
Programming
Speed Resolution
Servo Cycle
Memory
Power Input
Amplifier Enable Output
+/-10volt DAC Output
Encoder Inputs
Stepper Outputs
Digital Inputs
Digital I/O
90 mm x 90 mm x 30mm Overall
200 g
0 - 45 degrees C
Forward Limit, Reverse Limit, Datum Input, Feedhold Input.
1 RS232 Channel: 9600 baud.
+ 1 TTL serial Channel 9600 or 38400 baud
1 CAN channel built on to motherboard
32 bit position count
Linear 1-3 axes, circular, helical, CAM Profiles, speed control,
electronic gearboxes.
Multi-tasking TRIO BASIC system, maximum 4 tasks.
32 bits. Speed may be changed at any time. Moves may be merged.
1ms
64 Kbytes flash user program memory.
150mA at 24 V d.c. (+/-10%)
NO relay contact rated 24Vdc @ 0.5A..
16 bit resolution, single channel on axis 0 only
2 axes, Differential 5v inputs, 6Mhz maximum edge rate *
(MC202 can generate 200mA at 5v for encoder power supplies)
2 axes, 500khz maximum step rate *
4 Opto-isolated 24v inputs, 2 may be used for high speed registration
4 Opto-isolated bi-directional 24v 250 mA Outputs/Inputs
* Each axis can use EITHER encoder input OR stepper output.
3.5 Connections to MOTION COORDINATOR MC202
The Motion Coordinator MC202 has 3 disconnect terminals, and an 8 way mini-DIN serial connector.
3.5.1. 5 Way Disconnect:
This is a 5 way 3.81mm pitch connector. The connector is used both to provide the 24 volt power to
the MC202 and provide connections for I/O expansion via Trio's P315 and P325 CAN I/O expanders.
24 volts must be provided as this powers the unit. This 24 volt input is internally isolated from the
I/O 24 volts and the +/-10v voltage outputs. The CAN connections are optional, although the CAN
Screen should be connected to Earth in all cases.
3.5.2. Top 14 Way Disconnect:
This is a 14 way 3.81 pitch connector. The connector provides for the +/-10volt analog output, the
enable relay contacts, and the I/O connections.
3.5.2.1 Analog Output
This feature when required is used to drive an servo drive or inverter connected to axis 0. The +/-10
volt analog output is isolated from the power input and the I/O modules of the MC202 and is powered
via an internal DC-DC converter. The pair of connections should be connected by a screened cable to
the drive input.
Motion Coordinator MC202 Description
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Trio Motion Technology
Vout Vout +
Amplifier Enable A
Amplifier Enable B
I/O 0 Volts
I/O 24 Volts
Input Channel 0/Registration Axis 0
Input Channel 1/Registration Axis 1
Input Channel 2
Input Channel 3
I/O Channel 8
I/O Channel 9
I/O Channel 10
I/O Channel 11
CAN V- / Power 0v
CAN_L
CAN Screen
CAN_H
CAN V+ / Power 24volt
V-
V+
0v
24v 0
1
2
3
8
9
10
11
Input/Outputs
Trio
MC202
Motion
Coordinator
P165
AXIS 0
0
A AXIS 0
/A AXIS 0
B AXIS 0
/B AXIS 0
Z AXIS 0
/Z AXIS0
1
2
3
AXIS 1
4
5
5v
0v
0
1
2
3
4
5
DIRECTION AXIS 1
STEP AXIS 1
DIRECTION AXIS 0
STEP AXIS 0
0v Stepper
3-4
/Z AXIS 1
Z AXIS 1
/B AXIS 1
B AXIS 1
/A AXIS 1
A AXIS1
0v Encoder
5v Encoder Output
Motion Coordinator MC202 Technical Reference Manual
Trio Motion Technology
This feature is used to interlock the MC202 with a servo OR stepper drive and should be used in all
cases. The connections are internally connected to a pair of normally open relay contacts which close
when the drive is enabled.
3.5.2.3 I/O Power Inputs
The I/O 0 Volts and I/O 24 Volts are used to power the 24 volt inputs and outputs. The I/O connections
are isolated from the module power inputs. The I/O 0 Volts connection must be made if any Inputs
or outputs are used. The I/O 24 Volts is only required to power outputs and may be omitted if none
are used. The I/O channels 8 to 11 are bi-directional and can be used either as an input or an output.
They are numbered from 8 to 11 for greater compatibility with other Trio Motion Coordinators. The
inputs channels 0 to 3 are not bi-directional. Inputs 0 and input 1 can be used as registration inputs
for axes 0 and 1 for use with the REGIST command.
3.5.3. Bottom 14 Way Disconnect:
This is a 14 way 3.81 pitch connector. The connector provides for 2 axes of 5v differential encoder
inputs, 2 axes of step and direction encoder inputs and a 5 volt output for powering external encoder
only.
3.5.3.1 Axis 0 Encoder Inputs:
6 pins are used to provide dedicated encoder inputs for Axis 0. If axis 0 is used as a stepper axis these
connections are not required. The inputs are 5 volt differential encoder inputs. The inputs must be
connected to the encoder via a screened cable.
3.5.3.2 Encoder Power Supply:
2 pins provide a low power output at 5v (200mA maximum). This supply is provided for driving one or
two encoders (if current consumption permits). The power supplies should be included within the
encoder screened cable.
3.5.3.3 Stepper Outputs / Axis 1 Encoder Inputs:
6 pins are used to provide encoder inputs for Axis 1. Alternatively 4 of the pins can be used as step
and direction open-collector outputs for axes 0 and 1. The inputs are 5 volt differential encoder inputs.
Whatever the use of the pins they must be connected to the stepper amplifier or encoder using
screened cable.
Motion Coordinator MC202 Description
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Trio Motion Technology
3.5.4 Serial Port Connections
Trio supply ready made cables for connecting between a PC and the Motion Coordinator (product code
P350).
Serial Port:
1
2
3
4
5
6
7
8
-
Internal 5v
Internal 0v
RS232 Transmit
Ground
RS232 Receive
Internal 5v
Externally buffered output
Externally buffered input
- Do not connect
- Do not connect
- Do not connect
- Do not connect
- Do not connect
Pins 1, 2, 6, 7, and 8 are designed for the connection of an external fibre-optic adapter.
There is no hardware handshake on the serial ports. An XON\XOFF protocol is used.
Trio recommend the use of their pre-made serial cables. If cables need to be made to connect to a
PC serial port the following connections are required:
Motion Coordinator to "AT" style PC with 9 pin serial port:
Motion Coordinator pin number
3
5
4
9 pin Serial Port on PC pin number
2
3
5
7
8
Recieve
Transmit
Ground
Request to send
Clear to send
Motion Coordinator to "XT" style PC with 25 pin serial port:
Motion Coordinator pin number
3
5
4
3-6
25 pin Serial Port on PC pin number
3
2
7
4
5
Recieve
Transmit
Ground
Request to send
Clear to send
Motion Coordinator MC202 Technical Reference Manual
Trio Motion Technology
3.6.1 Amplifier Enable (Watchdog) Relay Output
An internal relay contact is used to enable external amplifiers when the controller has powered up
correctly and the system and application software is ready. The amplifier enable is a single pole relay
with a set of normally open contacts. The enable relay contact will be open circuit if there is no power
on the controller OR a following error exists on a servo axis OR the user program sets it open with the
WDOG=OFF command.
The amplifier enable relay may, for example, be incorporated within a holdup circuit or chain that must
be intact before a 3-phase power input is made live.
ALL STEPPER AND SERVO AMPLIFIERS MUST BE INHIBITED WHEN THE AMPLIFIER ENABLE
OUTPUT IS OPEN CIRCUIT
Warning: It is essential that all external servo amplifiers are inhibited when the Watchdog
outputs indicate that the CSC-DA
TO OTHER
AXIS
ENABLES
MC-1 MODULE
AMPLIFIER ENABLE1
24V 0V
SERVO AMP
0V
ENABLE
AMPLIFIER ENABLE2
V+
VIN+
VINV-
The ENABLE circuit is similar on a STEPPER Amplifier
Connection of Watchdog and Velocity Output to Servo Amp
3.6.2 Enabling Stepper Motor Amplifiers
C-MX is not functionin
The watchdog relay contact can be used to enable both stepper and servo motor amplifiers.
Motion Coordinator MC202 Description
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Trio Motion Technology
3.6.3 24v Input Channels
The MC202 MOTION COORDINATOR has 4 24v Input channels built-in. A Further 256 Inputs may be
added by the addition of CAN-16I/O modules (P315).
24v
6k8 Ohms
Vin
0v
3.6.5 24v Input/Output Channels
Input/output channels 8..11 are bi-directional. The inputs have a protected 24v sourcing output
connected to the same pin. If the output is unused it may be used as an input in the program. The
input circuitry is the same as on the dedicated inputs. The output circuit has electronic over-current
protection and thermal protection which shuts the output down when the current exceeds 250mA.
A further 256 Outputs may be added by the addition of CAN-16I/O modules (P315).
24V Pin
Optical
Output
Control
Signal
Protected
Switch
Input/Output Pin
Optical
Input
Signal
6k8
0v Pin
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Motion Coordinator MC202 Technical Reference Manual
Trio Motion Technology
3.6.6 Open Collector Stepper Driver Outputs
The STEP, DIR signals use open-collector outputs. These outputs are NOT opto-isolated from the
processor logic. The open-collector outputs may be pulled up to any voltage in the range 5v..24v as
required but a current limiting resistor MUST be provided externally to the MC202 to limit the current
in the output channel. Normally this current limiting resistor is built-in to the stepper amplifier circuit.
The open-collector outputs are protected by a resettable fuse. These fuse links will go high impedance
if a total of more than 200mA is passed through the group of open-collector outputs.
If any outputs
are overloaded it is necessary to remove the power from the circuit to reset the fuse.
Open-Collector
Output
Control Signal
From Logic
Resettable Fuse
0v
3.6.7 Differential Encoder Inputs
The encoder inputs on the MC202 are designed to be directly connected to 5 volt differential output
encoders. The input circuit uses a differential receiver without a load resistor, if a load resistor is
required this will need to be fitted externally.
Motion Coordinator MC202 Description
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