MA Catalog EN
Vol. MA 4.06
4.06..03
Table of Contents
1
1. Overview
i
Total Solutions for Machine Automation .............................
2
2. PAC Solutions
l i
2.1 Standard PAC Motion Control Solutions .................
XPAC / Win-PAC / iPAC ................................................
2.2 ISaGRAF XPAC Motion Control Solutions ...............
XP-8047-CE6 / XP-8347-CE6 / XP-8747-CE6 .................
2.3 Motion Modules For PAC.........................................
I-8092F-G ...................................................................
I-8094-G / I-8094F-G / I-8094A-G / I-8094H-G................
I-8196F / I-9196F......................................................
I-8093W / I-9093 ......................................................
3
1
2-1-1
2-1-2
2-2-1
2-2-3
2-3-1
2-3-3
2-3-5
2-3-13
2-3-15
3. PC-based Solutions
PC-based PCI/ISA Bus Motion Control Cards ................. 3-1
PISO-PS200 .................................................................... 3-3
PISO-PS400 / PISO-PS410 ................................................ 3-5
PISO-PS600 .................................................................... 3-9
PISO-PS810 .................................................................. 3-11
PISO-ENCODER300U / PISO-ENCODER600U .................... 3-13
PISO-PS300U ................................................................ 3-15
PMDK .......................................................................... 3-16
ENCODER300 / STEP-200 / SERVO-300 ........................... 3-17
4
4. Remote Motion
i Solutions
l i
Remote Motion Solutions ................................................. 4-1
4.1 Ethernet Motion Control Solutions ........................ 4-1-1
ET-M8194H ................................................................ 4-1-3
ET-M8196F ................................................................. 4-1-3
4.2 Serial Communication Motion Control Solutions ... 4-2-1
RS-M8194H ................................................................ 4-2-3
RS-M8196F ................................................................. 4-2-3
4.3 Motionnet Solutions ............................................... 4-3-1
PISO-MN200 / PISO-MN200T / PISO-MN200EC .............. 4-3-2
MN-SERVO Series / MN-SERVO EC Series ...................... 4-3-3
MN-2091U / MN-2091U-T ............................................. 4-3-7
MN-3253(T) / MN-3254(T) / MN-3257(T)....................... 4-3-9
MN-640-DIN / MN-622-DIN / MN-604-DIN ................... 4-3-15
MN-HUB4 / MN-HUB4EC............................................. 4-3-21
4.4 EtherCAT Motion Solutions..................................... 4-4-1
ECAT-8000 / ECAT-8001 / ECAT-209x ............................ 4-4-2
ECAT-201x/2x/5x/6x / ECAT-2511 ................................. 4-4-3
ECAT-2512 / ECAT-2513 ............................................... 4-4-4
4.5 CANopen Motion Solutions ..................................... 4-5-1
PISO-CPM100U / I-7565-CPM / I-8123W ........................ 4-5-3
5
5. Accessories
5.1 Terminal Boards.....................................................
5.2 FRnet Remote I/O Modules ....................................
5.3 Cables and Connectors...........................................
5-1-1
5-2-1
5-3-1
Overview
1. Overview
Total Solutions for Machine Automation .................................................................................................................
•
PAC Solutions ........................................................................................................................................ 1-2
1. Standard PAC Motion Control Solutions ..........................................................................................
2. ISaGRAF XPAC Motion Control Solutions ........................................................................................
•
1-2
1-2
PC-based Solutions .............................................................................................................................. 1-3
PCI / ISA Bus Motion Control Cards ...................................................................................................
•
1-1
1-3
Remote Motion Solutions .................................................................................................................... 1-4
1.
2.
3.
4.
5.
Ethernet Solutions ........................................................................................................................
Serial Communication Solutions ....................................................................................................
Motionnet Solutions .....................................................................................................................
EtherCAT Solutions .......................................................................................................................
CANopen Solutions .......................................................................................................................
1-4
1-5
1-6
1-7
1-7
Trademarks
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Machine Automation Solutions - Overview
1. Overview
1
Overview
1
Total Solutions for Machine Automation
Total Solutions
As a leading automation solutions provider, ICP DAS provides a wide range of motion solutions for machine automation
systems, including PAC solutions that using Motion modules on the standard PAC or ISaGRAF XPAC products based
on a variety of development software such as VC, C#, VB .NET or ISaGRAF for PAC motion control systems, PC-based
solutions developed using PCI/ISA bus motion control products for PC-based motion control systems, and Remote
motion solutions using Ethernet, Serial Communication, Motionnet, EtherCAT or CANopen motion control products for
remote motion control systems.
1-1
Machine Automation Solutions Catalog
1
As a leading automation solutions provider, ICP DAS provides a wide range of motion solutions for machine automation
systems, including PAC solutions that using motion control modules based on the PAC products. There is a variety of
development software such as VC, C#, VB .NET or ISaGRAF supporting the PAC Solutions that apply to the PAC motion
control systems.
1
1. Standard PAC Motion Control Solutions
As a pioneer of PAC, ICP DAS provides a powerful
PAC motion control solution - Standard PAC
Motion Control Solution. This solution uses motion
control modules based on the powerful standard
PAC products. There is a variety of development
software such as VC, C#, VB .NET supporting the
PAC Solutions that apply to the PAC motion control
systems.
Overview
• PAC Solutions
2. ISaGRAF XPAC Motion Control Solutions
The ISaGRAF XPAC Motion Control Solution. Integrating
with the ISaGRAF development software for SoftLogic
control and the HMI software for web page design,
the XPAC series plus the I-8094F/8094/8092F motion
control solution allows users to easily design and
implement a professional and user-friendly system with
effective integration of motion controls, logic controls
and I/O device controls.
1-2
Machine Automation Solutions - Overview
• PC-based Solutions
1
Overview
1
1-3
As a leading automation solutions provider, ICP DAS not only provides PAC motion control modules for use with our
own PAC systems, but also develops a wide range of PCI bus and ISA bus motion control products for PC-based
control systems.
Machine Automation Solutions Catalog
• Remote Motion Solutions
1
ICP DAS provides a range of remote motion control solutions that allows motion control anywhere at any time.
1
1. Ethernet Remote Motion Solutions
Overview
Ethernet Motion Control Unit provides the Ethernet motion solution for customers. It can be con gured and control via an
Ethernet port with Modbus TCP capability. Any PC, PLC or SCADA system which has an Ethernet port running Modbus TCP
protocol can control one or several Ethernet Motion Control Units to do complex motion.
1-4
Machine Automation Solutions - Overview
1
Overview
1
2. Serial Communication Remote Motion Solutions
There are a lot of controllers on the working eld which need to add functions or enhance their performance for new
requirements, such as providing powerful motion functions. In general, these controllers already have one or several
serial ports with Modbus RTU capability. Via an RS-232 or RS-422 or RS-485 port, the RS-M8194H is capable for
providing motion functions.
1-5
Machine Automation Solutions Catalog
1
1
3. Motionnet Remote Motion Solutions
Overview
The Motionnet motion solutions provide a high-speed serial communication system that operates with either a
Servo motor or a Stepping motor. Motionnet communication is based on a proprietary RS-485 technology (Multi-drop,
Half-duplex) that allows considerable savings in wiring requirements, provides effective long-distance high-speed
communication.
1-6
Machine Automation Solutions - Overview
1
The EtherCAT (Ethernet for Control Automation Technology) motion solution is an open, high-performance
eldbus system that makes Ethernet technologies available at the I/O level. EtherCAT provides exible wiring, fast
communication and many other nice features.
Overview
1
4. EtherCAT Remote Motion Solutions
5. CANopen Remote Motion Solutions
The CANopen motion solutions integrate a motion control system with a CANopen network using the CANopen
Master devices. Users are able to control CANopen motors and remote I/O devices located on the same network,
making wiring connections and control both easy and more ef cient.
1-7
PAC Solutions
1.1
Industrial Communication & Networking Products
2. PAC Solutions
2.1 Standard PAC Motion Control Solutions ..................................................................................... 2-1-1
Standard PAC Series - XPAC / WinPAC / iPAC ........................................................................................
2-1-2
2.2 ISaGRAF XPAC Motion Control Solutions.................................................................................... 2-2-1
ISaGRAF XPAC Series - XP-8xx7-CE6 ....................................................................................................
2-2-3
2.3 Motion Modules for PAC .................................................................................................................. 2-3-1
I-8092F-G ..........................................................................................................................................
I-8094-G ............................................................................................................................................
I-8094F-G ..........................................................................................................................................
I-8094A-G ..........................................................................................................................................
I-8094H-G........................................................................................................................................
I-8196F / I-9196F .............................................................................................................................
I-8093W / I-9093 .............................................................................................................................
Features of Motion Function ..............................................................................................................
2-3-3
2-3-5
2-3-7
2-3-9
2-3-11
2-3-13
2-3-15
2-3-19
PAC Solutions - Standard PAC Motion Solutions
2. PAC Solutions
1
Introductions
PAC Solutions
2
PAC Solutions - Motion Modules
As a leading automation solutions provider, ICP DAS provides a wide range of motion solutions for machine automation
systems, including PAC solutions that using motion control modules based on the PAC products. There is a variety of
development software such as VC, C#, VB .NET or ISaGRAF supporting the PAC Solutions that apply to the PAC motion
control systems.
Standard PAC Motion Control Solutions
ISaGRAF XPAC Motion Control Solutions
Motion Modules for PAC
2-1-1
Machine Automation Solutions Catalog
2.1 Standard PAC Motion Solutions
As a pioneer of PAC, ICP DAS provides a powerful PAC motion control solution - Standard PAC Motion Control
Solution. This solution uses motion control modules based on the powerful standard PAC products. There is a variety
of development software such as VC, C#, VB .NET supporting the PAC Solutions that apply to the PAC motion control
systems.
2
1
Standard PAC : XPAC-8000 Series
PAC Solutions
XP-8000 Series XPAC
OS
CPU
Flash
SDRAM
4 GB
DDR
x 1 GB
VGA Resolution
Ethernet
Serial
XP-8041
XP-8341
0
WES 2009
XP-8741
1600 x 1200
AMD LX 800,
500 MHz
XP-8041-CE6
XP-8341-CE6
I/O Slot
CE 6.0
4
2
4 GB
DDR
x 512 MB
1024 x 768
7
5
4
XP-8741-CE6
3
0
3
7
Standard PAC : XP-9000/WP-9000 Series
XP-9000 and WP-9000 Series
OS
CPU
WES7
E3827
1.75 GHz
dual core
XP-9171-WES7
XP-9371-WES7
XP-9771-WES7
ViewPAC-2000
View C-2000 Series
Flash
SDRAM
16 GB
DDR3
x 2 GB
VGA Resolution
Ethernet
Serial
1
1600 x 1200
2
4
WP-9821-CE7
3
7
WP-9221-CE7
WP-9421-CE7
I/O Slot
2
CE 7.0
AM3354
1 GHz
256 MB
DDR3
x 512 MB
1024 x 768
2
4
4
8
2-1-2
PAC Solutions - Standard PAC Motion Solutions
Standard PAC : WinPAC-8000 Series
2
PAC Solutions
1
WP-8000 Series WinPAC
OS
CPU
Flash
SDRAM
VGA Resolution
Ethernet
WP-8131
WP-8431
128 MB
WP-8831
CE 5.0
WP-8141
PXA270,
520 MHz
WP-8441
1024 x 768
128 MB
96 MB
Serial
I/O Slot
2
1
4
2
800 x 600
2
4
WP-8841
4
8
1
4
8
Standard PAC : iPAC Series
iP-8000 Series iPAC
OS
CPU
Flash
iP-8411
iP-8811
iP-8441
iP-8841
iP-8441-FD
iP-8841-FD
2-1-3
MiniOS7
80186,
80 MHz
SRAM
Expansion Memory
Ethernet
512 KB
microSD
-
512 KB
microSD
768 KB
I/O Slot
4
8
4
2
microSD + 256 MB
NAND Flash
Serial
4
8
4
8
Machine Automation Solutions Catalog
2.2 ISaGRAF XPAC Motion Solutions
2
2
PAC Solutions
Introduction
Motion Functions
solution - ISaGRAF + XPAC Motion Control Solution. Integrating with
Support manual pulse generator and jog functions
the ISaGRAF development software and the eLogger HMI, the XPAC
2/3-axis linear interpolation function
As a pioneer of PAC, ICP DAS provides a new PAC motion control
Independent 4-axis motion control
series plus the I-8094F/8094/8092F motion control solution allows
2-axis circular interpolation function
users to easily design and implement a professional and user-friendly
Programmable T/S-curve acceleration and deceleration
system with effective integration of motion controls, logic controls
A maximum pulse output rate of 4M pps for each axis
and I/O device controls.
Pulse Output Types: CW/CCW or PULSE/DIR
32-bit encoder counter for each axis
Features
ISaGRAF provides IEC 61131-3 standard PLC open Syntax:
Motion control design is easy and professional.
Using XPAC-CE6 is more effective than using PLC:
Using XPAC-CE6 for motion control is more effective when
integrating motion controls, logic controls and I/O controls.
Support free eLogger HMI Software:
The control logic via ISaGRAF & the HMI Screen via eLogger.
Encoder pulse input types: A/B phase or Up/Down
Programmable automatic homing for each axis
Position comparison management and software limits
Expandable remote I/O:
128 DI and 128 DO via a two-wire FRnet interface
Require low CPU loading for motion function processing
Multiple motion modules can be used with a single XPAC-CE6 and
the status of other I/O devices can be monitored at the same time
2-2-1
PAC Solutions - ISaGRAF XPAC Motion Solutions
Development Software - Control SoftLogic
The SoftLogic Solution: ISaGRAF
ISaGRAF is the most powerful SoftLogic package on the market. ISaGRAF
is a PLC-like software running on Windows 95, 98, NT 2000, XP, Vista and
Windows7. It supports IEC 61131-3 standard PLC programming languages Quick Ladder (LD), Function Block Diagram (FBD), Sequential Function Chart
(SFC), Structured Text (ST), Instruction List (IL) plus Flow Chart (FC) and
2
PAC Solutions
2
can run the application generated by the workbench on any ISaGRAF PACs.
Additionally, for the ultimate in power and exibility, ISaGRAF supports off-line
simulation, on-line debugging, monitoring and control.
ISaGRAF Workbench Features:
ISaGRAF Solution Features:
Support IEC 61131-3 Standard Open PLC Languages (1~5)
Support eLogger HMI
+ Flow Chart (FC):
- A free HMI software on the WinPAC, XPAC and ViewPAC
1. Quick Ladder (LD)
- An easy and useful HMI development tool
2. Function Block Diagram (FBD)
Modbus Master Protocol - RTU, ASCII, RS-232/485/422, TCP Master
3. Sequential Function Chart (SFC)
Modbus Slave Protocol - RTU (RS-232/485/422), TCP/IP Slave
4. Structured Text (ST)
Data-Recorder & Data-Logger
5. Instruction List (IL)
Data Exchange - Ebus (via Ethernet), Fbus (via RS-485), PAC to PAC
6. Flow Chart (FC)
CAN/CANopen - Via I-7530 to connect CAN/CANopen devices, ex. meters...
Online debug/control/monitor
FRnet I/O
Offline simulation
Motion Control: For controlling servo motors (P-command)
Online change (For ISaGRAF WinCE series only)
PAC can send e-mail to the internet
Spotlight: Simple graphic HMI
SMS: GSM modem, For reporting data and alarms to the operators
Auto-scan I/O
Wireless Communication: GPS, ZigBee & Radio
Lock & unlock I/O
Auto-report Acquisition/Control Data
Uploading the program in the PAC
Redundant Solution: Hot-swap/Ethernet
Schedule-Control
Development Software - HMI Screens
Free HMI Designer: eLogger
eLogger Features:
eLogger is a free charge and easy-to-use software to
Support:
implement HMI and data logger on Windows CE 5.0 based
PACs (WinPAC and ViewPAC of ICP DAS), Windows CE 6.0
based PACs (XPAC-8000 of ICP DAS), Windows CE 7.0 based
PACs and Windows Embedded Standard 2009 based PACs for
simple I/O monitor and system control. It could reduce the
cost and shorten the time to market.
• Developer on PC: Windows 2K,Windows XP, Windows Vista, Windows7
• Runtime on PAC: XPAC, WinPAC, ViewPAC, WP-CE7, VP-CE7, SV-CE7
Driver Support: M/ET/PET-7000, MQ-7200M series
HMI:
• Elements: Button, Text Box, Linear Gauge, Angular Gauge, LED, Switch,
Tank, Label, Plot, Seven Segment, Thermometer, Slider, Odometer.
• Pages: Maximum of 32 pages.
Web Page Converter:
• Elements: Text Box, Seven Segment, Label, Button, Picture Toggle
• Support administrator login.
• Support browsers: Google Chrome, IE, Firefox, Safari, Opera
Real Time Data Trend: Maximum of 5 trend line in one plot
Value Scaling
Account Management: 3 levels (Admin, Power User, User)
Remote Maintenance
Data Log: Local Data Log, Remote database
Logic Control Programming
• ISaGRAF (IEC61131-3 standard PLC languages)
• Visual Studio .NET (C#, VB.NET)
Support ISAPI
Support Modbus TCP Server
Support Runtime Executing in Background Mode
2-2-2
Machine Automation Solutions Catalog
ISaGRAF XPAC Series
XP-8047-CE6 / XP-8347-CE6 / XP-8747-CE6
Features:
XP-8x47-CE6: LX800, 500 MHz CPU
Windows CE 6.0 R3 Core
Embedded ISaGRAF Ver.3 SoftLogic
(IEC 61131-3)
Hard Real-time Capability
XP-8347-CE6
2
PAC Solutions
XP-8047-CE6
2
VGA Port Output
Modbus RTU/TCP (Master, Slave)
Support eLogger HMI
Redundant Power Inputs
Support Motion Control
Using I-8094F/8094/8092F
Operating Temperature: -25 ~ +75°C
XP-8747-CE6
Introduction:
The XP-8x47-CE6 Series are the new generation of ISaGRAF based PACs from ICP DAS. Each is equipped with an AMD LX800 500 MHz CPU (for
XP-8x47-CE6), a variety of input/output ports (VGA, USB, Ethernet, RS-232/485), and a range of I/O slots (0/3/7) that can be used to integrate
high performance parallel I/O modules (high pro le I-8K Series) or serial I/O modules (high pro le I-87K series).
The bene ts of running Windows CE 6.0 on an XPAC device include hard real-time capabilities, small core size, fast boot speed, interrupt handling at a deeper level, and achievable deterministic control. XPAC devices are also capable of running ISaGRAF and PC-based control software,
such as Visual Basic .NET, Visual C#, etc., providing all of the best features of both traditional PLCs and Windows capable PCs.
ISaGRAF Features:
ISaGRAF is the most powerful SoftLogic package on the market, and is a PLC-like software suite application that supports IEC 61131-3 standard
PLC programming languages (LD, FBD, SFC, ST, IL, FC). ISaGRAF can be used to execute applications generated by the ISaGRAF workbench on
any ISaGRAF PAC. The features of the ISaGRAF workbench Ver. 3.x include:
IEC 61131-3 Standard Open PLC Programming Languages (LD, FBD, SFC, ST, IL) + Flow Chart (FC)
Auto-scan I/O
Online Debug/Control/Monitor, Of ine Simulation
Simple Graphic HMI
Support eLogger HMI
2-2-3
PAC Solutions - ISaGRAF XPAC Motion Solutions
Applications:
eLogger HMI Application
Modbus Master Ports
Modbus RTU/ASCII Master
M-7000
Module
Modbus
Device
XP-8xx7-CE6
tM-7000
I/O
RS-485
2
2
Modbus TCP/IP Master
Modbus TCP/IP
Slave PLC
PAC Solutions
XP-8xx7-CE6
Modbus TCP/IP
Slave Meter
WP-8xx7
Schedule Control
WP-5xx7
ISaGRAF PAC
μPAC-7186EG
iP-8xx7
VP-2xW7/4xx7
WP-8xx7/5xx7
XP-8xx7-CE6
NS-208
Modbus
TCP/IP Slave
VP-2xW7/4xx7
Modbus TCP/IP
Master Protocol
ET-7000 I/O
iDCS-8000
Redundant I/O
tPET-7000 I/O
Hot-Swap Redundant System
PC/HMI
HMI
PC/HMI
PC
Ethernet
Motion Control: Using I-8094F/8092F/8094
XP-8xx7-CE6
Main
PAC
COM3
RS-485
COM3
LAN2
Servo Motor
Hot-swap！
！
RU-87P4/8 + I-87K
I 87 I/O (High-profile cards)
Modbus Slave : RTU / TCP
Modbus RTU (RS-232/485/422) Slave: max. 9 ports
ISaGRAF PAC
Modbus TCP/IP Slave: max. 64 connections
HMI
WP-8447
WinPAC
WP-8xx7
RU-87P8
Terminal
Board
2G/3G Wireless Application
ViewPAC
I-8212W/I-8213W
(2G GSM/GPRS module
I-8212W-3GWA
/I-8213W-3GWA (3G)
SMS
HMI
RS-232
RS-485
RS-422
Ethernet
RS-232
WP-5xx7
( I-8112iW/ 14W/
14iW/ 42iW/ 44iW )
FTP
TCP/UDP
GPRS (2G)
WCDMA (3G)
data
GSM-201-RS232 (2G)
GTM-201-3GWA (3G)
XP-8xx7-CE6
HMI
Touch Series
e-mail
Control Center
2-2-4
...
Multi-serial Port
Modules
ISaGRAF PAC
WinPAC
LAN2
RS-485 (D+,D-)
( , )
RU-87P4
Motion Control
XPAC
LAN1
Backup
PAC
Motion Card
I-8092F
I-8094F
I-8094
Motion Devices
LAN1
I/O Devices
I-8K, I-87K
eLogger HMI
NS-205/208
NS-205/2
SCADA
Ethernet
RS-232
Machine Automation Solutions Catalog
Specifications:
Models
XP-8047-CE6
XP-8347-CE6
OS
Windows CE 6.0 R3 Core
Multi-Language Support
English, German, French, Spanish, Russian, Italian, Czech, Japanese, Korean, Simpli ed Chinese, Traditional Chinese
ISaGRAF Ver.3
Development
Software
XP-8747-CE6
ISaGRAF Ver.3，IEC 61131-3 standard
Language
LD, ST, FBD, SFC, IL, FC，Support eLogger HMI
Max. Code Size
2
2 MB
3 ~ 15 ms for normal programs
15 ~ 50 ms (or more) for complex or large programs
Scan Time
CPU
AMD LX 800 , 500 MHz
Flash
4 GB
512 MB
VGA
PAC Solutions
DDR SDRAM
2
1024 x 768 (or above)
Ethernet
RJ-45 x 2, 10/100 Base-TX Dual Ethernet Ports
USB 2.0
2
RS-232/RS-485
5
I/O Expansion Slots
0
3
7
137 x 132 x 125 (mm)
231 x 132 x 125 (mm)
355 x 132 x 125 (mm)
Dimensions (W x L x H)
4
Input Power Range
+10 ~ +30 VDC
Isolation
1 kV
Redundant Power Inputs
Yes, with one power relay (1 A @ 24 VDC) for alarm
Capacity
Consumption
15 W
35 W
35 W
14.4 W
14.4 W
16.8 W
Ordering Information:
XP-8047-CE6 CR
0 I/O slot WinCE 6.0 Based ISaGRAF PAC (OS: Multi-Language version) (RoHS)
XP-8347-CE6 CR
3 I/O slots WinCE 6.0 Based ISaGRAF PAC (OS: Multi-Language version) (RoHS)
XP-8747-CE6 CR
7 I/O slots WinCE 6.0 Based ISaGRAF PAC (OS: Multi-Language version) (RoHS)
Related Products and Accessories:
ISaGRAF Development Software
ISaGRAF-256
ISaGRAF Workbench Software Ver.3 (256 I/O Tags) with one USB Dongle
ISaGRAF-32
ISaGRAF Workbench Software Ver.3 (32 I/O Tags)
Note: No upgrade service from ISaGRAF-32 to ISaGRAF-256 is available. (ISaGRAF-32 can be used to control more than 32 I/O tags. Please refer to Ch. 3.4 of the ISaGRAF User Manual.)
DP-660
24 VDC/2.5 A, 60 W and 5 VDC/0.5 A, 2.5 W Power Supply with DIN-Rail Mounting
DP-1200 CR
24 VDC/5.0 A, 120 W Power Supply with DIN-Rail Mounting (RoHS)
MDR-60-24 CR
24 VDC/2.5 A, 60 W Power Supply with DIN-Rail Mounting (RoHS)
NS-205 CR / NS-208 CR
5-port/8-port Unmanaged Industrial 10/100 Ethernet Switch with Plastic Case (RoHS)
RS-405 CR / RS-408 CR
5-port 8-port Real-time Redundant Ring Switch (RoHS)
TPM-4100/TP-4100
10.4" (800 x 600) Resistive Touch Panel Monitor with RS-232 or USB Interface
Accessories: VGA Cable, RS-232 Cable, USB Cable, Mounting Clamps and Screws
2-2-5
PAC Solutions - Motion Modules For PAC
2.3 Motion Modules for PAC Solutions
2
PAC Solutions
3
I-8092F
I-8094F
I-8094
I-8094A
I-8093W
I-8196F
I-8094H
I-9093
I-9196F
Motion Control Modules For PAC Motion Control Solutions
Models
I-8092F-G
Encoder Input
Axis
Command Pulse Output
Counter Counting
Speed Counter
Signal Axis
(bits) Rate (cps)
(pps) (bits)
2
Signal
2
Daughter
Board
Other
Functions
DN-8237
FRnet
Master
I-8094-G
-
I-8094F-G
CW/CCW,
PULSE/DIR
4M
4
I-8094A-G
CW/
CCW,
A/B
32
4
4M
FRnet
Master
DN-8468
32
FRnet Master,
CPU Inside
I-8196F
6
12 M
CW/CCW,
PULSE/DIR,
A/B
6
I-9196F
I-8093W
2-3-1
FRnet
Master
DN-8368
Encoder Input
Axis Counter (bits)
3
32
I-9093
XP-8000
WP-8000
iP-8000
CPU Inside
I-8094H-G
Models
Supported
PAC
3
Counting Rate (cps)
4 M (CW/CCW, Pulse/Dir)
1 M (A/B)
6 M (CW/CCW, Pulse/Dir)
2 M (A/B)
XP-8000
WP-8000
Supported
Drivers
or
Software
VC
C#
VB .NET
ISaGRAF
(ISaGRAF
supports the
ISaGRAF XPAC
ONLY)
XP-9000
WP-9000
Compare Trigger Output
Signal
Hardware Latch/Reset
Channel
Type
CW/CCW,
PULSE/DIR,
A/B
-
-
-
3
3
Open collector
Machine Automation Solutions Catalog
PAC I-8000 DI/DO AI/AO High Profi
le Modules Selection Guide:
2
Analog Input Modules:
Model
Resolution
Input Channels
Sampling Rate
Voltage Input
Current Input
Isolation
Voltage
14 bit
8 diff.
100 KHz
(total)
+/-10 V, +/-5 V
+/-2.5 V, +/-1.25 V
+/-20 mA
3000 Vrms
Voltage
Overload
Protection
Power
Consumption
+/-35 V
2W
3
PAC Solutions
I-8017HW
Analog Input
Analog Output Modules:
Models
I-8024W
Analog Output
Resolution
Output Channels
Voltage Output
Current Output
Voltage Output
Driver
Accuracy
Isolation
Voltage
Power
Consumption
14 bit
4
+/-10 V
0-20 mA
5 mA max.
±0.1% of FSR
3000 V
2W
Digital I/O Modules:
Models
Digital Input Channels
Digital Output Channels
LED Display
Power Consumption
I-8037W
-
16 (Open Source) / Isolation 3750 V
Yes
0.9 W
I-8040W
32 (Sink/Source) / Isolation 3750 V
-
Yes
0.65 W
I-8040PW
32 (Sink/Source) / Isolation 3750 V
-
Yes
1W
I-8041W
-
32 (Open-collector) / Isolation 3750 V
Yes
1.5 W
I-8041AW
-
32 (Open-collector) / Isolation 3750 V
Yes
1.5 W
I-8042W
16 (Sink/Source) / Isolation 3750 V
16 (Open-collector) / Isolation 3750 V
Yes
1.5 W
I-8048W
8 (Sink/Source) / Isolation 1500 V
Yes
1.75 W
I-8051W
16 (Source) / Non-isolated
Yes
1.1 W
I-8052W
8 (Differential) / Isolation 5000 V
Yes
0.3 W
I-8053W
16 Isolation 3750 V
Yes
0.4 W
I-8053PW
16 (Sink/Source) / Isolation 3750 V
with Low Pass Filter
Yes
0.45 W
I-8054W
8 (Sink/Source) / Isolation 3750 V
Yes
0.55 W
I-8055W
8 (Source) / Non-isolated
8 (Open-collector) / Non-isolated
Yes
1W
I-8056W
-
16 (Open-collector) / Non-isolated
Yes
0.9 W
I-8057W
-
16 (Open-collector) / Isolation 3750 V
Yes
0.9 W
I-8058W
8 AC/DC 250 V max. / Isolation 5000 V
-
Yes
0.6 W
I-8060W
-
6 / (Power Relay Form C)
Yes
1W
I-8063W
4 (Sink/Source) / Isolation 3750 V
4 / (Power Relay Form C)
Yes
2W
I-8064W
-
8 / (Power Relay Form A)
Yes
1.1 W
I-8068W
-
8 (Power Relay Form A x 4 Form C x 4)
Yes
2.5 W
-
8 (PhotoMos Relay Form A x 8)
Yes
0.6 W
FRnet Master. Up to 256 DI or 256 DO channels can be added using remote modules
Yes
2W
I-8069W
I-8172W
8 (Open-collector) / isolation 3750 V
2-3-2
PAC Solutions - Motion Modules For PAC
I-8092F-G
High-speed 2-axis Motion Control Module with FRnet Master
Features:
Independent 2-axis motion control
2
Support for hand wheel and jog functions
2-axis linear / 2-axis circular interpolation function
3
Continuous interpolation function
PAC Solutions
Programmable T/S-curve acceleration and deceleration
A maximum pulse output rate of 4 Mpps for each axis
Pulse Output Types: CW/CCW or PULSE/DIR
32-bit encoder counter for each axis
Encoder Pulse Input Types: A/B Phase or Up/Down
Programmable automatic homing for each axis
Programmable software limits
Expandable Remote I/O: 128 DI and 128 DO via a two-wire FRnet interface
Introduction:
Specifications:
The I-8092F is a 2-axis stepping/pulse-type servo
motor control module that can be used on any of the ICP
DAS I-8000 and PAC series controllers, and is suitable for
general-purpose motion control applications. The I-8092F is
equipped with one FRnet master, which allows fast remote
I/O to be easily expanded. The two-wire FRnet interface can
be used automatically scan its 128 DI and 128 DO channels
with a scan period of 2.88 ms.
Number of Axes
In addition to its wide speed range, this intelligent motion
controller also has a variety of motion control functions
built in, such as 2-axis linear interpolation, 2-axis circular
interpolation, T/S-curve acceleration/deceleration, and others.
A major advantage is that the majority of the I-8092F motion
control functions are performed by the high-performance
motion ASIC with little load on the processor. While driving
the motors, the motion status, and the status of the other
I/O channels on the I-8000 or PAC modules, can still be
monitored.
As a result of the low CPU loading requirements of the I-8092F,
one or more motion modules may be used on a single
I-8000 or PAC controller. ICP DAS provides a wide range of
functions and examples that can be used to reduce the need
for programming by users, making it a highly cost-effective
solution for motion control application developers.
2
Maximum Pulse Output Rate 4 MHz
Command Type
Pulse command
Resolution
32-bit
Pulse Output Mode
CW/CCW, PULSE/DIR
Operation Mode
Semi-closed Loop
Linear Interpolation
2 axes
Circular Interpolation
2 axes
Speed Curve Pro le
T/S curve
Motion Relative I/O
Home, LMT+/-, NHOME, EMG, INP,
ALM, SVON
Synchronous Action
-
Ring Counter Mode
32-bit
Position Control Mode
Incremental mode
Position Compare Trigger
-
Encoder Interface
A/B pulse, Up/Down
Encoder Counter
32-bit
Encoder Rate
4 MHz
Digital Input Channels
Expandable: 128 DI
Digital Output Channels
Expandable: 128 DO
I/O Isolation (with DN-8237) 2500 Vrms optical isolation
Connector
37-pin D-sub
Power Consumption
+5 V @ 500 mA
Environmental
Operating Temperature
2-3-3
-20 ~ +75°C
Storage Temperature
-30 ~ +85°C
Ambient Relative Humidity
5 ~ 90% RH, non-condensing
Machine Automation Solutions Catalog
Features of Motion Function:
2-Axis Linear Interpolation
2-Axis Circular Interpolation
2
3
PAC Solutions
Continuous interpolation
4 Steps Automatic Home Searching
Ordering Information/Accessories:
Module
I-8092F-G
Description
High-speed 2-axis Motion Control Module with FRnet Master
DN-8237UB
Photo-isolated Universal Snap-on Wiring Terminal Board
DN-8237GB
Photo-isolated General Purpose Wiring Terminal Board
DN-8237MB
Photo-isolated Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
DN-8237PB
Photo-isolated Snap-on Wiring Terminal Board for Panasonic MINAS A4/A5 Servo Ampli er
DN-8237YB
Photo-isolated Snap-on Wiring Terminal Board for Yaskawa Sigma II/III/V Servo Ampli er
DN-8237DB
CA-3715DM-H / CA-3730DM-H /
CA-3750DM-H
Photo-isolated Snap-on Wiring Terminal Board for Delta ASDA-A Servo Ampli er
37-pin D-Sub Male-Male Cable for Terminal Board (180º), Length 1.5 M / 3.0 M / 5.0 M
2-3-4
PAC Solutions - Motion Modules For PAC
I-8094-G
High-speed 4-axis Motion Control Module
Features:
2
Independent 4-axis motion control
Support for hand wheel and jog functions
2/3-axis linear / 2-axis circular interpolation function
3
Continuous interpolation function
PAC Solutions
Programmable T/S-curve acceleration and deceleration
A maximum pulse output rate of 4 Mpps for each axis
Pulse Output Types: CW/CCW or PULSE/DIR
32-bit encoder counter for each axis
Encoder Pulse Input Types: A/B Phase or Up/Down
Programmable automatic homing for each axis
Position comparison management and software limits
A wide range of synchronous actions (event-triggered actions)
Introduction:
Specifications:
The I-8094 is a 4-axis stepping/pulse-type servo motor
control module that can be used on any of the ICP DAS
I-8000 and PAC series controllers, and is suitable for
general-purpose motion applications. In addition to its wide
speed range, this intelligent motion controller also has a
variety of motion control functions built in, such as 2/3-axis
linear interpolation, 2-axis circular interpolation, T/S-curve
acceleration/deceleration, a range of synchronous actions,
automatic homing, and others.
Number of Axes
4
Maximum Pulse Output Rate
4 MHz
Command Type
Pulse Command
A major advantage is that the majority of the I-8094 motion
control functions are performed by the high-performance
motion ASIC with little load on the processor. While driving
the motors, the motion status, and the status of other I/
O channels on the I-8000 or PAC modules, can still be
monitored. As the CPU loading requirements of the I-8094
is minimal, one or more motion modules may be used with
a single I-8000 or PAC controller. ICP DAS also provides a
wide range of functions and examples that can be used to
reduce the need for additional programming, making it a
highly cost-effective solution for motion control application
developers.
Resolution
32-bit
Pulse Output Mode
CW/CCW, PULSE/DIR
Operation Mode
Semi-closed Loop
Linear Interpolation
Any 2 to 3 of 4 axes
Circular Interpolation
Any 2 axes
Speed Curve Pro le
T/S-curve
Motion Relative I/O
Home, LMT+/-, NHOME, EMG, INP,
ALM, SVON
Synchronous Action
10 activation factors and 14 actions
Ring Counter Mode
32-bit
Position Control Mode
Incremental mode and absolute mode
Position Compare Trigger
10 KHz
Encoder Interface
A/B pulse, Up/Down
Encoder Counter
32-bit
Encoder Rate
4 MHz
Digital Input Channels
-
Digital Output Channels
-
I/O Isolation (with DN-8468) 2500 Vrms optical isolation
Connector
68-pin SCSI-II connector
Power Consumption
+5 V @ 500 mA
Environmental
2-3-5
Operating Temperature
-20 ~ +75°C
Storage Temperature
-30 ~ +85°C
Ambient Relative Humidity
5 ~ 90% RH, non-condensing
Machine Automation Solutions Catalog
Features of Motion Function:
2 or 3-Axis Linear Interpolation
2-Axis Circular Interpolation
2
3
PAC Solutions
Continuous interpolation
High Speed Position Compare
4 Steps Automatic Home Searching
Ordering Information/Accessories:
Module
Description
I-8094-G
High-speed 4-axis Motion Control Module
DN-8468UB
Photo-isolated Universal Snap-on Wiring Terminal Board
DN-8468GB
Photo-isolated General Purpose Wiring Terminal Board
DN-8468MB
Photo-isolated Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
DN-8468PB
Photo-isolated Snap-on Wiring Terminal Board for Panasonic MINAS A4/A5 Servo Ampli er
DN-8468YB
Photo-isolated Snap-on Wiring Terminal Board for Yaskawa Sigma II/III/V Servo Ampli er
DN-8468DB
Photo-isolated Snap-on Wiring Terminal Board for Delta ASDA-A Servo Ampli er
DN-8468FB
CA-SCSI15-H / CA-SCSI30-H /
CA-SCSI50-H
Photo-isolated Snap-on Wiring Terminal Board for Fuji FALDIC-W Servo Ampli er
68-pin SCSI-II Male-Male Connector Cable, Length 1.5 M / 3.0 M / 5.0 M
2-3-6
PAC Solutions - Motion Modules For PAC
I-8094F-G
High-speed 4-axis Motion Control Module with FRnet Master
Features:
Independent 4-axis motion control
2
Support for hand wheel and jog functions
2/3-axis linear / 2-axis circular interpolation function
3
Continuous interpolation function
Programmable T/S-curve acceleration and deceleration
PAC Solutions
A maximum pulse output rate of 4 Mpps for each axis
Pulse Output Types: CW/CCW or PULSE/DIR
32-bit encoder counter for each axis
Encoder Pulse Input Types: A/B Phase or Up/Down
Programmable automatic homing for each axis
Position comparison management and software limits
A wide range of synchronous actions (event-triggered actions)
Expandable Remote I/O: 128 DI and 128 DO via a two-wire FRnet interface
Introduction:
Specifications:
The I-8094F is a 4-axis stepping/pulse-type servo motor
control module that can be used on any of the ICP DAS I-8000
and PAC series controllers, and is suitable for general-purpose
motion applications. The I-8094F has the full functions of the
I-8094 with the addition of an FRnet port, which allows the
fast remote I/O of the module to be expanded easily. This
two-wired FRnet can automatically scan its 128 DI and 128 DO
channels within a period of 2.88 ms.
Number of Axes
4
Maximum Pulse Output Rate
4 MHz
Command Type
Pulse Command
Resolution
32-bit
Pulse Output Mode
CW/CCW, PULSE/DIR
Operation Mode
Semi-closed Loop
In addition to its wide speed range, this intelligent motion
controller also has a variety of motion control functions
built in, such as 2/3-axis linear interpolation, 2-axis circular
interpolation, T/S-curve acceleration/deceleration, numerous
synchronous actions, automatic homing, and others. A major
advantage is that the majority of the I-8094F motion control
functions are performed by the high-performance motion ASIC
with little load on the processor. While driving the motors, the
motion status, and the status of the other I/O channels on the
I-8000 or PAC modules, can still be monitored.
As the CPU loading requirements of the I-8094F is minimal,
one or more motion modules may be used with a single
I-8000 or PAC controller. ICP DAS also provides a wide
range of functions and examples that can be used to
reduce the need for additional programming, making it a
highly cost-effective solution for motion control application
developers.
Linear Interpolation
Any 2 to 3 of 4 axes
Circular Interpolation
Any 2 axes
Speed Curve Pro le
T/S-curve
Motion Relative I/O
Home, LMT+/-, NHOME, EMG, INP,
ALM, SVON
Synchronous Action
10 activation factors and 14 actions
Ring Counter Mode
32-bit
Position Control Mode
Incremental mode and absolute mode
Position Compare Trigger
10 KHz
Encoder Interface
A/B pulse, Up/Down
Encoder Counter
32-bit
Encoder Rate
4 MHz
Digital Input Channels
Expandable : 128 DI
Digital Output Channels
Expandable : 128 DO
I/O Isolation (With DN-8468) 2500 Vrms optical isolation
Connector
68-pin SCSI-II connector
Power Consumption
+5 V @ 500 mA
Environmental
Operating Temperature
2-3-7
-20 ~ +75°C
Storage Temperature
-30 ~ +85°C
Ambient Relative Humidity
5 ~ 90% RH, non-condensing
Machine Automation Solutions Catalog
Features of Motion Function:
2 or 3-Axis Linear Interpolation
2-Axis Circular Interpolation
2
3
PAC Solutions
Continuous interpolation
High Speed Position Compare
4 Steps Automatic Home Searching
Ordering Information/Accessories:
Module
Description
I-8094F-G
High-speed 4-axis Motion Control Module with FRnet Master
DN-8468UB
Photo-isolated Universal Snap-on Wiring Terminal Board
DN-8468GB
Photo-isolated General Purpose Wiring Terminal Board
DN-8468MB
Photo-isolated Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
DN-8468PB
Photo-isolated Snap-on Wiring Terminal Board for Panasonic MINAS A4/A5 Servo Ampli er
DN-8468YB
Photo-isolated Snap-on Wiring Terminal Board for Yaskawa Sigma II/III/V Servo Ampli er
DN-8468DB
Photo-isolated Snap-on Wiring Terminal Board for Delta ASDA-A Servo Ampli er
DN-8468FB
CA-SCSI15-H / CA-SCSI30-H /
CA-SCSI50-H
Photo-isolated Snap-on Wiring Terminal Board for Fuji FALDIC-W Servo Ampli er
68-pin SCSI-II Male-Male Connector Cable, Length 1.5 M / 3.0 M / 5.0 M
2-3-8
PAC Solutions - Motion Modules For PAC
I-8094A-G
High-speed 4-axis Motion Control Module with Internal CPU
Features:
Independent 4-axis motion control
Support for hand wheel and jog functions
2
2/3-axis linear / 2-axis circular interpolation function
Continuous interpolation function
3
Programmable T/S-curve acceleration and deceleration
A maximum pulse output rate of 4 Mpps for each axis
PAC Solutions
Pulse Output Types: CW/CCW or PULSE/DIR
32-bit encoder counter for each axis
Encoder Pulse Input Types: A/B Phase or Up/Down
Programmable automatic homing for each axis
Position comparison management and software limits
A wide range of synchronous actions (event-triggered actions)
Can operate as a standalone module or in conjunction with a PAC
Introduction:
Specifications:
The I-8094A is a 4-axis stepping/pulse-type servo
motor control module that can be used on any of the
ICP DAS PAC series controllers, and is suitable for
general-purpose motion applications. The I-8094A has
the full functions of the I-8094 and has an internal
80186 CPU allowing the module to be used to perform
additional functions, including the ability to perform motion
operations without requiring a PAC. When working with a
PAC, it also allows users to perform additional functions by
calling user-de ned subroutines (Macro functions). Users
can embed their customized processes (know-how) inside
this module.
Number of Axes
In addition to its wide speed range, this intelligent motion
controller also has a variety of motion control functions
built in, such as 2/3-axis linear interpolation, 2-axis
circular interpolation, T/S-curve acceleration/deceleration,
numerous synchronous actions, automatic homing, and
others. A major advantage is that the majority of the
I-8094A motion control functions are performed by the
high-performance motion ASIC with little load on the
processor. While driving the motors, the motion status,
and the status of the other I/O channels on the PAC
modules, can still be monitored.
As the CPU loading requirements of the I-8094A is
minimal, one or more motion modules may be used with
a single PAC controller. ICP DAS also provides a variety of
functions, and examples that can be used to reduce the
need for additional programming by users, making it a
highly cost-effective solution for motion control application
developers.
4
Maximum Pulse Output Rate 4 MHz
Command Type
Pulse Command
Resolution
32-bit
Pulse Output Mode
CW/CCW, PULSE/DIR
Operation Mode
Semi-closed Loop
Linear Interpolation
Any 2 to 3 of 4 axes
Circular Interpolation
Any 2 axes
Speed Curve Pro le
T/S-curve
Motion Relative I/O
Home, LMT+/-, NHOME, EMG, INP, ALM,
SVON
Synchronous Action
10 activation factors and 14 actions
Ring Counter Mode
32-bit
Position Control Mode
Incremental mode and absolute mode
Position Compare Trigger
10 KHz
Encoder Interface
A/B pulse, Up/Down
Encoder Counter
32-bit
Encoder Rate
4 MHz
Digital Input Channels
-
Digital Output Channels
-
I/O Isolation(with DN-8468) 2500 Vrms optical isolation
Connector
68-pin SCSI-II connector
Power Consumption
+5 V @ 500 mA
Macro Functions
•User-de ned subroutines
•The contents of subroutines can be different
depending on the users custom designs
•Functions can be loaded as a macro on-line
•Macro can be run as default function calls
•User's know-how can be maintained in
privacy
Environmental
Operating Temperature
-20 ~ +75°C
Storage Temperature
-30 ~ +85°C
Ambient Relative Humidity 5 ~ 90% RH, non-condensing
2-3-9
Machine Automation Solutions Catalog
Features of Motion Function:
2 or 3-Axis Linear Interpolation
2-Axis Circular Interpolation
2
3
High Speed Position Compare
PAC Solutions
Continuous interpolation
4 Steps Automatic Home Searching
Ordering Information/Accessories:
Module
Description
I-8094A-G
High-speed 4-axis Motion Control Module with Internal CPU
DN-8468UB
Photo-isolated Universal Snap-on Wiring Terminal Board
DN-8468GB
Photo-isolated General Purpose Wiring Terminal Board
DN-8468MB
Photo-isolated Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
DN-8468PB
Photo-isolated Snap-on Wiring Terminal Board for Panasonic MINAS A4/A5 Servo Ampli er
DN-8468YB
Photo-isolated Snap-on Wiring Terminal Board for Yaskawa Sigma II/III/V Servo Ampli er
DN-8468DB
Photo-isolated Snap-on Wiring Terminal Board for Delta ASDA-A Servo Ampli er
DN-8468FB
CA-SCSI15-H / CA-SCSI30-H /
CA-SCSI50-H
Photo-isolated Snap-on Wiring Terminal Board for Fuji FALDIC-W Servo Ampli er
68-pin SCSI-II Male-Male Connector Cable, Length 1.5 M / 3.0 M / 5.0 M
2-3-10
PAC Solutions - Motion Modules For PAC
I-8094H-G
High-speed 4-axis Motion Control Module with FRnet Master & Internal CPU
Features:
Independent 4-axis motion control
2
Support for hand wheel and jog functions
2/3-axis linear / 2-axis circular interpolation function
Continuous interpolation function
3
Programmable T/S-curve acceleration and deceleration
A maximum pulse output rate of 4 Mpps for each axis
Pulse Output Types: CW/CCW or PULSE/DIR
PAC Solutions
32-bit encoder counter for each axis
Encoder Pulse Input Types: A/B Phase or Up/Down
Programmable automatic homing for each axis
Position comparison management and software limits
A wide range of synchronous actions (event-triggered actions)
Expandable Remote I/O: 128 DI and 128 DO via a two-wire FRnet interface
Introduction:
Specifications:
The I-8094H is a 4-axis stepping/pulse-type servo
motor control module that can be used on any of the
ICP DAS PAC series controllers, and is suitable for
general-purpose motion applications. The I-8094H
has the full functions of the I-8094A with the addition of
an FRnet port, which allows the fast remote I/O of the
module to be expanded easily. This two-wired FRnet can
automatically scan its 128 DI and 128 DO channels within
a period of 2.88 ms.
Number of Axes
The internal CPU allows the module to be used to
perform motion operations without requiring a PAC.
When working with a PAC, it also allows users to
perform additional functions by integrating user-de ned
subroutines (Macro functions) from an external source,
meaning that customized proprietary processes
(know-how) can be embedded in the module. The
I-8094H module also contains a high-performance
motion ASIC.
Speed Curve Pro le
T/S-curve
Motion Relative I/O
Home, LMT+/-, NHOME, EMG, INP, ALM,
SVON
Synchronous Action
10 activation factors and 14 actions
Ring Counter Mode
32-bit
Position Control Mode
Incremental mode and absolute mode
Position Compare Trigger
10 KHz
Encoder Interface
A/B pulse, Up/Down
Encoder Counter
32-bit
Encoder Rate
4 MHz
Digital Input Channels
Expandable : 128 DI
Digital Output Channels
Expandable : 128 DO
In addition to its wide speed range, this intelligent
motion controller also has a variety of motion control
functions built in, such as 2/3-axis linear interpolation,
2-axis circular interpolation, T/S-curve acceleration/
deceleration, numerous synchronous actions, automatic
homing, and others. A major advantage is that the
majority of the I-8094H motion control functions are
performed by the high-performance motion ASIC with
little load on the processor. While driving the motors,
the motion status, and the status of the other I/O
channels on the PAC modules, can still be monitored.
As the CPU loading requirements of the I-8094H is
minimal, one or more motion modules may be used with
a single PAC controller. ICP DAS also provides a variety
of functions and examples that can be used to reduce
the need for additional programming by users, making
it a highly cost-effective solution for motion control
application developers.
2-3-11
4
Maximum Pulse Output Rate 4 MHz
Command Type
Pulse Command
Resolution
32-bit
Pulse Output Mode
CW/CCW, PULSE/DIR
Operation Mode
Semi-closed Loop
Linear Interpolation
Any 2 to 3 of 4 axes
Circular Interpolation
Any 2 axes
I/O Isolation(with DN-8468) 2500 Vrms optical isolation
Connector
68-pin SCSI-II connector
Power Consumption
+5 V @ 500 mA
Macro Functions
•User-de ned subroutines
•The contents of subroutines can be
different depending on the users custom
designs
•Functions can be loaded as a macro
on-line
•Macro can be run as default function calls
•User's know-how can be maintained in
privacy
Environmental
Operating Temperature
-20 ~ +75°C
Storage Temperature
-30 ~ +85°C
Ambient Relative Humidity
5 ~ 90% RH, non-condensing
Machine Automation Solutions Catalog
Features of Motion Function:
2 or 3-Axis Linear Interpolation
2-Axis Circular Interpolation
2
3
High Speed Position Compare
PAC Solutions
Continuous interpolation
4 Steps Automatic Home Searching
Ordering Information/Accessories:
Module
Description
I-8094H-G
High-speed 4-axis Motion Control Module with FRnet Master and Internal CPU
DN-8468UB
Photo-isolated Universal Snap-on Wiring Terminal Board
DN-8468GB
Photo-isolated General Purpose Wiring Terminal Board
DN-8468MB
Photo-isolated Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
DN-8468PB
Photo-isolated Snap-on Wiring Terminal Board for Panasonic MINAS A4/A5 Servo Ampli er
DN-8468YB
Photo-isolated Snap-on Wiring Terminal Board for Yaskawa Sigma II/III/V Servo Ampli er
DN-8468DB
Photo-isolated Snap-on Wiring Terminal Board for Delta ASDA-A Servo Ampli er
DN-8468FB
CA-SCSI15-H / CA-SCSI30-H /
CA-SCSI50-H
Photo-isolated Snap-on Wiring Terminal Board for Fuji FALDIC-W Servo Ampli er
68-pin SCSI-II Male-Male Connector Cable, Length 1.5 M / 3.0 M / 5.0 M
2-3-12
PAC Solutions - Motion Modules For PAC
I-8196F / I-9196F
DSP-based motion control module
Maximum pulse output frequency: 4 MHz
Maximum Encoder input frequency: 12 MHz
Independent 6-axis motion control
2- to 6-axis linear/ 2- to 3-axis circular/ helical interpolation function
Continuous interpolation
3
4-step home mode with auto-searching
PAC Solutions
2
High-speed, DSP-based, 6-axis
Motion ControlModule
with FRnet Master
Features:
Expansion card for ICPDAS programmable automation controller (PAC)
Software limit protection
Synchronized start motion
Programmable T/S-curve acceleration and deceleration
Software FIFO for arbitrary curve motion
High-speed position latch
High-speed compare trigger and auto-increment compare mode
Expandable remote I/O: 128 DI and 128 DO via a two-wire FRnet
interface.
Specifications:
Number of Axes
6
Maximum Pulse Output Rate
4 MHz
Command Type
Pulse command
are expansion units for the programmable automation
Pulse Output Mode
CW/CCW, PULSE/DIR, A/B pulse
controller (PAC) series provided by ICPDAS. The I-8196F
Linear Interpolation
Any 2- to 6-axis
Introduction:
The I-8196F and I-9196F are 6-axis stepping/
pulse-type servo motor control modules. Both modules
module is an expansion card for the XP-8000 and
WP-8000 series. The I-9196F module is a plug-in card for
the XP-9000 and WP-9000 series.
Any 2- or 3-axis
T/S-curve
Mechanical Switch Input
Home, LMT+/-, NHOME, LTC, EMG
Servo I/O Interface
Input: INP, ALM, RDY
Output: SVON, ALM_RST, ERC
control by monitoring the limits and emergency stops
Ring Counter Mode
32-bit
to ensure safe operation. I/O control output (e.g. latch,
Position Control Mode
Relative and absolute position
Position Compare Trigger
4 MHz
Encoder Interface
A/B pulse, Up/Down
The motion controller is suitable for general-purpose
Encoder Counter
32-bit
motion control applications. In additions to its wide speed
Maximum Encoder Counting Rate 12 MHz
A digital signal processor (DSP) calculates the
commanded move trajectory and manages supervisory
compare, encoder counter etc.) is realized in a Field
Programmable Gate Array (FPGA).
range, this intelligent motion controller also has a variety
of built-in motion control functions, such as 2- to 6-axis
linear interpolation, 2- and 3-axis circular interpolation,
helical interpolation, T/S-curve acceleration/deceleration,
and automatic home search, etc.
The motion controller uses FRnet as a communication
protocol to control distributed remote I/O modules. In
an FRnet network the motion controller acts as a master
Digital Input Channels
Digital Output Channels
Local: 12 DI
Expandable: 128 DI
Local: 3 DO
Expandable: 128 DO
I/O Isolation (with DN-8368)
2500 Vrms optical isolation
Connector
68-pin VHDCI connector and 20-pin SCSI-II
Power Consumption
+5 V @ 500 mA
Environmental
and can control up to 128 digital outputs and 128 digital
Operating Temperature
0 ~ +60 °C
inputs. The FRnet scan interval is 0.72 ms. FRnet is a
Storage Temperature
-20 ~ +80 °C
Ambient Relative Humidity
5 ~ 90 % RH, non-condensing
two-wire serial bus and is speci cally designed for easy
and cost effective wiring. ICPDAS provides a large range
of FRnet I/O terminal boards and modules.
Libraries and DLL are provided for the following operation
systems: Windows embedded, WinCE 5.0 and 6.0. A
software utility enables the user to initialize the motion
controller and execute motion commands.
2-3-13
Circular/Helical Interpolation
Speed Curve Pro le
Software Support:
WES
WinCE
32 bit:
Visual C++ lib/DLL
C#, VB.Net
LabVIEW
Con guration utility
Demo programs
Machine Automation Solutions Catalog
Features of Motion Function:
2 to 6-Axis Linear Interpolation
3-Axis Circular or Helical Interpolation
High Speed Position Compare
2
3
Huge Command Buffer and Real Time Coordinate Transformation
Suitable for Robotic Control
PAC Solutions
Multi-Axis Continuous Interpolation
(With Acc. and Dec.)
4 Steps Automatic Home Searching
Ordering Information/Accessories:
Model No.
I-8196F
I-9196F
DN-8368UB
DN-8368GB
DN-8368MB
DN-20M
CA-MINI68-15
CA-SCSI20-M1/M3/M5
CA-26-MJ3-15/30/50
Description
High-Speed 6-axis Motion Control Module with FRnet Master (For XP-8000/WP-8000 PAC)
High-Speed 6-axis Motion Control Module with FRnet Master (For XP-9000/WP-9000 PAC)
Photo-isolated Universal Snap-on wiring terminal board
Photo-isolated General-purpose wiring terminal board
Photo-isolated Snap-on wiring terminal board for Mitsubishi MELSERVO-J2 servo ampli er
General purpose digital input and remote digital I\O (FRnet) extension board
68-pin VHDCI to SCSI-II Connector Cable, Length 1.5 M
20-pin SCSI-II Male connector cable (for Mitsubishi J2 series motor), Length 1 M / 3 M / 5 M.
26-pin HD D-Sub Male Cable for Mitsubishi Servo Ampli er, 1.5/3/5 M. (for MELSERVO-J3/J4 Series)
CA-26-PA4-15/30/50
26-pin HD D-Sub Male Cable for Panasonic Servo Ampli er, 1.5/3/5 M. (for MINAS A4/A5 Series)
CA-26-YSV-15/30/50
26-pin HD D-Sub Male Cable for Yaskawa Servo Ampli er, 1.5/3/5 M. ( for Sigma II/III/V Series)
CA-26-TTA-15/30/50
26-pin HD D-Sub Male Cable for Teco Servo Ampli er, 1.5/3/5 M. (for TSTA-A/A+ Series)
CA-26-DAA2-15/30/50
26-pin HD D-Sub Male Cable for Delta A2 Servo Ampli er, 1.5/3/5 M. (for ASDA-A2 Series)
CA-26-DAB2-15/30/50
26-pin HD D-Sub Male Cable for Delta B2 Servo Ampli er, 1.5/3/5 M. (for ASDA-B2 Series)
CA-26-FFW-15/30/50
26-pin HD D-Sub Male Cable for Fuji Servo Ampli er, 1.5/3/5 M. ( for FALDIC-W and ALPHA5 Smart Series)
2-3-14
PAC Solutions - Motion Modules For PAC
I-8093W
High-speed 3-axis Encoder Module
Features:
3-axis Encoder Inputs
2
1 MHz Input Rate for Quadrant Input Mode
4 MHz Input Rate for Pulse/Direction and cw/ccw Input Modes
3
32-bit Count Range
PAC Solutions
2500 Vrms Optical Isolation
Introduction:
Applications:
The I-8093W is a 3-axis high speed encoder module. Its each
axis can be independently con gured as one of Quadrant, Pulse/
Direction or CW/CCW input mode. The maximum input rate for
Quadrant mode is 1 MHz, and for Pulse/Direction and CW/CCW
modes is 4 MHz.
• Position Measure of Motion System
The high-end specifications of I-8093W and complete software
support make it ideal for wide range applications in position
measurement of motion systems for industrial and laboratory
environment.
System Specifications:
I/O Specifications:
Display
Encoder Input
LED Display
1 LED as Power Indicator
9 LED as Status Indicator
Isolation
Intra-module Isolation,
Field to Logic
2500 Vrms
ESD Protection
4 KV Contact for each channel
Power
Power Consumption
2 W Max
Mechanical
Dimensions (W x L x H) 30 mm x 102 mm x 115 mm
Environment
Operating Temperature -25 ~ 75 °C
2-3-15
Storage Temperature
-30 ~ 85 °C
Humidity
5 ~ 95 % RH, Non-condensing
Input Axis
3-axis
Encoder Counter
32-bit
1.
2.
3.
1.
Maximum Counting Rate 2.
3.
Counting Mode
Quadrant Counting
CW/CCW
Pulse/Dir
Quadrant Counting : 1 MHz
CW/CCW : 4 MHz
Pulse/Dir : 4 MHz
Machine Automation Solutions Catalog
Internal I/O Structure:
Dimensions (Units: mm):
2
3
PAC Solutions
Wire Connection:
PIN Assignments:
Ordering Information:
Module
I-8093W
Description
High-speed 3-axis Encoder Module
2-3-16
PAC Solutions - Motion Modules For PAC
I-9093
High-speed 3-axis Encoder Module with Compare Trigger Output
Features:
2
3-axis Encoder Inputs
3
Encoder pulse input types: A/B phase, CW/CCW, Pulse/Dir
32-bit encoder counters
PAC Solutions
Compare Trigger Output
Introduction:
I-9093 includes three axes encoder with position matching circuit. I-9093 can generate a trigger signal when the motor reaches a
speci ed position. The speci ed position is called a breakpoint and is similar to a switch that is triggered after the motor passes a certain
position.
To use the position matching, you have to set an initial point (P) and a trigger period of the following points (D).
The trigger signal is an I/O line that can be
used to fire another device. For example,
when a motor reaches a certain position, the
trigger signal can be used to re the shutter of
a camera to capture an image for the defect
detection.
All operations of the position matching are
automatically done by the hardware circuit.
There is no software calculation effort when
the system is operating. I-9093 makes the
system design simpler, and significantly
increases the system performance.
System Specifications:
Applications:
LED Display
•
•
•
•
System LED Indicator
1 LED as Power Indicator
12 LED as Status Indicator
Isolation
Intra-module Isolation,
Field to logic
ESD (IEC 61000-4-2)
3000 VDC
±4 kV Contact for Each Terminal
±8 kV Air for Random Point
Power
Power Consumption
2 W Max.
Mechanical
Dimensions (L x W x H)
134 mm X 30.3 mm X 144 mm
Environment
2-3-17
Data acquisition operation
Optical inspection line-scan systems
Image capture
Position Measure
Operating Temperature
-25 ~ +75°C
Storage Temperature
-30 ~ +85°C
Humidity
5 ~ 95% RH, Non-condensing
I/O Specifications:
Encoder with Compare Trigger Output
Encoder Axis
3
Encoder Counter
32-bit
Counting Mode
Quadrant , CW/CCW , Pulse/Dir
Counting Rate
Quadrant (2MHz)
CW/CCW, Pulse/Dir (6MHz)
Compare Trigger Out
3 (open collector)
Machine Automation Solutions Catalog
Internal I/O Structure:
Dimensions (Units: mm):
LED Module
144.0
124.0
I-9093
30.3
Ax+
AxBx+
Counter
32-bit
Address
BxCx+
DataBus
Hardware
Latch or Reset
128.5
CxIx+
134.0
Ix-
Compare
Trigger
Trigx
DC - DC
ISO5V
ISO.GND
Left Side View
Wire Connection:
+
-
Drive Relay
y
Resistance
ed
Load
PIN Assignments:
ON State
ON
State
Stat
R db k as
1 1
Readback
R
l
ON
Relay
ON
Re
elay
e
ay O
Output
Type
+
-
Relay
Contact
DOx
DO.GND
ON
N
LEDONON
O
ONState
State LED
Readback
eadbackasas1 1
Readback
Re
elay
el
ay O
Relay
ON
Input Type
e
OFF State
State
OFF
R db k as0 0
Readback
eadback
R
l y OFF
Relay
Re
ela
e
ay
OF
OFF
+
-
DOx
DO.GND
+
-
+
-
X+
Relay Close
X-
+
-
Logic Power
Logic Level Low
- +
ON
X+
X-
X+
X-
Open
O
pen
Collecto
Co
C
Collector
llllector
t ON
O
Open Collector ON
PNP
Output
+ ON
01
17
A0-
02
18
B0-
C0+
03
19
C0-
I0+
04
20
I0-
Trig0
05
21
ISO.GND
A1+
06
22
A1-
B1+
07
23
B1-
C1+
08
24
C1-
I1+
09
25
I1-
Trig1
10
26
ISO.GND
A2+
11
27
A2-
B2+
12
28
B2-
X+
C2+
13
29
C2-
X-
I2+
14
30
I2-
Trig2
15
31
ISO.GND
ISO5V
16
32
ISO.GND
X+
X-
1
17
OFF
FF
LEDOFF
OF
OFF
OFFState
State LED
Readback
eadback
as0 0
Readback as
Relay
Re
ela
ela
ayyy OF
OFF
Relay Open
Logic Power
Logic Level High
Pin
Assignment
B0+
DOx
DO.GND
+
-
Terminal No.
A0+
Vol
Voltage
atage
< 0.8
0.8
0 8V V
Vllt
otlage
g <
Open
O
pen
C
Collector
lector
t ONON
O
Open
p Co
Colllllector
NPN
Output
Pin
Assignment
DOx
DO.GND
+
-
Voltage
V
Vo
olt
o
tltage
Voltage
g >>4 4V V
S
TTL/CMOS
Logic
Front View
3
PAC Solutions
Logic Control
2
16
32
X+
32-pin Connector
X-
Open
O
pen
C
Collector
t OFF
OFF
OF
Open
p Col
Collllector
lector
- +
OFF
X+
X-
Open
O
pen
Collecto
Col
C
Collector
lllector
t OFF
OF
Open Collector OFF
+ OFF
X+
X-
Ordering Information:
Module
I-9093-G CR
Description
High-speed 3-axis Encoder Module with Compare Trigger Output
2-3-18
PAC Solutions - Motion Modules For PAC
Features of Motion Function
1. Linear Interpolation
2. Circular Interpolation
3. Continuous Interpolation
2
PAC Solutions
3
4. Four Steps Automatic Home Searching
6. Huge Command Buffer and Real Time Coordinate
Transformation Suitable for Robotic Control
5. High Speed Position Compare
Motion Products
Model
Features of Motion Functions
1. Linear
Interpolation
2. Circular
Interpolation
3. Continuous
Interpolation
2-axis
Constant Vector
Speed
4. Four Steps
6. Huge Command Buffer and
5. High Speed
Automatic Home
Real Time Coordinate TransformaPosition Compare
Searching
tion Suitable for Robotic Control
PC-based Motion Control Cards
PISO-PS200
PISO-PS400
PISO-PS410
2-axis
3-axis
Yes
PISO-PS600
6-axis
3-axis
With Acc. and Dec.
PISO-PS810
2 Groups
3-axis
2 Groups
2-axis
Constant Vector
Speed
2-axis
Constant Vector
Speed
3-axis
With Acc. and Dec.
Yes
Yes
-
Motion Control Modules for PAC
2-3-19
I-8092F
2-axis
I-8094/I-8094F
3-axis
I-8196F/9196F
6-axis
ICP DAS CO., LTD.
Yes
Yes
Professional Provider of High Quality Industrial Computer Products and Data Acquisition Systems
Yes
PC-based Solutions
3. PC-based Solutions
PC-based PCI/ISA Bus Motion Cards ................................................................................................... 3-1
PISO-PS200.................................................................................................................................................
PISO-PS400.................................................................................................................................................
PISO-PS410.................................................................................................................................................
PISO-PS600.................................................................................................................................................
PISO-PS810...............................................................................................................................................
PISO-ENCODER300U..................................................................................................................................
PISO-ENCODER600U..................................................................................................................................
PISO-PS300U ............................................................................................................................................
PMDK .......................................................................................................................................................
ENCODER300 ............................................................................................................................................
STEP-200 ..................................................................................................................................................
SERVO-300 ...............................................................................................................................................
3-3
3-5
3-7
3-9
3-11
3-13
3-14
3-15
3-16
3-17
3-18
3-19
PC-based Solutions - Motion Control Cards
3. PC-based Solutions
PC-based Motion Control Cards
Overview
Introduction
3
PC-based Solutions
1
3-1
As a leading automation solutions provider, ICP DAS not only provides PAC solutions, but also develops PC-based solutions for
machine automation applications, including the PCI bus motion control cards and the ISA bus motion control cards series.
In addition, we also offer a variety of quick-connect terminal blocks for a range of servo motors, including Mitsubishi, Panasonic,
Yaskawa, Delta, etc., which helps customers quickly implement the installation and reduce the potential for using the incorrect
wiring.
Machine Automation Solutions Catalog
Applications
•
•
•
•
•
•
•
•
•
•
•
Semiconductor Manufacturing
Component Inspection
Manufacturing Quality Control
Food and Beverage Inspection
Microscopy and Medical Imaging
Biometrics Applications
X-Y-Z Table
Fix-pitch Stamping Machinery
Transfer Machinery
Spinner
Load/Unload
3
Application System Structure
1
Selection Guide : PC-based PCI/ISA Bus Motion Control Cards and Terminal Boards
PCI Bus Motion Control Cards
PCI Bus, High-speed 2-axis Motion Control Card with FRnet Master
PISO-PS400
PCI Bus, High-speed 4-axis Motion Control Card with FRnet Master
PISO-PS410
PCI Bus, High-speed 4-axis Motion Control Card with FRnet Master
PISO-PS600
PCI Bus, High-speed, DSP-based, 6-axis Motion Control Card with FRnet Master
PISO-PS810
PCI Bus, High-speed 8-axis Motion Control Card with FRnet Master (Available Soon!)
PISO-ENCODER300U
PCI Bus, 3-axis Encoder Input Card
PISO-ENCODER600U
PCI Bus, 6-axis Encoder Input Card
PISO-PS300U
PCI Bus, 3-axis Stepper Motor/Servo Control Card (Limited Function and Economical)
PMDK
PCI Bus, DSP-based Professional Motion Development Kit
PC-based Solutions
PISO-PS200
ISA Bus Motion Control Cards
Encoder300
ISA Bus, 3-axis Encoder Interface Card
STEP-200
ISA Bus, 2-axis High-speed Stepper Motor Control Card (Limited Function and Economical)
SERVO-300
ISA Bus, 3-axis High-speed Servo Motor Control Card (V Command)
Terminal Boards for Machine Automation Products
DB-8R
DB-200
DN-68 CR
~New~ DN-20M
DN-8237 Series
DN-8237UB
DN-8237GB
DN-8237MB
DN-8237PB
DN-8237YB
DN-8237DB
~New~ DN-8368 Series
DN-8368UB
DN-8368GB
DN-8368MB
DN-8468 Series
DN-8468UB
DN-8468GB
DN-8468MB
DN-8468PB
DN-8468YB
DN-8468DB
DN-8468FB
~New~ DN-84100U
Relay Board for Servo-300 and PISO-PS300U
Encoder Input Board for Servo-300
Encoder Input Board for PISO-ENCODER300U/PISO-ENCODER600U
Manual-Pulse-Generator (MPG) and FRnet Input Board for PISO-PS600/VS600/PMDK
Photo-isolated Terminal Board for 2-axis Stepper/Servo Motion Controller
Universal Snap-on Wiring Terminal Board
General Purpose Wiring Terminal Board
Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
Snap-on Wiring Terminal Board for Panasonic MINAS A4/A5 Servo Ampli er
Snap-on Wiring Terminal Board for Yaskawa Sigma II/III/V Servo Ampli er
Snap-on Wiring Terminal Board for Delta ASDA-A Servo Ampli er
Photo-isolated Terminal Board for PISO-PS600/VS600/PMDK
Universal Snap-on Wiring Terminal Board
General Purpose Wiring Terminal Board
Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
Photo-isolated Terminal Board for ICP DAS 4-axis Stepper/Servo Motion Controllers
Universal Snap-on Wiring Terminal Board
General Purpose Wiring Terminal Board
Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
Snap-on Wiring Terminal Board for Panasonic MINAS A4/A5 Servo Ampli er
Snap-on Wiring Terminal Board for Yaskawa Sigma II/III/V Servo Ampli er
Snap-on Wiring Terminal Board for Delta ASDA-A Servo Ampli er
Snap-on Wiring Terminal Board for Fuji FALDIC-W Servo Ampli er
Universal Snap-on Wiring Terminal Board for PISO-PS410 and PISO-PS810
3-2
PC-based Solutions - Motion Control Cards
PISO-PS200
PCI Bus, High-speed 2-axis Motion Control Card with FRnet Master
Features:
Independent 2-axis motion control
Support for hand wheel and jog functions
2-axis linear / 2-axis circular interpolation function
Continuous interpolation function
Programmable T/S-curve acceleration and deceleration
3
A maximum of 4 Mpps pulse output rate for each axis
Pulse output types: CW/CCW or PULSE/DIR
1
32-bit encoder counter for each axis
Encoder pulse input types: A/B phase or Up/Down
PC-based Solutions
Programmable automatic homing for each axis
Programmable software limits
Expandable Remote I/O: 128 DI and 128 DO via a two-wire FRnet interface
Introduction:
Specifications:
The PISO-PS200 is a 2-axis stepping/pulse-type servo
motor control card that can be used on any IPC with a 5 V
PCI bus, and is suitable for general-purpose motion control
applications. This card equipped with one FRnet Master which
allows the fast remote I/O of the IPC to be expanded easily.
The two-wired FRnet interface allows a maximum 128 DI and
128 DO channels, which are automatically scanned within a
period of 2.88 ms.
Number of Axes
2
Slot Interface
5 V PCI bus
In addition to its wide speed range, this intelligent motion
controller also has a variety of motion control functions
built in, such as 2-axis linear interpolation, 2-axis circular
interpolation, T/S-curve acceleration/deceleration, numerous
synchronous actions, automatic homing, and others. A major
advantage is that the majority of the PISO-PS200 motion
control functions are performed by the high-performance
motion ASIC with little load on the processor. The motion
status, FRnet I/O, and the other I/O cards on the IPC can still
be monitored while driving the motors.
As the low CPU loading requirements of the PISO-PS200
is minimal, one or more motion cards can be used with a
single IPC. ICP DAS also provides a variety of functions and
examples that can be used to reduce the need for additional
programming, making it a highly cost-effective solution for
motion control application developers.
Software Support:
3-3
Windows Driver/DLL/Lib
Windows XP/2000
DOS Library
-
Labview Development Kit
-
Linux Library
-
Maximum Pulse Output Rate 4 MHz
Command Type
Pulse command
Resolution
32-bit
Pulse Output Mode
CW/CCW, PULSE/DIR
Operation Mode
Semi-closed Loop
Linear Interpolation
2 axes
Circular Interpolation
2 axes
Speed Curve Pro le
T/S-curve
Motion Relative I/O
Home, LMT+/-, NHOME, EMG, INP,
ALM, SVON
Synchronous Action
-
Ring Counter Mode
32-bit
Position Control Mode
Incremental mode
Position Compare Trigger
-
Encoder Interface
A/B pulse, Up/Down
Encoder Counter
32-bit
Encoder Rate
4 MHz
Digital Input Channels
Expandable: 128 DI
Digital Output Channels
Expandable: 128 DO
I/O Isolation (with DN-8237) 2500 Vrms optical isolation
Connector
37-pin D-sub
Power Consumption
+5 V @ 500 mA
Environmental
Operating Temperature
-20 ~ +75°C
Storage Temperature
-30 ~ +85°C
Ambient Relative Humidity
5 ~ 90% RH, non-condensing
Machine Automation Solutions Catalog
Features of Motion Function:
2-Axis Linear Interpolation
2-Axis Circular Interpolation
3
Continuous interpolation
1
PC-based Solutions
4 Steps Automatic Home Searching
Ordering Information/Accessories:
Model No.
Description
PISO-PS200
PCI Bus, High-speed 2-axis Motion Control Card with FRnet Master
DN-8237UB
Photo-isolated Universal Snap-on Wiring Terminal Board
DN-8237GB
Photo-isolated General Purpose Wiring Terminal Board
DN-8237MB
Photo-isolated Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
DN-8237PB
Photo-isolated Snap-on Wiring Terminal Board for Panasonic MINAS A4/A5 Servo Ampli er
DN-8237YB
Photo-isolated Snap-on Wiring Terminal Board for Yaskawa Sigma II/III/V Servo Ampli er
DN-8237DB
CA-3715DM-H / CA-3730DM-H /
CA-3750DM-H
Photo-isolated Snap-on Wiring Terminal Board for Delta ASDA-A Servo Ampli er
37-pin D-Sub Male-Male Cable for Terminal Board (180º), Length 1.5 M / 3.0 M / 5.0 M.
3-4
PC-based Solutions - Motion Control Cards
PISO-PS400
PCI Bus, High-speed 4-axis Motion Control Card with FRnet Master
Features:
Independent 4-axis motion control
Support for hand wheel and jog functions
2/3-axis linear / 2-axis circular interpolation function
Continuous interpolation function
Programmable T/S-curve acceleration and deceleration
A maximum pulse output rate of 4 Mpps for each axis
3
Pulse output types: CW/CCW or PULSE/DIR
32-bit encoder counter for each axis
1
Encoder pulse input types: A/B phase or Up/Down
Programmable automatic homing for each axis
PC-based Solutions
Programmable software limits
A wide range of synchronous actions (event-triggered actions)
Expandable Remote I/O: 128 DI & 128 DO via a two-wire FRnet interface
Introduction:
Specifications:
The PISO-PS400 is a 4-axis stepping/pulse-type servo motor
control card that can be used on any IPC with a 5 V PCI bus,
and is suitable for general-purpose motion control applications.
This card equipped with one FRnet Master which allows the fast
remote I/O of the IPC to be expanded easily. The two-wired
FRnet interface allows a maximum 128 DI and 128 DO channels,
which are automatically scanned within a period of 2.88 ms.
Number of Axes
4
Slot Interface
5 V PCI bus
In addition to its wide speed range, this intelligent motion
controller also has a variety of motion control functions built
in, such as 2/3-axis linear interpolation, 2-axis circular
interpolation, T/S-curve acceleration/deceleration, numerous
synchronous actions, automatic homing, and others. A major
advantage is that the majority of the PISO-PS400 motion
control functions are performed by the high-performance motion
ASIC with little load on the processor. The motion status, FRnet
I/O, and the other I/O cards on the IPC can still be monitored
while driving the motors.
As the low CPU loading requirements of the PISO-PS400
is minimal, one or more motion cards can be used with a
single IPC. ICP DAS also provides a variety of functions and
examples that can be used to reduce the need for additional
programming, making it a highly cost-effective solution for
motion control application developers.
Software Support:
3-5
Windows Driver/DLL/Lib
Windows 7 32/64-bit
Windows XP/2000 32-bit
DOS Library
-
Labview Development Kit
Labview 5.0 ~ Labview 8.x
Linux Library
-
Maximum Pulse Output Rate 4 MHz
Command Type
Pulse Command
Resolution
32-bit
Pulse Output Mode
CW/CCW, PULSE/DIR
Operation Mode
Semi-closed Loop
Linear Interpolation
Any 2 to 3 of 4 axes
Circular Interpolation
Any 2 axes
Speed Curve Pro le
T/S-curve
Motion Relative I/O
Home, LMT+/-, NHOME, EMG, INP,
ALM, SVON
Synchronous Action
10 activation factors and 14 actions
Ring Counter Mode
32-bit
Position Control Mode
Incremental mode and absolute mode
Position Compare Trigger
10 KHz
Encoder Interface
A/B pulse, Up/Down
Encoder Counter
32-bit
Encoder Rate
4 MHz
Digital Input Channels
Expandable : 128 DI
Digital Output Channels
Expandable : 128 DO
I/O Isolation (With
DN-8468)
2500 Vrms optical isolation
Connector
68-pin SCSI-II connector
Power Consumption
+5 V @ 500 mA
Environmental
Operating Temperature
-20 ~ +75°C
Storage Temperature
-30 ~ +85°C
Ambient Relative Humidity
5 ~ 90% RH, non-condensing
Machine Automation Solutions Catalog
Features of Motion Function:
2 or 3-Axis Linear Interpolation
2-Axis Circular Interpolation
Continuous interpolation
High Speed Position Compare
3
1
PC-based Solutions
4 Steps Automatic Home Searching
Ordering Information/Accessories:
Model No.
Description
PISO-PS400
PCI Bus, High-speed 4-axis Motion Control Card with FRnet Master
DN-8468UB
Photo-isolated Universal Snap-on Wiring Terminal Board
DN-8468GB
Photo-isolated General Purpose Wiring Terminal Board
DN-8468MB
Photo-isolated Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
DN-8468PB
Photo-isolated Snap-on Wiring Terminal Board for Panasonic MINAS A4/A5 Servo Ampli er
DN-8468YB
Photo-isolated Snap-on Wiring Terminal Board for Yaskawa Sigma II/III/V Servo Ampli er
DN-8468DB
Photo-isolated Snap-on Wiring Terminal Board for Delta ASDA-A Servo Ampli er
DN-8468FB
CA-SCSI15-H / CA-SCSI30-H /
CA-SCSI50-H
Photo-isolated Snap-on Wiring Terminal Board for Fuji FALDIC-W Servo Ampli er
68-pin SCSI-II Male-Male Connector Cable, Length 1.5 M / 3 M / 5 M.
3-6
PC-based Solutions - Motion Control Cards
PISO-PS410
PCI Bus, High-speed 4-axis Motion Control Card with FRnet Master
Features:
Independent 4-axis motion control
Support for hand wheel and jog functions
4-step home modes with auto-searching
2/3-axis linear interpolation function
2-axis circular interpolation function
1
High-speed auto incremental and auto reloadable compare
output (CMP)
Expandable remote I/O:
128 DI and 128 DO via a two-wire FRnet interface.
PC-based Solutions
3
Programmable T/S-curve acceleration and deceleration
Programmable ring counter
Alarm reset and error counter clear output (ERC)
Introduction:
Specifications:
The PISO-PS410 is a 4-axis stepping/pulse-type servo
motor control card that can be used on any IPC with a 5 V
or 3.3 V PCI bus, and is suitable for general-purpose motion
control applications. This card equipped with one FRnet Master
which allows the fast remote I/O of the IPC to be expanded
easily. The two-wired FRnet interface allows a maximum 128
DI and 128 DO channels, which are automatically scanned
within a period of 0.72 ms.
Number of Axes
4
Slot Interface
Universal PCI Bus
In addition to its wide speed range, this intelligent motion
controller also has a variety of motion control functions built
in, such as 2/3-axis linear interpolation, 2-axis circular
interpolation, T/S-curve acceleration/deceleration, numerous
synchronous actions, automatic homing, and others. A major
advantage is that the majority of the PISO-PS410 motion
control functions are performed by the high-performance
motion ASIC with little load on the processor. The motion
status, FRnet I/O, and the other I/O cards on the IPC can still
be monitored while driving the motors.
As the low CPU loading requirements of the PISO-PS410
is minimal, one or more motion cards can be used with a
single IPC. ICP DAS also provides a variety of functions and
examples that can be used to reduce the need for additional
programming, making it a highly cost-effective solution for
motion control application developers.
Software Support:
3-7
Maximum Pulse Output Rate 4 MHz
Command Type
Pulse Command
Pulse Output Mode
CW/CCW, PULSE/DIR
Operation Mode
Semi-closed Loop
Linear Interpolation
Any 2 to 3 of 4 axes
Circular Interpolation
Any 2 axes
Speed Curve Pro le
T/S curve
Mechanical Switch Input
Home, LMT+/-, NHOME, EMG
Servo I/O Interface
Input : INP, ALM
Output: SVON, ALM_RST, ERC
Synchronous Action
10 activation factors and 14 actions
Ring Counter Mode
32-bit
Position Control Mode
Incremental mode and absolute mode
Position Compare Trigger
4 MHz
Encoder Interface
A/B pulse, Up/Down
Encoder Counter
32-bit
Encoder Counting Rate
4 MHz
Digital Input Channels
Local : 4 DI
Expandable : 128 DI
Digital Output Channels
Local : 4 DO
Expandable : 128 DO
I/O Isolation
2500 Vrms optical isolation
Connector
100-pin SCSI-II
Power Consumption
+5 V @ 500 mA
Windows Driver/DLL/Lib
Windows 7 32/64-bit
Windows XP/2000 32-bit
Environmental
DOS Library
-
Labview Development Kit
-
Storage Temperature
-30 ~ +85 °C
Linux Library
-
Ambient Relative Humidity
5 ~ 90 % RH, non-condensing
Operating Temperature
-20 ~ +75 °C
Machine Automation Solutions Catalog
Features of Motion Function:
2 or 3-Axis Linear Interpolation
2-Axis Circular Interpolation
Continuous interpolation
3
High Speed Position Compare
1
PC-based Solutions
4 Steps Automatic Home Searching
Ordering Information/Accessories:
Model No.
Description
PISO-PS410
PCI Bus, High-speed 4-axis Motion Control Card with FRnet Master
DN-84100U
Universal Snap-on Wiring Terminal Board for PISO-PS410 and PISO-PS810
CA-SCSI100-15
SCSI-II 100-pin & 100-pin Male Connector Cable, Length 1.5 M.
3-8
PC-based Solutions - Motion Control Cards
PISO-PS600
PCI Bus, High-speed, DSP-based, 6-axis Motion Control Card with FRnet Master
Features:
DSP-based motion control card with PCI interface
Independent 6-axis motion control
Support both full-closed and semi-closed control modes
Maximum pulse output frequency: 4 Mpps
Maximum Encoder input frequency: 12 MHz
4-step home mode with auto-searching
3
2- to 6-axis linear/2- to 3-axis circular interpolation function
Programmable T/S-curve acceleration and deceleration
1
Change speed and position on the y
High-speed position latch and compare trigger
PC-based Solutions
Fully-functional manual-pulse-generator and jog functions
Expandable remote I/O: 128 DI and 128 DO
via a two-wire FRnet interface.
Introduction:
Specifications:
The PISO-PS600 controller combines a new generation
1600 MIPS digital signal processor with a 9526 logic element
FPGA (Field Programmable Gate Array), I/O buffering circuitry,
and motion control characterization software to control the
position of 6-axis pulse command servo/stepper motors. The
PISO-PS600 not only realizes motion control using full-closed
loop (or semi-closed loop) operations and error handling, but
also adopts feed-forward gain to reduce the speed profile
following errors to achieve position control.
Number of Axes
6
Slot Interface
Universal PCI Bus
The PISO-PS600 can be used on any IPC with a PCI bus, and
is suitable for general-purpose motion control applications. This
card also contains one FRnet port which allows the fast digital
I/O of the IPC to be easily expanded. This two-wired FRnet
interface allows a maximum 128 DI and 128 DO channels,
which are automatically scanned within a period of 0.72 ms.
In additions to its wide speed range, this intelligent motion
controller also has a variety of built-in motion control functions,
such as 2- to 6-axis linear interpolation, 2- to 3-axis
circular interpolation, T/S-curve acceleration/deceleration, and
automatic homing, etc.
Maximum Pulse Output Rate 4 MHz
Command Type
Pulse Command
Servo Update Rate
2 KHz
Pulse Output Mode
CW/CCW, PULSE/DIR, A/B pulse
Operation Mode
Full-closed Loop/Semi-closed Loop
Linear Interpolation
Any 2 to 6 of 6 axes
Circular Interpolation
Any 2 to 3 of 6 axes
Speed Curve Pro le
T/S-curve
Mechanical Switch Input
Home, LMT+/-, NHOME, LTC, EMG
Servo I/O Interface
Input: INP, ALM, RDY
Output: SVON, ALM_RST, ERC
Ring Counter Mode
32-bit
Position Control Mode
Incremental mode and absolute mode
Position Compare Trigger
4 MHz
Encoder Interface
A/B pulse, Up/Down
Encoder Counter
32-bit
Encoder Counting Rate
12 MHz
Digital Input Channels
Digital Output Channels
Local: 12 DI
Expandable: 128 DI
Local: 3 DO
Expandable: 128 DO
I/O Isolation (with DN-8368) 2500 Vrms optical isolation
Software Support:
3-9
Windows Driver/DLL/Lib
Windows 7 32/64-bit
Windows XP/2000 32-bit
DOS Library
-
Connector
68-pin VHDCI Connector and 20-pin
SCSI-II
Power Consumption
+5 V @ 500 mA
Environmental
Operating Temperature
0 ~ +60 °C
Labview Development Kit -
Storage Temperature
-20 ~ +80 °C
Linux Library
Ambient Relative Humidity
5 ~ 90 % RH, non-condensing
-
Machine Automation Solutions Catalog
Features of Motion Function:
2 to 6-Axis Linear Interpolation
3-Axis Circular or Helical Interpolation
High Speed Position Compare
3
Multi-Axis Continuous Interpolation
(With Acc. and Dec.)
1
Huge Command Buffer and Real Time Coordinate Transformation
Suitable for Robotic Control
PC-based Solutions
4 Steps Automatic Home Searching
Ordering Information/Accessories:
Model No.
Description
PISO-PS600
PCI Bus, High-Speed, DSP-based, 6-axis Motion Control Card with FRnet Master
DN-8368UB
Photo-isolated Universal Snap-on wiring terminal board
DN-8368GB
Photo-isolated General-purpose wiring terminal board
DN-8368MB
Photo-isolated Snap-on wiring terminal board for Mitsubishi MELSERVO-J2 servo ampli er
DN-20M
Manual-Pulse-Generator (MPG) and FRnet Input Board for PISO-PS600/VS600/PMDK (RoHS)
CA-MINI68-15
CA-SCSI20-M1 / CA-SCSI20-M3 /
CA-SCSI20-M5
68-pin VHDCI to SCSI-II Connector Cable, Length 1.5 M
20-pin SCSI-II Male connector cable (for Mitsubishi J2 series motor), Length 1 M / 3 M / 5 M.
3-10
PC-based Solutions - Motion Control Cards
PISO-PS810
PCI Bus, High-speed 8-axis Motion Control Card with FRnet Master
Features:
Independent 8-axis motion control
Support for hand wheel and jog functions
4-step home modes with auto-searching
2/3-axis linear interpolation function
2-axis circular interpolation function
3
Programmable T/S-curve acceleration and deceleration
Programmable ring counter
PC-based Solutions
1
Alarm reset and error counter clear output (ERC)
High-speed auto-incremental and auto-reloadable compare output
(CMP)
Expandable remote I/O: 128 DI & 128 DO via a two-wire FRnet
interface
Introduction:
Specifications:
The PISO-PS810 is a 8-axis stepping/pulse-type servo
motor control card that can be used on any IPC with a 5 V
or 3.3 V PCI bus, and is suitable for general-purpose motion
applications. This card equipped with one FRnet Master which
allows the fast remote I/O of the IPC to be expanded easily.
The two-wired FRnet interface allows a maximum 128 DI and
128 DO channels, which are automatically scanned within a
period of 0.72 ms.
Number of Axes
8
Slot Interface
Universal PCI bus
In addition to its wide speed range, this intelligent motion
controller also has a variety of motion control functions built
in, such as 2/3-axis linear interpolation, 2-axis circular
interpolation, T/S-curve acceleration/deceleration, numerous
synchronous actions, automatic homing, and others. A major
advantage is that the majority of the PISO-PS810 motion
control functions are performed by the high-performance
motion ASIC with little load on the processor. The motion
status, FRnet I/O, and the other I/O cards on the IPC can still
be monitored while driving the motors.
3-11
Maximum Pulse Output Rate 4 MHz
Command Type
Pulse Command
Resolution
32-bit
Pulse Output Mode
CW/CCW, PULSE/DIR
Operation Mode
Semi-closed Loop
Linear Interpolation
2 groups of 2 to 3 axes Interpolation
Circular Interpolation
2 groups of 2 axes Interpolation
Speed Curve Pro le
T/S curve
Motion Relative I/O
Home, LMT+/-, NHOME, EMG, INP,
ALM, SVON, ALM_RST, ERC
Synchronous Action
10 activation factors and 14 actions
Ring Counter Mode
32-bit
Position Control Mode
Incremental mode and absolute mode
Position Compare Trigger
4 MHz
Encoder Interface
A/B Pulse, Up/Down
As the low CPU loading requirements of the PISO-PS810
is minimal, one or more motion cards can be used with a
single IPC. ICP DAS also provides a variety of functions and
examples that can be used to reduce the need for additional
programming, making it a highly cost-effective solution for
motion control application developers.
Encoder Counter
32-bit
Encoder Rate
4 MHz
Digital Input Channels
Local : 8 DI
Expandable : 128 DI
Digital Output Channels
Local : 8 DO
Expandable : 128 DO
I/O Isolation
2500 Vrms optical isolation
Software Support:
Connector
100-pin VHDCI
Power Consumption
+5 V @ 500 mA
Windows Driver/DLL/Lib
Windows 7 32/64-bit
Windows XP/2000 32-bit
DOS Library
-
Labview Development Kit
-
Linux Library
-
Environmental
Operating Temperature
-20 ~ +75 °C
Storage Temperature
-30 ~ +85 °C
Ambient Relative Humidity
5 ~ 90 % RH, non-condensing
Machine Automation Solutions Catalog
Features of Motion Function:
2 or 3-Axis Linear Interpolation
2-Axis Circular Interpolation
3
Continuous interpolation
High Speed Position Compare
1
PC-based Solutions
4 Steps Automatic Home Searching
Ordering Information/Accessories:
Model No.
Description
PISO-PS810
DN-84100U
PCI Bus, High-speed 8-axis Motion Control Card with FRnet Master
Universal Snap-on Wiring Terminal Board for PISO-PS410 and PISO-PS810
CA-MINI100-15
100-pin VHDCI to SCSI-II Connector Cable, Length 1.5 M
3-12
PC-based Solutions - Motion Control Cards
PISO-ENCODER300U
PCl Bus, 3-axis Encoder Input Card
Features:
Universal PCI bus
3-axis encoder counter
True 32-bit counter
Maximum Counting Rate: 1 MHz
Third-order internal digital lter
A+, A-, B+, B-, C+, C- inputs
1
Hardware reset (HR1 ~ HR6), reset counter function
PC-based Solutions
3
Counting Mode: Quadrant, CW/CCW, PULSE/DIR
Programmable reset counter function
Index (C channel) reset counter function
68-pin SCSI-II connector
Introduction:
Specifications:
The PISO-ENCODER300U contains a 3-axis encoder
counter and each axis has a 32-bit, true counter with a
maximum counting rate of 1 MHz. The counting mode can
be selected from three types: 1. Quadrant mode, 2. CW/
CCW mode, and 3. PULSE/DIR mode. There are also three
3 kinds of counter reset modes provided: 1. Register Reset,
2. Index Reset, and 3. Hardware Reset. The "Index Reset"
mode resets by using a C+/C- channel, which will reset the
counter on each revolution. The "Hardware Reset" mode
resets the counter using an external pin (HR1 ~ HR6). The
HR1 ~ HR6 pins can also be used as digital input.
Number of Axes
3
Slot Interface
Universal PCI bus
The PISO-ENCODER300U also provides 8-ch digital
outputs. 2500 Vrms photo-couplers are used to isolate
the digital I/O to prevent high voltages from affecting the
system.
Device drivers and function libraries for DOS,
Windows 7 and Windows XP/2000 are provided.
Resolution
32-bit
Encoder Mode
Quadrant, CW/CCW, PULSE/DIR
Maximum Counting Rate
1 MHz
Digital Output Channels
8
I/O Isolation
2500 Vrms optical isolation
Connector
68-pin SCSI-II female connector
Power Consumption
+5 V @ 500 mA
Environmental
Operating Temperature
0 ~ +60°C
Storage Temperature
-20 ~ +80°C
Ambient Relative Humidity
0 ~ 90% RH, non-condensing
Dimensions
120.4 mm x 90.8 mm
Software Support:
Windows Driver/DLL/Lib
Windows 7 32/64-bit
Windows XP/2000 32-bit
DOS Library
DOS 6.2
Labview Development Kit Labview 8.5 and above
Linux Library
-
Ordering Information/Accessories:
Model No.
PISO-ENCODER300U CR
DN-68 CR
3-13
Description
Universal PCI Bus 3-axis Encoder Input Card (RoHS)
Includes: CA-SC68, SCSI-II 68-pin Male Connector (Solder Type) with Cover
Encoder Input Board for PISO-ENCODER300U / PISO-ENCODER600U
Machine Automation Solutions Catalog
PISO-ENCODER600U
PCl Bus, 6-axis Encoder Input Card
Features:
Universal PCI bus
6-axis encoder counter
True 32-bit counter
Maximum Counting Rate: 1 MHz
Third-order internal digital lter
Counting Mode: Quadrant, CW/CCW, PULSE/DIR
3
A+, A-, B+, B-, C+, C- inputs
Programmable reset counter function
1
Index (C channel) reset counter function
Hardware reset (HR1 ~ HR6), reset counter function
Introduction:
The PISO-ENCODER600U contains a 6-axis encoder
counter and each axis has a 32-bit, true counter with a
maximum counting rate of 1 MHz. The counting mode can
be selected from three types: 1. Quadrant mode, 2. CW/
CCW mode, and 3. PULSE/DIR mode. There are also three
3 kinds of counter reset modes provided: 1. Register Reset,
2. Index Reset, and 3. Hardware Reset. The "Index Reset"
mode resets by using a C+/C- channel, which will reset the
counter on each revolution. The "Hardware Reset" mode
resets the counter using an external pin (HR1 ~ HR6). The
HR1 ~ HR6 pins can also be used as digital input.
The PISO-ENCODER600U also provides 8-ch digital
outputs. 2500 Vrms photo-couplers are used to isolate
the digital I/O to prevent high voltages from affecting the
system.
Device drivers and function libraries for DOS,
Windows 7 and Windows XP/2000 are provided.
PC-based Solutions
68-pin SCSI-II connector
Specifications:
Number of Axes
6
Slot Interface
Universal PCI bus
Resolution
32-bit
Encoder Mode
Quadrant, CW/CCW, PULSE/DIR
Maximum Counting Rate
1 MHz
Digital Output Channels
8
I/O Isolation
2500 Vrms optical isolation
Connector
68-pin SCSI-II female connector
Power Consumption
+5 V @ 500 mA
Environmental
Operating Temperature
0 ~ +60°C
Storage Temperature
-20 ~ +80°C
Ambient Relative Humidity
0 ~ 90% RH, non-condensing
Dimensions
120.4 mm x 90.8 mm
Software Support:
Windows Driver/DLL/Lib
Windows 7 32/64-bit
Windows XP/2000 32-bit
DOS Library
DOS 6.2
Labview Development Kit Labview 8.5 and above
Linux Library
Linux 2.6
Ordering Information/Accessories:
Model No.
PISO-ENCODER600U CR
DN-68 CR
Description
Universal PCI Bus 6-axis Encoder Input Card (RoHS)
Includes: CA-SC68, SCSI-II 68-pin Male Connector (Solder Type) with Cover
Encoder Input Board for PISO-ENCODER300U / PISO-ENCODER600U
3-14
PC-based Solutions - Motion Control Cards
PISO-PS300U
PCI Bus, 3-axis Stepper Motor/Servo Control Card(Limited Functions and Economical)
Features:
3
PC-based Solutions
1
Universal PCI Bus
3-axis pulse command servo motor board
Embedded CPU
Max. Pulse Rate: 1 MHz
3-axis linear interpolation, circular interpolation
Programmable trapezoidal speed pro le
Programmable DDA cycle
Hardware emergency stop
Drivers for DOS, Windows XP/2000 and Windows 7
8 DI, 7 DO channels
Introduction:
Specifications:
The PISO-PS300U is a 3-axis pulse command,
servo motor control board. The embedded CPU of the
PISO-PS300U performs the motion commands transferred
from a Host PC via a 2 KB FIFO buffer. It also sends the
position and status to the Host PC via a second 2 KB FIFO
buffer. These buffers provide time buffer and they are very
suitable for Windows operating systems. Device drivers
and function libraries for DOS, Windows 7 and Windows
XP/2000 are provided.
Number of Axes
Software Support:
Windows Driver/DLL/Lib
Windows 7/XP/2000 32-bit only
DOS Library
DOS 6.2
Labview Development Kit
-
Linux Library
-
3
Slot Interface
Universal PCI bus
Resolution
32-bit
Command Type
Pulse command
Maximum Pulse Output Rate 1 MHz
Pulse Output Mode
CW/CCW, PULSE/DIR
Operation Mode
Semi-closed Loop
Linear Interpolation
Any 2 to 3 of 3 axes
Circular Interpolation
Any 2 axes
Speed Curve Pro le
T-curve
Motion Relative I/O
Home, forward, backward limit, EMG,
SVON
Synchronous Action
-
Ring Counter Mode
-
Position Control Mode
Incremental mode
Position Compare Trigger
-
Encoder Interface
A/B phase, CW/CCW, PULSE/DIR
Encoder Counter
32-bit
Encoder Rate
1 Mz
Digital Input Channels
8
Digital Output Channels
7
I/O Isolation
2500 Vrms optical isolation
Connector
9-pin male and 25-pin female D-sub
Power Consumption
+5 V @ 950 mA
Environmental
Ordering Information/Accessories:
Model No.
PISO-PS300U CR
DB-8R
3-15
Operating Temperature
0 ~ +60°C
Storage Temperature
-20 ~ +70°C
Ambient Relative Humidity 0~90% RH, non-condensing
Description
Universal PCI Bus, 3-axis Stepper Motor/Servo Control Card (Limited Functions and Economical)
Includes:
CA-9-2502 (9-pin Male and 25-pin Female D-Sub Cable, Length 0.2 M)
CA-PC09F (9-pin Female D-Sub Connector with Plastic Cover)
CA-PC09M (9-pin Male D-Sub Connector with Plastic Cover)
CA-PC25M (25-pin Male D-Sub Connector with Plastic Cover)
Relay Board for SERVO-300 and PISO-PS300U
Machine Automation Solutions Catalog
PMDK
PCI Bus, DSP-based Professional Motion Development Kit
Features:
DSP-based control card with PCI interface
Capable of 6-axis motion control
Maximum Pulse Output Frequency: 4 Mpps
Maximum Encoder Input Frequency: 12 Mpps
High-speed position latching and comparing functions
Home, positive and negative limit sensors for each axis
3
Manual-pulse-generator (MPG) interface
Expandable Remote I/O: 128 DI & 128 DO via a two-wire FRnet interface
Introduction:
The PMDK enables users to implement a variety of cost-effective
motion control functions, including multi-axis linear and circular
interpolation with acceleration/deceleration processing. A variety
of synchronous actions are also possible through programming.
The included sample software can be used to design custom
motion functions which can then be appended to the original
motion command set. DSP programs are developed based on a
real-time kernel (DSP/BIOS), meaning that motion status, FRnet
I/O status and the status of other I/O interfaces can still be
monitored while driving operations are being performed, and, as
the loading on the CPU is very low, one or more motion cards can
be used on a single IPC.
If the PMDK is to be used for signal processing, users can refer
to a range of samples provided by ICP DAS illustrating how
to implement FFT, FIR and IIR, together with the resources
provided by TI. In the future, ICP DAS will be providing a wider
library of functions and examples that will further reduce the
level of programming required by users in order to implement
their custom applications. In summary, the PMDK is a highly
cost-effective solution for users intending to develop custom
applications for motion control, process control, I/O logic control,
digital processing, and applications in a wide range of other
domains.
1
Specifications:
Number of Axes
6
Slot Interface
Universal PCI bus
PC-based Solutions
The PMDK is a DSP-based PCI motion control card suitable for
the development of professional motion control applications, and
can be used with any IPC that has a 5 V PCI bus. A wide range
of applications can be implemented thanks to the integration
of a high-speed DSP (TI C672x), an FPGA (Field Programmable
Gate Array), and I/O buffering circuitry. A diverse array of I/O
interfaces are incorporated into the PMDK, including 6 channels
for pulse I/O, 6 channels for AI/AO and a variety of DI/DO
channels. The card also includes a single two-wire FRnet port
that can be used to remotely control up to 128 DI and 128 DO
channels, which, together with the numerous software samples
that are provided, allows the rapid development of custom
programs.
Maximum Pulse Output Rate 4 MHz
Command Type
Pulse command, V command
Resolution
32-bit
Servo Update Rate
User Programmable
Pulse Output Mode
CW/CCW, PULSE/DIR
Motion Relative I/O
Home, LMT+/-, NHOME, EMG, INP,
ALM, SVON, ALM_RST, ERC
Position Compare Trigger
User Programmable
Encoder Interface
A/B pulse, Up/Down
Encoder Counter
32-bit
Encoder Counting Rate
12 MHz
Digital Input Channels
Expandable: 128 DI
Digital Output Channels
Expandable: 128 DO
I/O Isolation (with DN-8368) 2500 Vrms optical isolation
Connector
68-pin SCSI-II connector & 20-pin
SCSI-II
Power Consumption
-
Environmental
Operating Temperature
-20 ~ +75°C
Storage Temperature
-30 ~ +85°C
Ambient Relative Humidity
5 ~ 90% RH, non-condensing
Ordering Information/Accessories:
Model No.
PMDK
DN-8368UB
DN-8368GB
DN-8368MB
DN-20M
CA-MINI68-15
CA-SCSI20-M1 / M3 / M5
CA-2P4C-0100
Description
PCI Bus DSP-based Professional Motion Development Kit
Photo-isolated Universal Snap-on wiring terminal board
Photo-isolated General-purpose wiring terminal board
Photo-isolated Snap-on wiring terminal board for Mitsubishi MELSERVO-J2 servo ampli er
Manual-Pulse-Generator (MPG) and FRnet Input Board for PISO-PS600/VS600/PMDK (RoHS)
68-pin VHDCI to SCSI-II Connector Cable, Length 1.5 M
SCSI-II 20-pin and 20-pin Male Connector Cable for Mitsubishi Motor, Length 1 M / 3 M / 5 M.
The Cable for FRnet Modules, Length 100 M.
3-16
PC-based Solutions - Motion Control Cards
ENCODER300
ISA Bus, 3-axis Encoder Interface Card
Features:
Accepts inputs from incremental or quadrature encoders
3 independent axes
Max. Quadrature Input Frequency: 1 MHz
Counts per Encoder Cycle: X1, X2, X4 (Software selectable)
Encoder Input Modes: Quadrature , Up/Down , PULSE/DIR
3
PC-based Solutions
1
Introduction:
Specifications:
The ENCODER300 is a 3-axis quadrature encoder
interface board for IBM PC/AT bus-compatible devices.
Phase 0, phase 90 and index pulse inputs are provided for
each encoder. Inputs may be single ended (A, B or C) or
differential (A+, A-, B+, B-, C+ or C-). Power and ground
connections are also provided for use by the encoder if
needed. Inputs are conditioned by a four-stage digital lter,
and the maximum input rate in quadrature decode mode
is 1 MHz. The conditioned inputs are applied to a 16-bit
counter, which may be used for quadrature decoding, pules
or direction-input counting, or as a pulse input up/down
counter.
Number of Axes
3
Slot Interface
ISA bus
Resolution
16-bit
Mode
Quadrant, CW/CCW, PULSE/DIR
Maximum Counting Rate
1 MHz
Digital Output Channels
-
I/O Isolation
-
Connector
25-pin D-Sub
Power Consumption
+5 V @ 500 mA
Environmental
Operating Temperature
0 ~ +60°C
Storage Temperature
-20 ~ +80°C
Ambient Relative Humidity
0 ~ 90 % RH, non-condensing
Software Support:
Windows Driver/DLL/Lib
Windows 95/98/ME/NT4.0
DOS Library
DOS 6.2
Labview Development Kit Linux Library
-
Ordering Information/Accessories:
Model No.
ENCODER300
DN-25
3-17
Description
ISA Bus, 3-axis Encoder Interface Card
Includes: CA-PC25M (25-pin Male D-Sub Connector with Plastic Cover)
I/O Connector Block with 25-pin/9-pin D-Sub Connector (DIN-Rail Mounting)
Machine Automation Solutions Catalog
STEP-200
ISA Bus, 2-axis High-speed Stepper Motor Control Card
(Limited Functions and Economical)
Features:
2-axis independent, simultaneous stepper motor control/servo
motor control (Pulse input type)
Drivers for DOS, Windows 95/98/ME, Windows NT
Embedded Microprocessor
Command Type Interface
Linear and circular interpolation
3
Acceleration/deceleration:
Automatic trapezoidal acceleration/deceleration
Output polarity can be programmable
1
5 optical isolated digital inputs per axis for limit switches
The STEP-200 is a 2-axis, command-based stepper motor
controller board for IBM PC/XT/AT bus-compatible devices.
The board can also be used for pulse-type servo motor
control (pulse input type). The board includes a build-in
μP that performs a variety of motion control commands
and shares the loading of the host computer. A 2 KB FIFO
is included as a command buffer, which provides a buffer
time of 1360 ms. The hardware architecture of STEP-200
is ideal for the Windows operating system, and drivers for
DOS and Windows are provided offering real-time motion
control solutions for Windows systems.
Software Support:
Windows Driver/DLL/Lib
Specifications:
Number of Axes
2
Slot Interface
ISA bus
Maximum Pulse Output Rate 250 Kpps
Command Type
Pulse command
Resolution
32-bit
Servo Update Rate
-
Pulse Output Mode
CW/CCW, PULSE/DIR
Operation Mode
Open loop
Linear Interpolation
-
Circular Interpolation
-
Speed Curve Pro le
T-curve
Motion Relative I/O
Home, forward, backward limit, EMG
Synchronous Action
-
Ring Counter Mode
32-bit
Position Control Mode
Incremental mode and absolute mode
Windows 95/98/ME/NT4.0
Position Compare Trigger
10 KHz
Encoder Interface
A/B pulse, Up/Down
Encoder Counter
-
Encoder Rate
-
DOS Library
DOS 6.2
Labview Development Kit
-
Linux Library
-
PC-based Solutions
Introduction:
Digital Input Channels
-
Digital Output Channels
-
I/O Isolation
2500 Vrms optical isolation
Connector
25-pin D-Sub
Power Consumption
+5 V @ 500 mA
Environmental
Ordering Information/Accessories:
Model No.
STEP-200
DN-25
Operating Temperature
0 ~ +50°C
Storage Temperature
-20 ~ +70°C
Ambient Relative Humidity
0 ~ 90% RH, non-condensing
Description
ISA Bus, 2-axis High-speed Stepper Motor Control Card (Limited Functions and Economical)
Includes: CA-PC25M (25-pin Male D-Sub Connector with Plastic Cover)
I/O Connector Block with 25-pin/9-pin D-Sub Connector (DIN-Rail Mounting)
3-18
PC-based Solutions - Motion Control Cards
SERVO-300
ISA Bus, 3-axis High-speed Servo Motor Control Card (V Command)
Features:
ISA bus servo motor control card
3-axis high-speed servo motor control card
V command
Drivers for DOS and Windows
3
PC-based Solutions
1
Specifications:
Introduction:
The SERVO-300 is a 3-axis, command-based servo
motor control board. The embedded CPU of the SERVO-300
performs the motion commands transferred from a Host PC
via a 2 KB FIFO buffer. It also sends the position and status
to the Host PC via a second 2 KB FIFO buffer. These buffers
provide time buffer and they are very suitable for Windows
operating systems. Device drivers and function libraries for
DOS, Windows 7 and Windows XP/2000 are provided.
Software Support:
Windows Driver/DLL/Lib
Windows 95/98/ME/NT4.0
DOS Library
DOS 6.2
Labview Development Kit
-
Linux Library
-
Number of Axes
3
Slot Interface
ISA bus
Maximum Pulse Output
Rate
-
Command Type
Voltage command
Resolution
12-bit +/-10 V
Servo Update Rate
3 ms / 3 axes
Pulse Output Mode
-
Operation Mode
Simulation, closed loop, open loop
Linear Interpolation
Any 2 to 3 of 3 axes
Circular Interpolation
Any 2 axes
Speed Curve Pro le
T-curve
Motion Relative I/O
Home, forward, backward limit, EMG
Encoder Interface
CW/CCW, PULSE/DIR
Encoder Counter
32-bit
Encoder Rate
1 Mz
Digital Input Channels
8
Digital Output Channels
7
I/O Isolation
2500 Vrms optical isolation
Connector
9-pin male & 25-pin female D-Sub
Power Consumption
+5 V @ 500 mA
Environmental
Operating Temperature
0 ~ +60°C
Storage Temperature
-20 ~ +80°C
Ambient Relative Humidity 0 ~ 90% RH, non-condensing
Dimensions
120.4 mm * 90.8 mm
Ordering Information/Accessories:
Model No.
DB-8R
Description
ISA Bus, 3-axis High-speed Servo Motor Control Card (V Command)
Includes:
CA-9-2502 (9-pin Male & 25-pin Female D-Sub Cable 0.2 M)
CA-PC09F (9-pin Female D-Sub Connector with Plastic Cover)
CA-PC09M (9-pin Male D-Sub Connector with Plastic Cover)
CA-PC25M (25-pin Male D-Sub Connector with Plastic Cover)
Relay Board for SERVO-300 and PISO-PS300(U)
DB-200
Encoder Input Board for SERVO-300
SERVO-300 CR
3-19
Remote Motion Solutions
4. 1.1
Remote
Motion Solutions
Industrial Communication & Networking Products
Remote Motion Solutions ............................................................................................................................................
4-1
4.1 Ethernet Motion Control Solutions ................................................................................................................. 4-1-1
ET-M8194H ............................................................................................................................................................ 4-1-3
ET-M8196F ............................................................................................................................................................ 4-1-5
4.2 Serial Communication Motion Control Solutions ............................................................................................ 4-2-1
RS-M8194H ........................................................................................................................................................... 4-2-3
RS-M8196F ............................................................................................................................................................ 4-2-5
4.3 Motionnet Solutions ........................................................................................................................................ 4-3-1
PISO-MN200/PISO-MN200T/PISO-MN200EC .......................................................................................................... 4-3-2
MN-SERVO Series / MN-SERVO EC Series ................................................................................................................. 4-3-3
MN-2091U/MN-2091U-T .......................................................................................................................................... 4-3-7
MN-3253(T)/MN-3254(T)/MN-3257(T) ..................................................................................................................... 4-3-9
MN-640-DIN/MN-622-DIN/MN-604-DIN ................................................................................................................. 4-3-15
MN-HUB4/MN-HUB4EC ........................................................................................................................................ 4-3-21
4.4 EtherCAT Motion Control Solutions ................................................................................................................ 4-4-1
ECAT-8000/ECAT-8001 ............................................................................................................................................ 4-4-2
ECAT-209x Series ................................................................................................................................................... 4-4-2
ECAT-201x/202x/205x/206x Series .......................................................................................................................... 4-4-3
ECAT-2511-A/ECAT-2511-B ..................................................................................................................................... 4-4-3
ECAT-2512/ECAT-2513 ........................................................................................................................................... 4-4-4
4.5 CANopen Motion Solutions .............................................................................................................................. 4-5-1
PISO-CPM100U ...................................................................................................................................................... 4-5-3
I-7565-CPM ........................................................................................................................................................... 4-5-4
I-8123W ................................................................................................................................................................ 4-5-5
Remote Motion Solutions
4. Remote Motion Solutions
Remote Motion Solutions
Vertical Market Focus:
Wafer Inspection, PCB Inspection, Plastic Surface Inspection, Drapery Inspection
4
Dispensing
PCB inspection
Drilling
Flying Shear
Remote Motion Solutions
1
Overview:
Wherever motion control solutions are required, ICP DAS provides a range of remote solutions that help users control and con gure
their motion I/O needs at remote sites, including PC, PLC, SCADA, etc. solutions. Currently, ICP DAS provides options for Ethernet,
Motionnet and CANopen, etc. remote motion controls.
• Ethernet Remote Motion Solutions
Ethernet Motion Control Unit provides the Ethernet motion solution for customers. It can be con gured and control via an
Ethernet port with Modbus TCP capability. Any PC, PLC or SCADA system which has an Ethernet port running Modbus TCP
protocol can control one or several Ethernet remote units to do complex motion.
• Serial Communication Remote Motion Solutions
There are a lot of controllers on the working field which need to add functions or enhance their performance for new
requirements, such as providing powerful motion functions. In general, these controllers already have one or several serial
ports with Modbus RTU capability. Via an RS-232 or RS-422 or RS-485 port, the Serial communication remote unit is capable for
providing motion functions.
• Motionnet Remote Motion Solutions
Motionnet is a high-speed serial communication system that includes Master card and Slave modules. ICP DAS provides
two categories of Slaves: the rst is used for Digital I/O, and the other is used for motion control using these Slave devices,
actuators/sensors can easily be directly connected. Motion control modules can be used together with either a Servo motor or
a Stepping motor from a variety of vendors.
4-1
Machine Automation Solutions Catalog
• EtherCAT Remote Motion Solutions
EtherCAT (Ethernet for Control Automation Technology) is an open, high-performance eldbus system that makes Ethernet
technologies available at the I/O level. EtherCAT provides exible wiring, fast communication and many other nice features. It
needs a master to control many slaves. ICP DAS provides PC master cards, ECAT-8000 and ECAT-8001, for users to build their
applications including motion control. These cards can off er multi-axis motion and I/O control functions by their own built-in
CPU. In this way, the CPU loading of PC can be reduced dramatically. In the mean while, ICP DAS also provides many I/O slave
modules for users to choose from. Since EtherCAT technology is an industrial standard, those modules can work together in a
system with 3rd-party EtherCAT slaves as well.
• CANopen Remote Motion Solutions
The CAN (Controller Area Network) bus is one of the safest industrial network systems, and ICP DAS now provides a motion
control library (CiA 402) for CANopen Master products meaning that users can now integrate motion control systems into a
CANopen network.
4
Remote Motion Solutions Product List:
Ethernet Solutions
Remote Units
Ethernet Remote Unit with High-speed 4-axis Motion Module
ET-M8196F
Ethernet Remote Unit with High-speed 6-axis Motion Module
1
Remote Motion Solutions
ET-M8194H
Serial Communication Solutions
RS-M8194H
Serial Communication Remote Unit with High-speed 4-axis Motion Module
RS-M8196F
Serial Communication Remote Unit with High-speed 6-axis Motion Module
PISO-MN200(T/EC)
PCI bus, Dual-line Motionnet Control Master Card
MN-SERVO (-EC) Series
Distributed Motionnet Single-axis Motion Control Modules
MN-2091U(-T)
Distributed Motionnet Single-axis Universal Motion Control Module
MN-3254/3253/3257(T)
Distributed Motionnet Isolated DI/DO Modules
MN-640/622/604-DIN
Distributed Motionnet Isolated DI/DO Modules (Mini-clamp Connector)
MN-HUB4(EC) Series
Distributed Motionnet 4 port Hub modules
ECAT-8000/8001
PCIe EtherCAT Master Card
ECAT-2092(T)/2093
EtherCAT Encoder Modules
ECAT-209xS Series
EtherCAT Stepping Motor Driving Modules
ECAT-201x/2x Series
EtherCAT Analog I/O Modules
ECAT-204x/5x/6x Series
EtherCAT Digital I/O Modules
Converters
ECAT-2511-A/-B
EtherCAT to Single-mode Fiber Converters
Junction Slaves
ECAT-2512/2513
EtherCAT Junction Slave Modules
PCI Master Cards
PISO-CPM100U(-D/-T)
CANopen PCI Master Cards (PCI board for industrial PC)
Converter
I-7565-CPM
CANopen Converter
Master Modules
I-8123W
CANopen Master Module (Module for WinPAC/ViewPAC/XPAC)
I/O Units/Modules
CAN-8x23 & CAN-2000C
CANopen Remote I/O Expansion Unit & Remote I/O Modules
Remote Units
Motionnet Solutions
PCI Master Cards
Motion Control Modules
I/O Modules
Hub Modules
EtherCAT Solutions
PCIe Master Cards
Motion Control Modules
I/O Modules
CANopen Solutions
4-2
Remote Motion Solutions - Ethernet Motion Control Solutions
4.1 Ethernet Motion Control Solutions
ICP DAS remote Ethernet motion control series consist of a four axis (ET-M8194H) and a six axis (ET-M8196F) stepping/pulse-type
servo motion controller. Each motion control device is equipped with an Ethernet communication module and uses Modbus TCP/IP
1
as its communication protocol. In a Modbus TCP network the ET-M8194H/ET-M8196F acts as a server. All standard Modbus function
Remote Motion Solutions
4
Introduction:
together in sequence without an additional Ethernet switch. This intelligent motion controller has a variety of built in motion control
codes are supported and therefore any Modbus TCP master (e.g. PC, PLC, HMI, PAC, etc.) can access the remote motion controller.
Each device is equipped with two Ethernet ports which allow daisy chain Ethernet wiring; multiple devices can be connected
functions, such as multi-axis linear interpolation, circular interpolation, T/S-curve acceleration/deceleration, various synchronous
actions and automatic homing. A software utility assists the user in con guring the Ethernet module and motion card and provides
some basic motion commands for testing. An application programming interface (API) allows the programmer to develop an
application program to remotely control the motion device.
Application Notes:
In a recent case, ET-M8194H units were installed on machines performing IC inspection. Each machine was equipped with two
ET-M8194H modules to coordinate six motors by taking advantage of the embedded Ethernet switching ports on the ET-M8194H.
Therefore six axes motion control could be easily implemented by connecting two ET-M8194H modules in series (daisy-chain
topology). The supervisory host PC was used to issue commands and collect information through the Ethernet without the need for
additional wiring. The application can also be accomplished by using the ET-M8196F.
IEEE 1394 CABLE
EXTERNAL TRIGGER
FRNET
MAVIS
ET-M8194H
MODBUS/TCP
ETHERNET
DN-8468GB
B TERMINAL
TERMINAL BOARD
BOARD
SER VOMOTORS
MOTORS
SERVO
INSPECTION MACHINE
ET-M8194H
EXTERNAL TRIGGER
TRIGGER
MAVIS
IEEE 1394 CABLE
4-1-1
Machine Automation Solutions Catalog
Application Structure and Features:
• Compact Size
• Easy to Use
• Stand-alone
•
•
•
•
•
•
•
•
•
Supports the Modbus TCP protocol
Easy integration into a SCADA, PAC or PLC Modbus TCP network
The device can be set as a remote or stand-alone motion controller
ET-M8194H supports 4-axis motion control: 2/3-axis linear interpolation, etc.
ET-M8196F supports 6-axis motion control: 2- to 6-axis linear/2- To 3-axis circular interpolation, etc.
Supports high-speed FRnet I/O: 128 digital outputs and 128 digital inputs
Supports macro programming (for ET-M8194H only)
Includes the EzMove utility for system con guration and macro program editing (for ET-M8194H only)
Supports FRnet DI or event triggered macro program execution (for ET-M8194H only)
4
1
Remote Motion Solutions
Related Products:
Ethernet Communication Solution Products of Remote Motion Solutions
Ethernet Communication
Remote Unit
ET-M8194H
Ethernet Remote Unit with High-speed 4-axis Motion Control Module
ET-M8196F
Ethernet Remote Unit with High-speed 6-axis Motion Control Module
4-1-2
Remote Motion Solutions - Ethernet Motion Control Solutions
ET-M8194H
Ethernet Remote Unit
with High-speed 4-axis Motion Control Module
Features:
Remote control via Modbus TCP
Can be controlled using SCADA, PAC or PLC, etc.
Can be integrated into multi-station, multi-axis applications
4-axis motion control capability
2/3-axis linear interpolation function
2-axis circular interpolation function
Programmable automatic homing function
EzMove Utility for con guration and macro programming
Test motion functions via EzMove without compilation
Library for rapid development of applications
Easy wiring for multi-station applications
Can be set as a remote or stand-alone motion controller
4
Remote Motion Solutions
1
Supports high-speed FRnet I/O: 128 DO and 128 DI
Introduction:
The ET-M8194H is a new product from ICP DAS that can be used to implement remote control functionality via the Ethernet and
includes an I-8094H module (a 4-axis stepping/pulse-type servo motor control module with an embedded CPU) and an Ethernet
communication interface. The intelligent ET-M8194H can provide users with the ability to develop a wide range of remote motion control
applications, and can be integrated in any system where the host platform is built on the Modbus TCP protocol (for example: PC, PAC or
PLC). In addition, implementing a multi-station, multi-axis motion control solution can easily be achieved by cascading several ET-M8194H
devices using Ethernet cables, either with or without Ethernet switches. ICP DAS also provides the EzMove Utility and an API Library that
can be used to con gure the ET-M8194H and to rapidly develop customized control applications.
Software Supported: ET-M8194H SDK
Hardware:
EzMove Utility
Power and
RS-232 LED
Status LED
Boot Mode
Dip Switch
Ethernet
Port 1
Ethernet
Port 2
Signal
Communication
Port
Ethernet
Connection
and Module
Detection
LED
Power and
RS-232
Wiring
ET-M8194H Interface Functions
4-1-3
EzMove is a con guration utility developed
by ICP DAS for the ET-M8194H controller.
It is intended to perform motion control
tasks and movement test on equipment
without the need to rst create customized
applications. As the EzMove Utility is a Modbus client, it can be
used to create and edit Macro Programs (MP), which can then
be uploaded to the ET-M8194H. The EzMove Utility can also
display and plot position/velocity of all four axes as well as display
Modbus TCP messages for easy reference.
API Library
The ET-M8194H API Library is composed of nine groups of
functions, which can be utilized to edit Macro Programs (MP) and
send Modbus TCP commands required to control or configure
the I-8094H. The library provides users with the ability to
simultaneously control a large number of ET-M8194H from the PC.
DLL and libraries for the following development environments are
provided:
•
Visual C++
•
BCB 5.0, 6.0
•
C#, VB.NET
•
Visual Basic 6.0
3-2
Machine Automation Solutions Catalog
Specifications:
Interpolation Functions
Linear Interpolation (Interpolation Speed: 4 Mpps): 32-bit max. for any single command
Circular Interpolation (Interpolation Speed: 4 Mpps): 32-bit max. for any single command
Continuous Interpolation (Interpolation Speed: 2 Mpps): Yes
Drive Speed Curve
Maximum Drive Speed: 4 Mpps
Constant Speed Driving
Trapezoidal Acc/Dec Driving
Asymmetrical Trapezoidal Driving
S-curve Acc/Dec Driving
Asymmetrical S-curve Driving
Position Control
Logic Position Counter/Bit Length for output pulse: 32-bit
Real Position Counter/Bit Length for output pulse: 32-bit
Position Compare Register Number/Axis: 2
Software Limit
Position Counter Variable Ring
Auto-Home Search
Individual con guration (4-step) for each axis including irregular operation handling
Synchronous Action
10 activation factors (provocatives or events) and 14 actions
External Signal for Driving
Fixed/Continuous Pulse Output
Manual Pulse
Other Functions
Drive Speed/Output Pulse Number Change during Driving
Triangle Form Prevention of Speed Curve
Servo Motor Signal
Servo Ready and Alarm Input Signals/Axis
Servo Enable Output/Axis
Other Input Signals
IN0 (Near Home), IN1 (Home), IN2 (Z-phase), IN3/Axis
Emergency Signal
4
1
Environmental
Operating Temperature: -20 ~ +75°C
Storage Temperature: -30 ~ +85°C
Operating Humidity: 10 ~ 85% RH, non-condensing
Storage Humidity: 5 ~ 90% RH, non-condensing
FRnet Interface
Max. 128 DI and 128 DO channels
Hardware auto-scan I/O every 0.72 ms
Two-wire Serial Bus to reduce wiring needs
Max. communication distance: 100 M
A wide range of FRnet I/O terminal boards and modules are available
Remote Motion Solutions
Input Signal Integral Type Filter Filter Time Constant: 2 ~ 16 ms, 8 stages
Applications:
X-Y-Z Table
Fix-Pitch Stamping Machine
Transfer Machine
Spinner
Loader/Unloader
Ordering Information/Accessories:
Model No.
Description
ET-M8194H
Ethernet Remote Automation Unit with High-speed 4-axis Motion Control Module
DN-8468UB
Photo-isolated Universal Snap-on Wiring Terminal Board
DN-8468GB
Photo-isolated General Purpose Wiring Terminal Board
DN-8468MB
Photo-isolated Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
DN-8468PB
Photo-isolated Snap-on Wiring Terminal Board for Panasonic MINAS A4/A5 Servo Ampli er
DN-8468YB
Photo-isolated Snap-on Wiring Terminal Board for Yaskawa Sigma II/III/V Servo Ampli er
DN-8468DB
Photo-isolated Snap-on Wiring Terminal Board for Delta ASDA-A Servo Ampli er
DN-8468FB
CA-SCSI15-H
CA-SCSI30-H
CA-SCSI50-H
Photo-isolated
68-pin SCSI-II
68-pin SCSI-II
68-pin SCSI-II
Snap-on Wiring Terminal Board for Fuji FALDIC-W Servo Ampli er
Connector Cable; Length 1.5 M
Connector Cable; Length 3.0 M
Connector Cable; Length 5.0 M
4-1-4
Remote Motion Solutions - Ethernet Motion Control Solutions
ET-M8196F
Ethernet Remote Unit with High-speed, DSP-based, 6-axis Motion
Control Module
Features:
Remote control via Modbus TCP
DSP-based motion control module
Maximum pulse output frequency: 4 MHz
Maximum Encoder input frequency: 12 MHz
Independent 6-axis motion control
2- to 6-axis linear/ 2- to 3-axis circular/ helical interpolation function
Continuous interpolation
4-step home mode with auto-searching
Synchronized start motion
Programmable T/S-curve acceleration and deceleration
4
Software limit protection
Software FIFO for arbitrary curve motion
Remote Motion Solutions
1
High-speed position latch
High-speed compare trigger and auto-increment compare mode
Expandable remote I/O: 128 DI and 128 DO via a two-wire FRnet interface.
Introduction:
The ET-M8196F is a compact remote motion control device which uses Modbus TCP as its communication protocol. The ET-M8196F acts
as a server in a Modbus TCP network and supports all standard Modbus function codes de ned by the Modbus TCP protocol. Nowadays
many PCs have got limited PCI slots; therefore the ET-M8196F can be used to replace PCI motion control cards. The ET-M8196F has got
two Ethernet ports which allow daisy chaining.
The motion controller of the ET-M8196F consists of an Ethernet communication module and a 6-axis motion control card. A digital signal
processor (DSP) is the brain of the motion controller which calculates the commanded move trajectory and manages supervisory control
by monitoring the limits and emergency stops to ensure safe operation. I/O control output (e.g. latch, compare, encoder counter etc.) is
realized in a Field Programmable Gate Array (FPGA).
The motion controller is suitable for general-purpose
motion control applications. In additions to its wide speed
range, this intelligent motion controller also has a variety
of built-in motion control functions, such as 2- to 6-axis
Power and
RS-232 LED
Status LED
Boot Mode Dip Switch
linear interpolation, 2- or 3-axis circular interpolation,
helical interpolation, T/S-curve acceleration/deceleration,
Ethernet Port 1
Signal
Communication
Port
and automatic home search, etc.
In addition the ET-M8196F acts as an FRnet master and
can control up to 128 digital outputs and 128 digital
inputs. FRnet is a two-wire serial bus and has a scan
interval of 0.72 ms and it is speci cally designed for easy
and cost effective wiring. ICPDAS provides a large range
Ethernet Port 2
Ethernet Connection
and Module Detection
LED
of FRnet I/O terminal boards and modules.
An application programming interface (API) for
communicating with the ET-M8196F motion controller
Power and RS-232
Wiring
Signal
Communication
Port
is being provided. This enables the user’s program on
the host computer to easily interact with the motion
controller. A software utility for Ethernet configuration
and basic motion settings and execution is part of the
software package.
4-1-5
ET-M8196F Interface Functions
Machine Automation Solutions Catalog
Specifications:
Software Support:
Modbus TCP
Modbus TCP server
Number of Axes
6
Maximum Pulse Output Rate
4 MHz
Command Type
Pulse Command
Pulse Output Mode
CW/CCW, PULSE/DIR, A/B pulse
Linear Interpolation
Any 2- to 6-axis
Circular/Helical Interpolation
Any 2- or 3-axis
Speed Curve Pro le
T/S-curve
Mechanical Switch Input
Home, LMT+/-, NHOME, LTC, EMG
Servo I/O Interface
Input: INP, ALM, RDY
Output: SVON, ALM_RST, ERC
Ring Counter Mode
32-bit
Position Control Mode
Relative and absolute position
Position Compare Trigger
4 MHz
Encoder Interface
A/B pulse, Up/Down
Encoder Counter
32-bit
Encoder Counting Rate
12 MHz
Digital Input Channels
Local: 12 DI
Expandable: 128 DI
Digital Output Channels
Local: 3 DO
Expandable: 128 DO
I/O Isolation (with DN-8368)
2500 Vrms optical isolation
Connector
68-pin VHDCI Connector and 20-pin SCSI-II
Power Consumption
+24V
Windows
Windows
Windows
Windows
10
8
7
XP
32/64 bit:
Visual C++ lib/DLL
C#, VB.Net DLL
Delphi
LabVIEW
Visual Basic 6.0
BCB 5.0, 6.0
Con guration utility
Demo programs
4
1
Remote Motion Solutions
Communication Protocol
Environmental
Operating Temperature
0 ~ +60 °C
Storage Temperature
-20 ~ +80 °C
Ambient Relative Humidity
5 ~ 90 % RH, non-condensing
Ordering Information/Accessories:
Model No.
Description
ET-M8196F
Ethernet Remote Unit with High-speed, DSP-based, 6-axis Motion Control Module
DN-8368UB
Photo-isolated Universal Snap-on wiring terminal board
DN-8368GB
Photo-isolated General-purpose wiring terminal board
DN-8368MB
Photo-isolated Snap-on wiring terminal board for Mitsubishi MELSERVO-J2 servo ampli er
DN-20M
General purpose digital input and remote digital I\O (FRnet) extension board
CA-MINI68-15
68-pin VHDCI to SCSI-II Connector Cable, Length 1.5 M
CA-SCSI20-M1/M3/M5
20-pin SCSI-II Male connector cable (for Mitsubishi J2 series motor), Length 1 M / 3 M / 5 M.
CA-26-MJ3-15/30/50
26-pin HD D-Sub Male Cable for Mitsubishi Servo Ampli er, 1.5/3/5 M. (for MELSERVO-J3/J4 Series)
CA-26-PA4-15/30/50
26-pin HD D-Sub Male Cable for Panasonic Servo Ampli er, 1.5/3/5 M. (for MINAS A4/A5 Series)
CA-26-YSV-15/30/50
26-pin HD D-Sub Male Cable for Yaskawa Servo Ampli er, 1.5/3/5 M. ( for Sigma II/III/V Series)
CA-26-TTA-15/30/50
26-pin HD D-Sub Male Cable for Teco Servo Ampli er, 1.5/3/5 M. (for TSTA-A/A+ Series)
CA-26-DAA2-15/30/50
26-pin HD D-Sub Male Cable for Delta A2 Servo Ampli er, 1.5/3/5 M. (for ASDA-A2 Series)
CA-26-DAB2-15/30/50
26-pin HD D-Sub Male Cable for Delta B2 Servo Ampli er, 1.5/3/5 M. (for ASDA-B2 Series)
CA-26-FFW-15/30/50
26-pin HD D-Sub Male Cable for Fuji Servo Ampli er, 1.5/3/5 M. (for FALDIC-W and ALPHA5 Smart Series)
4-1-6
Remote Motion Solutions - Serial Communication Motion Control Solutions
4.2 Serial Communication
Motion Control Solutions
4
Remote Motion Solutions
2
Introduction:
ICP DAS provides two types of remote serial motion controller: 4 and 6 axes stepping/pulse-type motion controller. Both controller
types support RS232, RS485 and RS422 serial communication and uses Modbus RTU as a communication protocol. Serial
communication speed can be set by selecting a standard baud rate. The remote controllers are de ned as a Modbus slave. The
standard Modbus functions are supported which enables the user to easily integrate the motion controller into an existing Modbus
network. PC, HMI, PAC, PLC and other devices which support Modbus RTU can access, control and monitor the motion controller.
Software utilities are provides which allows the user to con gure the device and execute simple motion commands for testing
purposes. Windows APIs for developing motion control application are included in the software package.
Application Notes:
In a recent case, a PLC together with a RS-M8194H was used to control the dispensing path of an automated dispensing system.
With the three-axis interpolation function provided by RS-M8194H it was possible to move two dispensing nozzles synchronous
along prede ned curves with varying velocities. It was a requirement to change the velocity on the y in order to ensure a set
dispensing thickness along the motion path.
4-2-1
Machine Automation Solutions Catalog
Application Structure and Features:
• Compact Size
• Easy to Use
• Stand-alone
•
•
•
•
•
•
•
•
•
Supports the Modbus RTU protocol
Easy integration into a SCADA, PAC or PLC Modbus RTU network
The device can be set as a remote or stand-alone motion controller
RS-M8194H supports 4-axis motion control: 2/3-axis linear interpolation, etc.
RS-M8196F supports 6-axis motion control: 2- to 6-axis linear/2- to 3-axis circular interpolation, etc.
Supports high-speed FRnet I/O: 128 digital outputs and 128 digital inputs
Supports macro programming (for RS-M8194H only)
Includes the EzMove utility for system con guration and macro program editing (for RS-M8194H only)
Supports FRnet DI or event triggered macro program execution (for RS-M8194H only)
4
2
Remote Motion Solutions
Related Products:
Serial Communication Solution Products of Remote Motion Solutions
Serial Communication
Remote Unit
RS-M8194H
Serial Communication Remote Unit with High-speed 4-axis Motion Control Module
RS-M8196F
Serial Communication Remote Unit with High-speed 6-axis Motion Control Module
4-2-2
Remote Motion Solutions - Serial Communication Motion Control Solutions
RS-M8194H
Serial Communication Remote Unit
with High-speed 4-axis Motion Control Module
Features:
Remote control via Modbus RTU
Can be controlled using SCADA, PAC or PLC, etc.
Can be integrated into a multi-station, multi-axis applications
4-axis motion control capability
2/3-axis linear interpolation function
2-axis circular interpolation function
Programmable automatic homing function
EzMove Utility for con guration and macro programming
Test motion functions via EzMove without compilation
API Library for rapid development of applications
Easy wiring for multi-station applications
Can be set as a remote or stand-alone motion controller
4
Remote Motion Solutions
2
Supports high-speed FRnet I/O: 128 DO and 128 DI
Introduction:
The RS-M8194H is a new product from ICP DAS that can be used to implement remote control functionality via the serial communication
and includes an I-8094H module (a 4-axis stepping/pulse-type servo motor control module with an embedded CPU) and a serial
communication interface. The intelligent RS-M8194H can provide users with the ability to develop a wide range of remote motion control
applications, and can be integrated in any system where the host platform is built on the Modbus RTU protocol (for example: PC, PAC or
PLC). ICP DAS also provides the EzMove Utility and an API Library that can be used to con gure the RS-M8194H and to rapidly develop
customized control applications.
Hardware Interface:
Software:
EzMove Utility
EzMove is a configuration utility developed by ICP DAS for the
RS-M8194H controller. It is intended to perform motion control
tasks and movement test on equipment without the need to
first create customized applications. As the EzMove Utility is a
Modbus client, it can be used to create and edit Macro Programs
(MP), which can then be uploaded to the
RS-M8194H. The EzMove Utility can also
display and plot position/velocity of all
four axes as well as display Modbus RTU
messages for easy reference.
4-2-3
API Library
The RS-M8194H API Library is composed of nine groups of
functions, which can be utilized to edit Macro Programs (MP) and
send Modbus RTU commands required to control or configure
the I-8094H. The library provides users with the ability to
simultaneously control a large number of RS-M8194H from the
PC. DLL and libraries for the following
development environments are provided:
•
Visual C++
•
BCB 5.0, 6.0
•
C#, VB.NET
•
Visual Basic 6.0
Machine Automation Solutions Catalog
Specifications:
Interpolation Functions
Linear Interpolation (Interpolation Speed: 4 Mpps): 32-bit max. for any single command
Circular Interpolation (Interpolation Speed: 4 Mpps): 32-bit max. for any single command
Continuous Interpolation (Interpolation Speed: 2 Mpps): Yes
Drive Speed Curve
Maximum Drive Speed: 4 Mpps
Constant Speed Driving
Trapezoidal Acc/Dec Driving
Asymmetrical Trapezoidal Driving
S-curve Acc/Dec Driving
Asymmetrical S-curve Driving
Position Control
Logic Position Counter/Bit Length for output pulse: 32-bit
Real Position Counter/Bit Length for output pulse: 32-bit
Position Compare Register Number/Axis: 2
Software Limit
Position Counter Variable Ring
Auto-Home Search
Individual con guration (4-step) for each axis including irregular operation handling
Synchronous Action
10 activation factors (provocatives or events) and 14 actions
External Signal for Driving
Fixed/Continuous Pulse Output
Manual Pulse
Other Functions
Drive Speed/Output Pulse Number Change during Driving
Triangle Form Prevention of Speed Curve
Servo Motor Signal
Servo Ready and Alarm Input Signals/Axis
Servo Enable Output/Axis
Other Input Signals
IN0 (Near Home), IN1 (Home), IN2 (Z-phase), IN3/Axis
Emergency Signal
4
2
Environmental
Operating Temperature: -20 ~ +75°C
Storage Temperature: -30 ~ +85°C
Operating Humidity: 10 ~ 85% RH, non-condensing
Storage Humidity: 5 ~ 90% RH, non-condensing
FRnet Interface
Max. 128 DI and 128 DO channels
Hardware auto-scan I/O every 0.72 ms
Two-wire Serial Bus to reduce wiring needs
Max. communication distance: 100 M
A wide range of FRnet I/O terminal boards and modules are available
Remote Motion Solutions
Input Signal Integral Type Filter Filter Time Constant: 2 ~ 16 ms, 8 stages
Applications:
X-Y-Z Table
Fix-Pitch Stamping Machine
Transfer Machine
Spinner
Loader/Unloader
Ordering Information/Accessories:
Model No.
Description
RS-M8194H
Serial Communication Remote Automation Unit with High-speed 4-axis Motion Control Module
DN-8468UB
Photo-isolated Universal Snap-on Wiring Terminal Board
DN-8468GB
Photo-isolated General Purpose Wiring Terminal Board
DN-8468MB
Photo-isolated Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
DN-8468PB
Photo-isolated Snap-on Wiring Terminal Board for Panasonic MINAS A4/A5 Servo Ampli er
DN-8468YB
Photo-isolated Snap-on Wiring Terminal Board for Yaskawa Sigma II/III/V Servo Ampli er
DN-8468DB
Photo-isolated Snap-on Wiring Terminal Board for Delta ASDA-A Servo Ampli er
DN-8468FB
CA-SCSI15-H
CA-SCSI30-H
CA-SCSI50-H
Photo-isolated
68-pin SCSI-II
68-pin SCSI-II
68-pin SCSI-II
Snap-on Wiring Terminal Board for Fuji FALDIC-W Servo Ampli er
Connector Cable; Length 1.5 M
Connector Cable; Length 3.0 M
Connector Cable; Length 5.0 M
4-2-4
Remote Motion Solutions - Serial Communication Motion Control Solutions
RS-M8196F
Serial Communication Remote Unit
with High-speed 6-axis Motion Control Module
Features:
Remote control via Modbus RTU
DSP-based motion control module
Maximum pulse output frequency: 4 MHz
Maximum encoder input frequency: 12 MHz
Independent 6-axis motion control
2- to 6-axis linear/ 2- to 3-axis circular/ helical interpolation function
Continuous interpolation
4-step home mode with auto-searching
Synchronized start motion
Programmable T/S-curve acceleration and deceleration
Software limit protection
Software FIFO for arbitrary curve motion
4
Remote Motion Solutions
2
High-speed position latch
High-speed compare trigger and auto-increment compare mode
Expandable remote I/O: 128 DI and 128 DO via a two-wire FRnet interface
Introduction:
The RS-M8196F is a remote serial 6-axis stepping/pulse-type servo motion controller which uses Modbus RTU as its communication
protocol. The RS-M8196F is a slave in a Modbus RTU network and supports all standard Modbus function codes. Three serial interfaces
are provided (RS232, RS485 and RS422) and the user can select any of the three serial interfaces for communication. The RS-M8196F
can expand a PLC system by adding 6-axis motion control support.
The motion controller of the RS-M8196F consists of a serial communication module and a motion control card. A digital signal processor
(DSP) is the brain of the motion controller which calculates the commanded move trajectory and manages supervisory control by
monitoring the limits and emergency stops to ensure safe operation. A Field Programmable Gate Array (FPGA) controls the input/output (e.g.
latch, compare, encoder counter etc.).
The motion controller is suitable for general-purpose
motion control applications. In additions to its wide
speed range, this intelligent motion controller also
has a variety of built-in motion control functions,
Power and
RS-232 LED
such as 2- to 6-axis linear interpolation, 2- and 3-axis
circular interpolation, 3-axis helical interpolation, T/
S-curve acceleration/deceleration, and automatic
Status LED
Boot Mode Dip Switch
Serial Communication
Port
Signal
Communication
Port
home search, etc.
In addition the RS-M8196F acts as an FRnet master
and can control up to 16 remote DIO slaves (128
Communication Connection
and Module Detection
LED
digital outputs and 128 digital inputs). FRnet is a
two-wire serial bus and has a scan interval of 0.72
ms and it is specifically designed for easy and cost
Power and RS-232
Wiring
Signal
Communication
Port
effective wiring. ICPDAS provides a large range of
FRnet I/O terminal boards and modules.
DLL, software utilities and demo programs for Win7,
Win8 and Win10 are provided.
4-2-5
RS-M8196F Interface Functions
Machine Automation Solutions Catalog
Specifications:
Software Support:
Communication Protocol
Modbus RTU
Number of Axes
6
Maximum Pulse Output Rate
4 MHz
Command Type
Pulse Command
Pulse Output Mode
CW/CCW, PULSE/DIR, A/B pulse
Linear Interpolation
Any 2- to 6-axis
Circular/Helical Interpolation
Any 2- or 3-axis
Speed Curve Pro le
T/S-curve
Mechanical Switch Input
Home, LMT+/-, NHOME, LTC, EMG
Servo I/O Interface
Input: INP, ALM, RDY
Output: SVON, ALM_RST, ERC
Ring Counter Mode
32-bit
Position Control Mode
Relative and absolute position
Position Compare Trigger
4 MHz
Encoder Interface
A/B pulse, Up/Down
Encoder Counter
32-bit
Windows
Windows
Windows
Windows
10
8
7
XP
32/64 bit:
Visual C++ lib/DLL
Con guration utility
Demo programs
Maximum Encoder Counting Rate 12 MHz
Local: 12 DI
Expandable: 128 DI
Digital Output Channels
Local: 3 DO
Expandable: 128 DO
I/O Isolation (with DN-8368)
2500 Vrms optical isolation
Connector
68-pin VHDCI Connector and 20-pin SCSI-II
Power Consumption
+24V
2
Remote Motion Solutions
Digital Input Channels
4
Environmental
Operating Temperature
0 ~ +60 °C
Storage Temperature
-20 ~ +80 °C
Ambient Relative Humidity
5 ~ 90 % RH, non-condensing
Ordering Information/Accessories:
Model No.
Description
RS-M8196F
Remote serial communication unit with high-speed, DSP-based, 6-axis motion control card
DN-8368UB
Photo-isolated Universal Snap-on wiring terminal board
DN-8368GB
Photo-isolated General-purpose wiring terminal board
DN-8368MB
Photo-isolated Snap-on wiring terminal board for Mitsubishi MELSERVO-J2 servo ampli er
DN-20M
General purpose digital input and remote digital I/O (FRnet) extension board
CA-MINI68-15
68-pin VHDCI to SCSI-II Connector Cable, Length 1.5 M
CA-SCSI20-M1/M3/M5
20-pin SCSI-II Male connector cable (for Mitsubishi J2 series motor), Length 1 M / 3 M / 5 M.
CA-26-MJ3-15/30/50
26-pin HD D-Sub Male Cable for Mitsubishi Servo Ampli er, 1.5/3/5 M. (for MELSERVO-J3/J4 Series)
CA-26-PA4-15/30/50
26-pin HD D-Sub Male Cable for Panasonic Servo Ampli er, 1.5/3/5 M. (for MINAS A4/A5 Series)
CA-26-YSV-15/30/50
26-pin HD D-Sub Male Cable for Yaskawa Servo Ampli er, 1.5/3/5 M. ( for Sigma II/III/V Series)
CA-26-TTA-15/30/50
26-pin HD D-Sub Male Cable for Teco Servo Ampli er, 1.5/3/5 M. (for TSTA-A/A+ Series)
CA-26-DAA2-15/30/50
26-pin HD D-Sub Male Cable for Delta A2 Servo Ampli er, 1.5/3/5 M. (for ASDA-A2 Series)
CA-26-DAB2-15/30/50
26-pin HD D-Sub Male Cable for Delta B2 Servo Ampli er, 1.5/3/5 M. (for ASDA-B2 Series)
CA-26-FFW-15/30/50
26-pin HD D-Sub Male Cable for Fuji Servo Ampli er, 1.5/3/5 M. ( for FALDIC-W and ALPHA5 Smart Series)
4-2-6
Remote Motion Solutions - Motionnet Solutions
4.3 Motionnet Solutions
Introduction:
Motionnet is a high-speed serial communication system that includes a Master card and Slave modules. ICP DAS provides two categories
of Slaves: the rst is used for Digital I/O, and the other is used for motion control. There are 3 main types of digital I/O modules: 32-ch
Input, 32-ch Output and 16-ch Input/Output. Using these Slave devices, customers' actuators/sensors can easily be directly connected.
Motion control modules can be used together with either a Servo motor or a Stepping motor from a variety of vendors.
Motionnet communication between a Master and the Slaves is based on a proprietary RS-485 technology (Multi-drop, Half-duplex) and
provides the advantage of reduced wiring requirements together with the capability of long-distance and high-speed communication. Data
transfer for the I/O modules is cyclical and time deterministic, so can be widely used for industrial automation applications.
Features:
4
Remote Motion Solutions
3
•
•
•
•
Communication Speed: Max. 20 Mbps
Communication Distance: Max. 100 m
Controllable Modules: 64 modules per line
Data Transfer Rate:
* 15.1 μsec/module
(each module provides 32 I/O points)
* 2048 points in 0.97 ms
(when 64 modules are connected)
Related Products:
Motionnet Solution Products of Remote Motion Solutions
PCI Master Cards
Motion Control
Modules
I/O Modules
PISO-MN200(T/EC)
MN-2091U(-T)
MN-SERVO-MJ3 / PA4 / YSV / DAA / TTA:
Distributed Motionnet Single-axis Motion Control Modules
Distributed Motionnet Single-axis Motion Control Modules
with e-CON Mini-Clamp connector
Distributed Motionnet Single-axis Universal Motion Control Module
MN-3254(T)
Distributed Motionnet 16-ch Isolated DI, 16-ch Isolated DO Module
MN-3253(T)
Distributed Motionnet 32-ch Isolated DI Module
MN-3257(T)
Distributed Motionnet 32-ch Isolated DO Module
Distributed Motionnet 16-ch Isolated DI, 16-ch Isolated DO Module
with Mini-clamp Connector
Distributed Motionnet 32-ch Isolated DI Module with Mini-clamp Connector
MN-SERVO-xxx Series
MN-SERVO-xxx-EC Series
MN-D622-DIN
MN-D640-DIN
MN-D604-DIN
Hub Modules
4-3-1
PCI Bus, Dual-Line Motionnet Master Card
MN-HUB4(EC)
Distributed Motionnet 32-ch Isolated DO Module with Mini-clamp Connector
Distributed Motionnet 4 port Hub module with RJ-45 Jack (RoHS)
(EC: with e-CON Mini-Clamp connector)
Machine Automation Solutions Catalog
PISO-MN200/PISO-MN200T/PISO-MN200EC
PCI
C Bus, Dual-line Motionnet
et Master Card
Introduction:
The PISO-MN200(T/EC) is a PCI Master card that provides
two Motionnet serial communication lines for distributed motion
and I/O control in machine automation applications. The Master
(For Distributed Motion
Motion&&I/O
I/O Control)
Features:
Maximum Communication Speed: 20 Mbps
Distributed motion control up to 128 axes
Distributed I/O points up to 4096 points
lines). If one of the Motionnet lines is only used for I/O control,
it can send/receive signals to/from 2048 points on 64 local
Easy connection using RJ-45 phone jack, removable terminal block or Mini-Clamp connector
devices within 0.97 msec. When it is used to control motors,
Parallel I/O Ports: 8 Input and 4 Output channels
it can control up to 64 axes, which can be used to execute
Optional quadrature encoder input for linear scale or manual
pulse generator input
continuous positioning motion, zero return and even multi-axis
interpolation operations. In addition to serial communication,
the PISO-MN200(T/EC) is also equipped with parallel I/O ports (8
Software Support:
input channels and 4 output channels) for rapid and instinctive
Windows Driver/DLL/Lib
I/O control.
Windows 7 32/64-bit
Windows XP/2000 32-bit
Programming Tools
VC/VB/BCB
Specifications:
Ordering Information/Accessories:
Bus
32-bit/33 MHz universal PCI-Bus
Communication
Speed
2.5, 5, 10, 20 Mbps (Software controlled)
Model No.
Description
Interface
Half-duplex RS-485
PISO-MN200 CR
Communication
Length
Max. 100 M (20 Mbps; 32 Slave modules)
Max. 50 M (20 Mbps; 64 Slave modules)
Max. 100 M (10 Mbps; 64 Slave modules)
PCI Bus, Dual-line Motionnet
Master Card with RJ-45 (RoHS)
Communication
Connector
PISO-MN200: RJ-45 x 2
PISO-MN200T: 5-pin terminal block
PISO-MN200EC: Mini-Clamp connector x 2
I/O Connector
HD D-Sub 15-pin x 1
Parallel I/O
Digital input: 8-ch Photo-coupler Isolated
(12-24 V, NPN or PNP)
Digital output: 4-ch Photo-coupler Isolated
(NPN or PNP)
LED Diagnostics
3
Remote Motion Solutions
card can be used to connect up to 128 Slave modules (64 x 2
4
PCI Bus, Dual-line Motionnet
Master Card with Terminal Block
(RoHS)
PCI Bus, Dual-Line Motionnet
PISO-MN200EC CR
Master Card with Mini-Clamp
connector (RoHS)
Distributed Motionnet Single-axis
MN-SERVO Series CR
Motion Control Modules (With Spring
MN-SERVO EC Series CR Type Terminal Blocks; EC: with e-CON
Mini-Clamp connector) (RoHS)
PISO-MN200T CR
MN-HUB4 CR
MN-HUB4EC CR
Distributed Motionnet 4 port Hub
Module (RoHS)
Connection (green)
Communication Error (red)
MN-2091U CR
MN-2091U-T CR
Distributed Motionnet Single-axis
Universal Motion Control Modules
(RoHS)
Interrupts
Input Change of State, Communication Error
Operating Temp.
0 ~ +60 °C
MN-3254 CR
MN-3254T CR
Distributed Motionnet 16-ch Isolated
DI, 16-ch Isolated DO Module (RoHS)
Storage Temp.
-20 ~ +80 °C
Operating Humidity
10 ~ 85%; non-condensing
MN-3253 CR
MN-3253T CR
Distributed Motionnet 32-ch Isolated
DI Module (RoHS)
Storage Humidity
5 ~ 95%; non-condensing
MN-3257 CR
MN-3257T CR
Distributed Motionnet 32-ch Isolated
DO Module (RoHS)
4-3-2
Remote Motion Solutions - Motionnet Solutions
MN-SERVO Series
MN-SERVO-MJ3 / MN-SERVO-PA4 / MN-SERVO-YSV /
MN-SERVO-DAA / MN-SERVO-TTA
Distributed Motionnet Single-axis Motion Control Modules(With Spring Type Terminal Blocks)
Features:
Maximum communication speed: 20 Mbps
Maximum pulse output frequency: 6.6 Mpps
Control up to 64 axes per line
Multi-axis linear interpolation function
2-axis circular interpolation function
Programmable T/S-curve acceleration and deceleration
Change speed and position on the y
Slow down sensor, home sensor, positive and negative limit
sensors for each axis
Software limit and compare trigger output
4
Remote Motion Solutions
3
Three-way isolation for power, communication and I/O.
(Provide better noise immunity and device protection)
The standard module equipped with Terminal Blocks for
easy wiring (additional terminal board is not required)
Introduction:
The MN-SERVO series is used to expand the number of axes for distributed motion control in Motionnet eld bus. These extension
slave modules can be directly plugged into the servo driver and being connected serially to the controller by a simple and affordable
Cat.5 LAN cable, reducing the wiring effort between drivers and controller. This is very suitable for highly integrated machine automation
applications.
After the module is plugged into the servo driver, all you need to do is make the serial LAN cable connect between the modules. One serial
line can support up to 64 single-axis modules. ICP DAS provides a variety of motion control modules suitable for a range of brands of
servo drivers, such as Mitsubishi MELSERVO-J3/J4, Yaskawa Sigma II/III/V, Panasonic MINAS A4/A5, Delta ASDA-A/A2 and Teco TSTA-A/
A+.
Specifications:
Communication Speed
Pin Assignments:
2.5, 5, 10, 20 Mbps
Maximum Pulse Output
6.6 Mpps
Frequency
Pulse Output Interface
OUT/DIR, CW/CCW
Pulse Output Counter
28-bit
Encoder Interface
CW/CCW, A/B phase
Encoder Counter
28-bit
Speed Pro le
Trapezoidal/S Shaped Acc/Dec Driving
Home Mode
13 Types
Mechanical Switch Input
LMT+, LMT-, HOME, SD, EMG
Servo I/O Interface
Input: ALM, RDY, INP
Output: SVON, ERC, ALM_RST
H i g h - S p e e d Po s i t i o n
5 V TTL or 24 V open collector
Compare Output
4-3-3
Led Diagnostics
Communication state (Link, Error)
Mechanic Switch Input
Internal 3.3 V Power
Termination Resistor Switch
Operating Temperature
0 ~ +60 °C
Storage Temperature
-20 ~ +80 °C
Operating Humidity
10 ~ 85%; non-condensing
Storage Humidity
5 ~ 95%; non-condensing
No.
1~2
3~4
5
6~7
8~9
10
11
12
13
14
15
Name
Data+
DataFG
EGND
E24V
CMP
EMG
SD
LMT+
HOME
LMT-
Description
Serial communication data+
Serial communication dataFrame ground
External ground
External power 24V
High-speed position compare
Emergency stop
Slowdown
Positive end limit
Home position
Negative end limit
Signal
Direction
Both
Both
None
Input
Input
Output
Input
Input
Input
Input
Input
Wire Range: 28~20 AWG
Wire Strip Length: 10 mm
Machine Automation Solutions Catalog
Dimensions: (Units: mm)
Top View
53.0
70.0 64.7
4
3
Right Side View
Remote Motion Solutions
Front View
Bottom View
Ordering Information:
Model No.
Description
MN-3254/MN-3253/MN-3257 CR
MN-3254T/MN-3253T/MN-3257T CR
Distributed Motionnet Single-axis Motion Control Module with Spring Type
Terminal Blocks for Mitsubishi MELSERVO-J3/J4 (RoHS)
Distributed Motionnet Single-axis Motion Control Module with Spring Type
Terminal Blocks for Panasonic MINAS A4 (RoHS)
Distributed Motionnet Single-axis Motion Control Module with Spring Type
Terminal Blocks for Yaskawa Sigma II/III/V (RoHS)
Distributed Motionnet Single-axis Motion Control Module with Spring Type
Terminal Blocks for Delta ASDA-A/A2 (RoHS)
Distributed Motionnet Single-axis Motion Control Module with Spring Type
Terminal Blocks for Teco TSTA-A/A+ (RoHS)
Distributed Motionnet 16-ch Isolated DI and 16-ch Isolated DO / 32-ch Isolated DI / 32-ch
Isolated DO Module (RoHS)
PISO-MN200(T/EC) CR
PCI Bus, Dual-line Motionnet Control Master Card (RoHS)
MN-SERVO-MJ3 CR
MN-SERVO-PA4 CR
MN-SERVO-YSV CR
MN-SERVO-DAA CR
MN-SERVO-TTA CR
Model No.
Description
4POPP-003F
Pink Cord-End Terminal
4POPP-003G
Turquoise Cord-End Terminal
4-3-4
Remote Motion Solutions - Motionnet Solutions
MN-SERVO -EC Series
MN-SERVO-MJ3-EC / MN-SERVO-PA4-EC / MN-SERVO-YSV-EC/
MN-SERVO-DAA-EC / MN-SERVO-TTA-EC
Distributed Motionnet Single-axis Motion Control Modules(With e-CON Mini-Clamp Connector)
Features:
Maximum communication speed: 20 Mbps
Maximum pulse output frequency: 6.6 Mpps
Control up to 64 axes per line
Multi-axis linear interpolation function
2-axis circular interpolation function
Programmable T/S-curve acceleration and deceleration
Change speed and position on the y
Slow down sensor, home sensor, positive and negative limit
sensors for each axis
Software limit and compare trigger output
4
Remote Motion Solutions
3
Three-way isolation for power, communication and I/O.
(Provide better noise immunity and device protection)
The EC module equipped with Mini-Clamp connector provide
for an easier and debris-free wire termination process.
Introduction:
The MN-SERVO -EC series is used to expand the number of axes for distributed motion control on a Motionnet eld bus. These
extension slave modules can be directly connect to the servo driver and are serially connected to the controller using a simple and
affordable Cat.5 LAN cable, reducing the amount of wiring required between the drivers and the controller, making this a highly suitable
solution for integrated machine automation applications.
After the module is connected to the servo driver, all you need to do is connect a serial LAN cable between the modules. One serial line
can support up to 64 single-axis modules. ICP DAS provides a variety of motion control modules suitable for a range of brands of servo
drivers, such as Mitsubishi MELSERVO-J3/J4, Yaskawa Sigma II/III/V, Panasonic MINAS A4/A5, Delta ASDA-A/A2 and Teco TSTA-A/A+.
Pin Assignments:
Specifications:
Communication Speed
2.5, 5, 10, 20 Mbps
Maximum Pulse Output
6.6 Mpps
Frequency
Pulse Output Interface
OUT/DIR, CW/CCW
Pulse Output Counter
28-bit
Encoder Interface
CW/CCW, A/B phase
Encoder Counter
28-bit
Speed Pro le
Trapezoidal/S Shaped Acc/Dec Driving
Home Mode
13 Types
Mechanical Switch Input
LMT+, LMT-, HOME, SD, EMG
Servo I/O Interface
Input: ALM, RDY, INP
Output: SVON, ERC, ALM_RST
H i g h - S p e e d Po s i t i o n
5 V TTL or 24 V open collector
Compare Output
Led Diagnostics
4-3-5
Communication state (Link, Error)
Mechanic Switch Input
Internal 3.3 V Power
Termination Resistor Switch
Operating Temperature
0 ~ +60 °C
Storage Temperature
-20 ~ +80 °C
Operating Humidity
10 ~ 85%; non-condensing
Storage Humidity
5 ~ 95%; non-condensing
3
2
1
3
2
1
MC1
MC2
Connector No.
Name
MC1
MC2
MC3
MC4
MC5
MC6
3
2
1
3
2
1
3
2
1
3
2
1
3
2
1
3
2
1
DataData+
F.G.
DataData+
F.G.
E24V
EGND
F.G.
E24V
EGND
F.G.
CMP
EMG
SD
LMT+
HOME
LMT-
MC3
MC4
MC5
MC6
Description
Serial communication dataSerial communication data+
Frame ground
Serial communication dataSerial communication data+
Frame ground
External power 24V
External ground
Frame ground
External power 24V
External ground
Frame ground
High-speed position compare
Emergency stop
Slowdown
Positive end limit
Home position
Negative end limit
Signal
Direction
Both
Both
None
Both
Both
None
Input
Input
None
Input
Input
None
Output
Input
Input
Input
Input
Input
Machine Automation Solutions Catalog
Dimensions: (Units: mm)
Top View
4
Front View
Left Side View
3
Remote Motion Solutions
Bottom View
Ordering Information:
Model No.
Description
MN-3254/MN-3253/MN-3257 CR
MN-3254T/MN-3253T/MN-3257T CR
Distributed Motionnet Single-axis Motion Control Module with e-CON
Mini-Clamp connector for Mitsubishi MELSERVO-J3/J4 (RoHS)
Distributed Motionnet Single-axis Motion Control Module with e-CON
Mini-Clamp connector for Panasonic MINAS A4 (RoHS)
Distributed Motionnet Single-axis Motion Control Module with e-CON
Mini-Clamp connector for Yaskawa Sigma II/III/V (RoHS)
Distributed Motionnet Single-axis Motion Control Module with e-CON
Mini-Clamp connector for Delta ASDA-A/A2 (RoHS)
Distributed Motionnet Single-axis Motion Control Module with e-CON
Mini-Clamp connector for Teco TSTA-A/A+ (RoHS)
Distributed Motionnet 16-ch Isolated DI and 16-ch Isolated DO / 32-ch Isolated DI / 32-ch
Isolated DO Module (RoHS)
PISO-MN200(T/EC) CR
PCI Bus, Dual-line Motionnet Control Master Card (RoHS)
MN-SERVO-MJ3-EC CR
MN-SERVO-PA4-EC CR
MN-SERVO-YSV-EC CR
MN-SERVO-DAA-EC CR
MN-SERVO-TTA-EC CR
Mini Clamp Wiremount Plug
Applicable Wire
Cross-sectional
AWG No.
Area (mm2)
Finished External
Diameter Φ (mm)
ICP DAS Part No.
Cover
Color
3M Part No.
4PKD1O0000001
Gray
37103-2206-000FL
20 – 22
0.3 – 0.5
1.6 – 2.0
4PKD1O0000002
Red
37103-3101-000FL
24 – 26
0.14 – 0.3
0.8 – 1.0
4PKD1O0000003
Orange
37103-3163-000FL
24 – 26
0.14 – 0.3
1.2 – 1.6
4-3-6
Remote Motion Solutions - Motionnet Solutions
MN-2091U/MN-2091U-T
Distributed Motionnet Single-axis Universal Motion Control Module
Features:
Maximum communication speed: 20 Mbps
Maximum pulse output frequency: 6.6 Mpps
Control up to 64 axes per line
Multi-axis linear interpolation function
2-axis circular interpolation function
Programmable T/S-curve acceleration and deceleration
Change speed and position on the y
Slow down sensor, home sensor, positive and negative limit
sensors for each axis
Software limit and compare trigger output
4
Remote Motion Solutions
3
Three-way isolation for power, communication and I/O. (Provide better noise immunity and device protection)
Suitable for controlling a variety of servo drivers and stepper
drivers
Introduction:
The MN-2091U(-T) is used to expand the number of axes for distributed motion control on a Motionnet eld bus. These extension slave
modules are serially connected to the controller using a simple and affordable Cat.5 LAN cable, and one serial line can support up to 64
single-axis modules. The 26-pin HD D-Sub connector can be used to easily connect with various servo drivers and stepper drivers. ICP
DAS also provides a variety of cables suitable for a range of brands of servo drivers, which further reduces the amount of wiring required
between the drivers and the controller, making this an ideal solution for highly integrated machine automation applications.
Specifications:
Communication Speed
Dimensions: (Units: mm)
2.5, 5, 10, 20 Mbps
Maximum Pulse Output
6.6 Mpps
Frequency
Pulse Output Interface
OUT/DIR, CW/CCW
Pulse Output Counter
28-bit
Encoder Interface
CW/CCW, A/B phase
Encoder Counter
28-bit
Speed Pro le
Trapezoidal/S-shaped Acc/Dec
Driving
Home Mode
13 Types
Mechanical Switch Input LMT+, LMT-, HOME, SD, EMG
Servo I/O Interface
Input: ALM, RDY, INP
Output: SVON, ERC, ALM_RST
High-Speed Position
Compare Output
5V TTL or 24V open collector
LED Diagnostics
Communication state (Link, Error)
Mechanic Switch Input
Internal 3.3V Power
Termination Resistor Switch
Left Side View
Front View
Communication Connec- MN-2091U: RJ-45 x2
MN-2091U-T: 5-pin terminal block
tor
Operating Temperature
0 ~ +60 °C
Storage Temperature
-20 ~ +80 °C
Operating Humidity
10 ~ 85%; non-condensing
Storage Humidity
5 ~ 95%; non-condensing
Bottom View
MN-2091U
4-3-7
MN-2091U-T
Machine Automation Solutions Catalog
Pin Assignments:
Pin No. Pin Name
Description
I/O Define.
CNIO1
CNIO1B (Left) Pin Assignments
19
CM1
26
I/O Define.
CNIO1A (Right) Pin Assignments
1
HOME
Home position
Input
1
LMT-
Negative end limit
Input
SD
Slowdown
Input
2
LMT+
Positive end limit
Input
3
EGND
External ground
Input
3
EMG
Emergency stop
Input
4
5V_o
5
AGND
6
FGND
Internal 5V power deOutput
rived from 24V supply
Optional analog ground, Connect to
no internal connection CM1 only
4
CMP
5
RSV
6
FGND
Frame ground
None
EGND
External ground
Input
External power 24V
Input
Frame ground
None
7 ~ 8 EGND
External ground
Input
7~8
9 ~ 10 E24V
External power 24V
Input
9 ~ 10 E24V
I/O Define.
Pin No. Pin Name
Description
1
SRV_ON Servo On
Output
2
INP
In Position
Input
3
ERC
Error Counter Clear
4
RDY
5
P-
6
P+
7
A-
8
A+
9
N.C.
10
11
High-speed position
Output
compare
Connect to
Reserved signal
(no internal connection) CM1 only
Description
I/O Define.
Optional analog ground Connect to
(no internal connection) CNIO1 only
15
AGND
Output
16
B-
Servo Ready
Input
17
B+
Forward rotation pulse
train (differential line
driver)
Output
18
N.C.
No internal connection
N.C.
Output
19
EMG
Emergency stop
Input
20
RSV
Reserved signal
Connect to
(no internal connection) CNIO1 only
No internal connection N.C.
21
EGND
External ground
RESET
Alarm Reset
Output
22
EGND
External ground
Input
ALARM
Servo Alarm
Input
23
N-
Output
24
N+
Forward rotation pulse
train (differential line
driver)
Encoder A-phase pulse
Input
Input
12
E24V
External power 24V
Input
13
EGND
External ground
Input
14
N.C.
No internal connection N.C.
25
Z-
26
Z+
Encoder B-phase pulse
Encoder Z-phase pulse
Input
Input
Input
4
3
Remote Motion Solutions
18
Description
2
Pin No. Pin Name
1
Pin No. Pin Name
Output
Input
Input
Ordering Information:
Model No.
Description
Distributed Motionnet Single-axis Universal Motion Control Module with RJ-45
Connector (RoHS)
Distributed Motionnet Single-axis Universal Motion Control Module with Terminal
MN-2091U-T CR
Block (RoHS)
Distributed Motionnet Single-axis Motion Control Modules (with Spring Type Terminal Blocks;
MN-SERVO Series CR
MN-SERVO -EC Series CR
EC: with e-CON Mini-Clamp Connector) (RoHS)
MN-3254/MN-3253/MN-3257 CR
Distributed Motionnet 16-ch Isolated DI and 16-ch Isolated DO / 32-ch Isolated DI / 32-ch
MN-3254T/MN-3253T/MN-3257T CR Isolated DO Module (RoHS)
MN-2091U CR
PISO-MN200(T/EC) CR
PCI Bus, Dual-Line Motionnet Master Control Card (RoHS)
Accessories:
Model No.
Description
CA-PC26M
26-pin HD D-Sub solder cup Male connector with plastic cover
CA-26-DAB2-15/30/50
26-pin HD D-Sub Male cable for Delta B2 servo ampli er, 1.5/3/5 M (for ASDA-B2 series)
CA-26-FFW-15/30/50
26-pin HD D-Sub Male cable for Fuji servo ampli er, 1.5/3/5 M (for FALDIC-W and ALPHA5 Smart series)
CA-26-MJ3-15/30/50
26-pin HD D-Sub Male cable for Mitsubishi servo ampli er, 1.5/3/5 M (for MELSERVO-J3/J4 series)
CA-26-YSV-15/30/50
26-pin HD D-Sub Male cable for Yaskawa servo ampli er, 1.5/3/5 M (for Sigma II/III/V series)
CA-26-PA4-15/30/50
26-pin HD D-Sub Male cable for Panasonic servo ampli er, 1.5/3/5 M (for MINAS A4/A5 series)
CA-26-DAA2-15/30/50
26-pin HD D-Sub Male cable for Delta A2 servo ampli er, 1.5/3/5 M (for ASDA-A2 series)
CA-26-TTA-15/30/50
26-pin HD D-Sub Male cable for Teco servo ampli er, 1.5/3/5 M (for TSTA-A/A+ series)
4-3-8
Remote Motion Solutions - Motionnet Solutions
MN-3253/MN-3253T
Distributed Motionnet 32-ch Isolated DI Module
Features:
Maximum communication speed: 20 Mbps
32-ch isolated digital inputs
Each Motionnet transfer Line: connect modules up to 64
Designing isolation protection: power, communication, I/O
LED Diagnostics for communication and I/O status
Each port can be speci ed as NPN or PNP (12~24 V)
4
Remote Motion Solutions
3
Introduction:
The MN-3253(T) is an I/O expansion device for Motionnet systems, and is equipped with 32 isolated digital input channels. Each
Motionnet communication line can be connected to up to 64 modules, meaning that the I/O can be expanded to up to 2048 input channels. The communication time required by each MN-3253(T) is 15.1 us. If 64 modules have been connected, signals for 2048 points on
64 modules can be sent and received within 0.97 msec. The update of the I/O status is completed automatically through the Motionnet
system at a constant interval, and setting interrupts for speci c input points that the customer wants to monitor can help prevent CPU
time from being wasted by repetitive polling when there is nothing else for the issuing process to do. Each input port can be speci ed as
either NPN or PNP (12~24 V).
Specifications:
Digital Input
Power
Input Channels
32
Voltage Range
24 VDC (1000 V isolated)
Input Type
Sink/Source (NPN/PNP)
Power Consumption
2 W max.
On Voltage Level
+10 ~ 30 VDC
Off Voltage Level
+3 VDC max.
Protection
Reverse voltage and overcurrent
protection
Connection
7-pin removable terminal block
Input Impedance 4.7K Ohm
Isolation Voltage
3000 Vrms
Interface
4-3-9
Mechanical
Case
Plastic
Dimensions (W x H x D) 31 mm x 140 mm x 126.6 mm
LED Indicators
Communication state (Link, Error)
Input/output state
Internal 3.3 V Power
Termination resistor switch
Communication
Speed
Selectable 2.5, 5, 10 or 20 Mbps by DIP
Switch.
Operating Temperature
Storage Temperature
-20 ~ +80°C
Cyclic Scan Time
15.1 μs per device (20 Mbps)
Operating Humidity
10 ~ 85%; Non-condensing
Communication
Connector
MN-3253: RJ-45 x 2
MN-3253T: 5-pin terminal block
Storage Humidity
5 ~ 95%; Non-condensing
I/O Connector
13-Pin pluggable Terminal block x 4
Installation
DIN-Rail mounting
Environmental
0 ~ + 60°C
Machine Automation Solutions Catalog
Pin Assignments:
NO.
Pin Define
Specifications
CN1 Pin Assignments
1
FG
Frame Ground
2 ~ 4 EGND
External Ground
5 ~ 7 E24V
External 24V(+)
CN2A (Right) Pin Assignments
1 ~ 2 E24V
External 24V(+)
3
DICOM1
Common terminal of DI00~DI07
4 ~ 11 DI00~DI07
Digital input channels 00~07
12 ~ 13 EGND
External Ground
CN2B (Left) Pin Assignments
1 ~ 2 E24V
External 24V(+)
3
DICOM2
Common terminal of DI08~DI15
4 ~ 11 DI08~DI15
Digital input channels 08~15
12 ~ 13 EGND
External Ground
CN3A (Right) Pin Assignments
1 ~ 2 E24V
External 24V(+)
3
DICOM3
Common terminal of DI16~DI23
4 ~ 11 DI16~DI23
Digital input channels 16~23
12 ~ 13 EGND
External Ground
CN3B (Left) Pin Assignments
1 ~ 2 E24V
External 24V(+)
3
DICOM4
Common terminal of DI24~DI31
4 ~ 11 DI24~DI31
Digital input channels 24~31
12 ~ 13 EGND
External Ground
I/O Define
Input
Input
Connect to CN1
Input
Input
Connect to CN1
Connect to CN1
Input
Input
Connect to CN1
Connect to CN1
Input
Input
Connect to CN1
Connect to CN1
Input
Input
Connect to CN1
Right Side View
Front View
3
Remote Motion Solutions
Dimensions: (Units: mm)
4
Top View
Ordering Information/Accessories:
Model No.
Description
MN-3253 CR
Distributed Motionnet 32-ch Isolated DI Module with RJ-45 Connector (RoHS)
MN-3253T CR
Distributed Motionnet 32-ch Isolated DI Module with Terminal Block (RoHS)
PISO-MN200(T/EC) CR
PCI Bus, Dual-Line Motionnet Master Control Card (RoHS)
MN-SERVO Series CR
MN-SERVO -EC Series CR
MN-2091U CR
MN-2091U-T CR
Distributed Motionnet Single-axis Motion Control Modules (with Spring Type Terminal Blocks; EC:
with e-CON Mini-Clamp Connector) (RoHS)
Distributed Motionnet Single-axis Universal Motion Control Module (RoHS)
4-3-10
Remote Motion Solutions - Motionnet Solutions
MN-3254/MN-3254T
Distributed Motionnet 16-ch Isolated DI, 16-ch Isolated DO Module
Features:
Maximum communication speed: 20 Mbps
16-ch isolated digital inputs, 16-ch isolated digital outputs
Each Motionnet transfer line: connect modules up to 64
Designing isolation protection: power, communication, I/O
LED Diagnostics for communication and I/O status
Each input port can be speci ed as NPN or PNP (12~24 V)
The internal ywheel diode of each output ports can be
connect to different sources of power individually.
High current sinking capability (200 mA)
4
Remote Motion Solutions
3
Introduction:
The MN-3254(T) is an I/O expansion device for Motionnet systems, and is equipped with 16 isolated digital input channels and
16 isolated digital output channels. Each Motionnet communication line can be connected to up to 64 modules, meaning that the I/
O can be expanded to up to 1024 input channels and 1024 output channels. The communication time required by each MN-325x is 15.1
us. If 64 modules have been connected, signals for 2048 points on 64 modules can be sent and received within 0.97 msec. The update
of the I/O status is completed automatically through the Motionnet system at a constant interval, and setting interrupts for speci c input
points that the customer wants to monitor can help prevent CPU time from being wasted by repetitive polling when there is nothing else
for the issuing process to do. Each input port can be speci ed as either NPN or PNP (12~24 V), and the internal ywheel diodes of each
output port can be individually connected to different sources of power (each port is comprised of 8 I/O signals).
Specifications:
Digital Input
15.1 μs per device (20 Mbps)
Communication Connector
MN-3254: RJ-45 x 2
MN-3254T: 5-pin terminal block
I/O Connector
13-Pin pluggable Terminal block x 4
Input Channels
16
Input Type
Sink/Source (NPN/PNP)
On Voltage Level
+10 ~ 30 VDC
Off Voltage Level
+3 VDC max.
Input Impedance
4.7 KΩ
Voltage Range
Isolation Voltage
3000 Vrms
Power Consumption
2 W max.
Protection
Reverse voltage and overcurrent
protection
Connection
7-pin removable terminal block
Digital Output
Power
24 VDC (1000 V isolated)
Output Channels
16
Output Type
Open Collector (Sink), with internal ywheel
diode
Load Voltage
+30 VDC max.
Load Current
200 mA max. for each channel
Isolation Voltage
3000 Vrms
Installation
Operating Temperature 0 ~ + 60°C
LED Indicators
Communication state(Link, Error)
Input/output state
Internal 3.3 V Power
Termination resistor switch
Communication
Speed
Selectable 2.5, 5, 10 or 20 Mbps by DIP
Switch.
Interface
4-3-11
Cyclic Scan Time
Mechanical
Case
Plastic
Dimensions (W x H x D) 31 mm x 140 mm x 126.6 mm
DIN-Rail mounting
Environmental
Storage Temperature
-20 ~ +80°C
Operating Humidity
10 ~ 85%; Non-condensing
Storage Humidity
5 ~ 95%; Non-condensing
Machine Automation Solutions Catalog
Pin Assignments:
NO.
Pin Define.
Specifications
CN1 Pin Assignments
1
FG
Frame Ground
2 ~ 4 EGND
External Ground
5 ~ 7 E24V
External 24V(+)
CN2A (Right) Pin Assignments
1 ~ 2 E24V
External 24V(+)
3
DICOM1
Common terminal of DI00~DI07
4 ~ 11 DI00~DI07
Digital input channels 00~07
12 ~ 13 EGND
External Ground
CN2B (Left) Pin Assignments
1 ~ 2 E24V
External 24V(+)
3
DICOM2
Common terminal of DI08~DI15
4 ~ 11 DI08~DI15
Digital input channels 08~15
12 ~ 13 EGND
External Ground
CN3A (Right) Pin Assignments
1 ~ 2 E24V
External 24V(+)
Common Anode for Flywheel Diodes
3
DOCOM1
of DO00~DO07
4 ~ 11 DO00~DO07 Digital output channels 00~07
12 ~ 13 EGND
External Ground
CN3B (Left) Pin Assignments
1 ~ 2 E24V
External 24V(+)
Common Anode for Flywheel Diodes
3
DOCOM2
of DO08~DO15
4 ~ 11 DO08~DO15 Digital output channels 08~15
12 ~ 13 EGND
External Ground
I/O Define.
Input
Input
Connect to CN1
Input
Input
Connect to CN1
Connect to CN1
Input
Input
Connect to CN1
Connect to CN1
Input
Output
Connect to CN1
Connect to CN1
Input
Output
Connect to CN1
3
Remote Motion Solutions
Dimensions: (Units: mm)
Right Side View
Front View
4
Top View
Ordering Information/Accessories:
Model No.
MN-3254 CR
MN-3254T CR
PISO-MN200(T/EC) CR
MN-SERVO Series CR
MN-SERVO -EC Series CR
MN-2091U CR
MN-2091U-T CR
Description
Distributed Motionnet 16-ch Isolated DI, 16-ch Isolated DO Module with RJ-45 Connector
(RoHS)
Distributed Motionnet 16-ch Isolated DI, 16-ch Isolated DO Module with Terminal Block
(RoHS)
PCI Bus, Dual-Line Motionnet Master Control Card (RoHS)
Distributed Motionnet Single-axis Motion Control Modules (with Spring Type Terminal Blocks; EC:
with e-CON Mini-Clamp Connector) (RoHS)
Distributed Motionnet Single-axis Universal Motion Control Module (RoHS)
4-3-12
Remote Motion Solutions - Motionnet Solutions
MN-3257/MN-3257T
Distributed Motionnet 32-ch Isolated DO Module
Features:
Maximum communication speed: 20 Mbps
32-ch isolated digital outputs
Each Motionnet transfer Line: connect modules up to 64
Designing isolation protection: power, communication, I/O
LED Diagnostics for communication and I/O status
The internal ywheel diode of each output ports can be
connect to different sources of power individually.
High current sinking capability (200 mA)
4
Remote Motion Solutions
3
Introduction:
The MN-3257(T) is an I/O expansion device for Motionnet systems, and is equipped with 32 isolated digital output channels. Each Motionnet communication line can be connected to up to 64 modules, meaning that the I/O can be expanded to 2048 output channels. The
communication time required by each MN-325x is 15.1 us. If 64 modules have been connected, signals for 2048 points on 64 modules
can be sent and received within 0.97 msec. The update of the I/O status is completed automatically through the Motionnet system at a
constant interval, and setting interrupts for speci c input points that the customer wants to monitor can help prevent CPU time from being wasted by repetitive polling when there is nothing else for the issuing process to do. The internal ywheel diodes of each output port
can be individually connected to different sources of power (each port is comprised of 8 I/O signals).
Specifications:
Digital Output
Power
Output Channels 32
Voltage Range
Output Type
Open Collector (Sink), with internal flywheel
diode
Load Voltage
+30 VDC max.
Load Current
200 mA max. for each channel
2 W max.
Protection
Reverse voltage and overcurrent
protection
Connection
7-pin removable terminal block
Mechanical
Interface
Case
Communication state (Link, Error)
Input/output state
Internal 3.3 V power
Termination resistor switch
Communication
Selectable 2.5, 5, 10 or 20 Mbps by DIP Switch.
Speed
Cyclic Scan Time 15.1 μs per device (20 Mbps)
4-3-13
Power Consumption
Isolation Voltage 3000 Vrms
LED Indicators
Communication
Connector
MN-3257: RJ-45 x 2
MN-3257T: 5-pin terminal block
I/O Connector
13-pin pluggable Terminal block x 4
24 VDC (1000 V isolated)
Plastic
Dimensions (W x H x D) 31 mm x 140 mm x 126.6 mm
Installation
DIN-Rail mounting
Environmental
Operating Temperature 0 ~ + 60°C
Storage Temperature
-20 ~ +80°C
Operating Humidity
10 ~ 85%; Non-condensing
Storage Humidity
5 ~ 95%; Non-condensing
Machine Automation Solutions Catalog
I/O Define
Input
Input
Connect to CN1
Input
Output
Connect to CN1
Connect to CN1
Input
Output
Connect to CN1
Connect to CN1
Input
Output
Connect to CN1
Connect to CN1
Input
Output
Connect to CN1
Dimensions: (Units: mm)
Front View
Ordering Information/Accessories:
Right Side View
Description
MN-3257 CR
Distributed Motionnet 32-ch Isolated DO Module with RJ-45 Connector (RoHS)
MN-3257T CR
Distributed Motionnet 32-ch Isolated DO Module with Terminal Block (RoHS)
PISO-MN200(T/EC) CR
PCI Bus, Dual-Line Motionnet Master Control Card (RoHS)
MN-2091U CR
MN-2091U-T CR
3
Top View
Model No.
MN-SERVO Series CR
MN-SERVO -EC Series CR
4
Remote Motion Solutions
NO.
Pin Define
Specifications
CN1 Pin Assignments
1
FG
Frame Ground
2 ~ 4 EGND
External Ground
5 ~ 7 E24V
External 24V(+)
CN2A (Right) Pin Assignments
1 ~ 2 E24V
External 24V(+)
Common Anode for Flywheel Diode
3
DOCOM1
of DO00~DO07
4 ~ 11 DO00~DO07 Digital output channels 00~07
12 ~ 13 EGND
External Ground
CN2B (Left) Pin Assignments
1 ~ 2 E24V
External 24V(+)
Common Anode for Flywheel Diode
3
DOCOM2
of DO08~DO15
4 ~ 11 DO08~DO15 Digital output channels 08~15
12 ~ 13 EGND
External Ground
CN3A (Right) Pin Assignments
1 ~ 2 E24V
External 24V(+)
Common Anode for Flywheel Diode
3
DOCOM3
of DO16~DO23
4 ~ 11 DO16~DO23 Digital output channels 16~23
12 ~ 13 EGND
External Ground
CN3B (Left) Pin Assignments
1 ~ 2 E24V
External 24V(+)
Common Anode for Flywheel Diode
3
DOCOM4
of DO24~DO31
4 ~ 11 DO24~DO31 Digital output channels 24~31
12 ~ 13 EGND
External Ground
Pin Assignments:
Distributed Motionnet Single-axis Motion Control Modules (with Spring Type Terminal Blocks; EC:
with e-CON Mini-Clamp Connector) (RoHS)
Distributed Motionnet Single-axis Universal Motion Control Module (RoHS)
4-3-14
Remote Motion Solutions - Motionnet Solutions
MN-D640-DIN
Distributed Motionnet 32-ch Isolated DI Module
Features:
Maximum communication speed: 20 Mbps
32-ch isolated digital inputs
Each Motionnet transfer Line: connect modules up to 64
Designing isolation protection: power, communication, I/O
LED Diagnostics for communication and I/O status
4
Remote Motion Solutions
3
Introduction:
The MN-D640-DIN is an I/O expansion device for Motionnet systems, and is equipped with 32 isolated digital input channels. Each
Motionnet communication line can be connected to up to 64 modules, meaning that the I/O can be expanded to up to 2048 input channels. The communication time required by each MN-D640-DIN is 15.1 us. If 64 modules have been connected, signals for 2048 points
on 64 modules can be sent and received within 0.97 msec. The update of the I/O status is completed automatically through the Motionnet system at a constant interval, and setting interrupts for speci c input points that the customer wants to monitor can help prevent CPU
time from being wasted by repetitive polling when there is nothing else for the issuing process to do.
Specifications:
Digital Input
Power
Input Channels
32
Voltage Range
24 VDC (1000 V isolated)
Input Type
NPN
Power Consumption
2 W max.
On Voltage Level
+10 ~ 24 VDC
Off Voltage Level
+3 VDC max.
Protection
Reverse voltage and overcurrent
protection
Connection
5-pin removable terminal block
Input Impedance 4.7K Ohm
Isolation Voltage
2500 Vrms
Interface
4-3-15
Mechanical
Case
Aluminum
Dimensions (W x H x D) 83 mm x 93 mm x 63 mm
LED Indicators
Communication state (Link, Error)
Input/output state
Internal 3.3 V Power
External 24 V Power
Communication
Speed
Selectable 2.5, 5, 10 or 20 Mbps by DIP
Switch.
Operating Temperature
Storage Temperature
-20 ~ +80°C
Cyclic Scan Time
15.1 μs per device (20 Mbps)
Operating Humidity
10 ~ 85%; Non-condensing
Communication
Connector
Mini-clamp Connector x 2
Storage Humidity
5 ~ 95%; Non-condensing
I/O Connector
6-Pin pluggable Terminal block x 8
Installation
DIN-Rail mounting
Environmental
0 ~ + 60°C
Machine Automation Solutions Catalog
Pin Assignments:
NO.
Pin Define
Specifications
I/O Define
CN3 Pin Assignments
1
F.G.
2
Data+
3
Data−
Frame Ground
-
Positive terminal of differenBidirectional
tial communication signal
Negative terminal of differBidirectional
ential communication signal
CN2 Pin Assignments
1
F.G.
Frame Ground
-
2~3
GND
External Ground
Input
4~5
24V
External 24V(+)
Input
CON1~8 Pin Assignments
1~4
DIxx
Digital input channels 00~31 Input
5
GND
External Ground
6
24V
External 24V(+)
Connect to
CN2
Connect to
CN2
4
3
Dimensions: (Units: mm)
Remote Motion Solutions
Ordering Information:
Model No.
Description
MN-D640-DIN CR
Distributed Motionnet 32-ch Isolated DI Module with Mini-clamp Connector (RoHS)
PISO-MN200(T/EC) CR
PCI Bus, Dual-Line Motionnet Master Control Card (RoHS)
Distributed Motionnet Single-axis Motion Control Modules (with Spring Type Terminal Blocks; EC:
with e-CON Mini-Clamp Connector) (RoHS)
MN-SERVO Series CR
MN-SERVO -EC Series CR
MN-2091U CR
MN-2091U-T CR
Distributed Motionnet Single-axis Universal Motion Control Module (RoHS)
Accessories:
Mini Clamp Wiremount Plug
Applicable Wire
Cross-sectional
AWG No.
Area (mm2)
20 – 22
0.3 – 0.5
Finished External
Diameter Φ (mm)
1.6 – 2.0
4PKD1O0000001
Cover
Color
Gray
37103-2206-000FL
4PKD1O0000002
Red
37103-3101-000FL
24 – 26
0.14 – 0.3
0.8 – 1.0
4PKD1O0000003
Orange
37103-3163-000FL
24 – 26
0.14 – 0.3
1.2 – 1.6
ICP DAS Part No.
3M Part No.
4-3-16
Remote Motion Solutions - Motionnet Solutions
MN-D622-DIN
Distributed Motionnet 16-ch Isolated DI, 16-ch Isolated DO Module
Features:
Maximum communication speed: 20 Mbps
16-ch isolated digital inputs, 16-ch isolated digital outputs
Each Motionnet transfer line: connect modules up to 64
Designing isolation protection: power, communication, I/O
LED Diagnostics for communication and I/O status
High current sinking capability (200 mA)
Fast Output Response Time within 0.5 μs
4
Remote Motion Solutions
3
Introduction:
The MN-D622-DIN is an I/O expansion device for Motionnet systems, and is equipped with 16 isolated digital input channels and
16 isolated digital output channels. Each Motionnet communication line can be connected to up to 64 modules, meaning that the I/
O can be expanded to up to 1024 input channels and 1024 output channels. The communication time required by each MN-D622-DIN
is 15.1 us. If 64 modules have been connected, signals for 2048 points on 64 modules can be sent and received within 0.97 msec. The
update of the I/O status is completed automatically through the Motionnet system at a constant interval, and setting interrupts for specific
input points that the customer wants to monitor can help prevent CPU time from being wasted by repetitive polling when there is nothing
else for the issuing process to do.
Specifications:
Digital Input
15.1 μs per device (20 Mbps)
Communication
Connector
Mini-clamp Connector x 2
6-Pin pluggable Terminal block x 8
Input Channels
16
Input Type
NPN
On Voltage Level
+10 ~ 24 VDC
I/O Connector
Off Voltage Level
+3 VDC max.
Power
Input Impedance
4.7 KΩ
Voltage Range
Isolation Voltage
2500 Vrms
Power Consumption
2 W max.
Protection
Reverse voltage and overcurrent
protection
Connection
5-pin removable terminal block
Digital Output
24 VDC (1000 V isolated)
Output Channels
16
Output Type
Open Collector (Sink), with internal flywheel
diode
Load Voltage
+30 VDC max.
Case
Load Current
200 mA max. for each channel
Dimensions (W x H x D) 83 mm x 93 mm x 63 mm
Isolation Voltage
2500 Vrms
Installation
LED Indicators
Communication
Speed
Mechanical
Aluminum
DIN-Rail mounting
Environmental
Interface
4-3-17
Cyclic Scan Time
Communication state(Link, Error)
Input/output state
Internal 3.3 V Power
External 24 V Power
Operating Temperature 0 ~ + 60°C
Selectable 2.5, 5, 10 or 20 Mbps by DIP
Switch.
ICP DAS CO., LTD.
Storage Temperature
-20 ~ +80°C
Operating Humidity
10 ~ 85%; Non-condensing
Storage Humidity
5 ~ 95%; Non-condensing
Professional Provider of High Quality Industrial Computer Products and Data Acquisition Systems
Machine Automation Solutions Catalog
Pin Assignments:
NO.
Pin Define.
Specifications
I/O Define.
CN3 Pin Assignments
1
F.G.
2
Data+
3
Data−
Frame Ground
-
Positive terminal of differenBidirectional
tial communication signal
Negative terminal of differenBidirectional
tial communication signal
CN2 Pin Assignments
1
F.G.
Frame Ground
-
2~3
GND
External Ground
Input
4~5
24V
External 24V(+)
Input
CON1~4 Pin Assignments
1~4
DIxx
Digital input channels 00~15 Input
Connect to
5
GND
External Ground
CN2
Connect to
6
24V
External 24V(+)
CN2
CON5~8 Pin Assignments
Digital output channels
1~4
DOxx
Output
00~15
Connect to
5
GND
External Ground
CN2
Connect to
6
24V
External 24V(+)
CN2
Dimensions: (Units: mm)
4
3
Remote Motion Solutions
Ordering Information:
Model No.
Description
MN-D622-DIN CR
Distributed Motionnet 16-ch Isolated DI, 16-ch Isolated DO Module with Mini-clamp Connector
(RoHS)
PISO-MN200(T/EC) CR
PCI Bus, Dual-Line Motionnet Master Control Card (RoHS)
MN-SERVO Series CR
MN-SERVO -EC Series CR
MN-2091U CR
MN-2091U-T CR
Distributed Motionnet Single-axis Motion Control Modules (with Spring Type Terminal Blocks; EC: with
e-CON Mini-Clamp Connector) (RoHS)
Distributed Motionnet Single-axis Universal Motion Control Module (RoHS)
Accessories:
Mini Clamp Wiremount Plug
Applicable Wire
Cross-sectional
AWG No.
Area (mm2)
20 – 22
0.3 – 0.5
Finished External
Diameter Φ (mm)
1.6 – 2.0
4PKD1O0000001
Cover
Color
Gray
37103-2206-000FL
4PKD1O0000002
Red
37103-3101-000FL
24 – 26
0.14 – 0.3
0.8 – 1.0
4PKD1O0000003
Orange
37103-3163-000FL
24 – 26
0.14 – 0.3
1.2 – 1.6
ICP DAS Part No.
3M Part No.
4-3-18
Remote Motion Solutions - Motionnet Solutions
MN-D604-DIN
Distributed Motionnet 32-ch Isolated DO Module
Features:
Maximum communication speed: 20 Mbps
32-ch isolated digital outputs
Each Motionnet transfer Line: connect modules up to 64
Designing isolation protection: power, communication, I/O
LED Diagnostics for communication and I/O status
High current sinking capability (200 mA)
Fast Output Response Time within 0.5 μs
4
Remote Motion Solutions
3
Introduction:
The MN-D604-DIN is an I/O expansion device for Motionnet systems, and is equipped with 32 isolated digital output channels. Each
Motionnet communication line can be connected to up to 64 modules, meaning that the I/O can be expanded to 2048 output channels.
The communication time required by each MN-D604-DIN is 15.1 us. If 64 modules have been connected, signals for 2048 points on 64
modules can be sent and received within 0.97 msec. The update of the I/O status is completed automatically through the Motionnet system at a constant interval, and setting interrupts for speci c input points that the customer wants to monitor can help prevent CPU time
from being wasted by repetitive polling when there is nothing else for the issuing process to do.
Specifications:
Digital Output
Power
Output Channels 32
Voltage Range
Output Type
Open Collector (Sink), with internal flywheel
diode
Load Voltage
+30 VDC max.
Load Current
200 mA max. for each channel
2 W max.
Protection
Reverse voltage and overcurrent
protection
Connection
5-pin removable terminal block
Mechanical
Interface
Case
Communication state (Link, Error)
Input/output state
Internal 3.3 V power
External 24 V Power
Communication
Selectable 2.5, 5, 10 or 20 Mbps by DIP Switch.
Speed
Cyclic Scan Time 15.1 μs per device (20 Mbps)
4-3-19
Power Consumption
Isolation Voltage 2500 Vrms
LED Indicators
Communication
Connector
Mini-clamp Connector x 2
I/O Connector
6-pin pluggable Terminal block x 8
24 VDC (1000 V isolated)
Aluminum
Dimensions (W x H x D) 83 mm x 93 mm x 63 mm
Installation
DIN-Rail mounting
Environmental
Operating Temperature 0 ~ + 60°C
Storage Temperature
-20 ~ +80°C
Operating Humidity
10 ~ 85%; Non-condensing
Storage Humidity
5 ~ 95%; Non-condensing
Machine Automation Solutions Catalog
Pin Assignments:
NO.
Pin Define
Specifications
I/O Define
CN3 Pin Assignments
1
F.G.
2
Data+
3
Data−
Frame Ground
-
Positive terminal of differential
Bidirectional
communication signal
Negative terminal of differenBidirectional
tial communication signal
CN2 Pin Assignments
1
F.G.
Frame Ground
-
2~3
GND
External Ground
Input
4~5
24V
External 24V(+)
Input
CON1~8 Pin Assignments
1~4
DOxx
Digital output channels 00~31 Output
5
GND
External Ground
6
24V
External 24V(+)
Connect to
CN2
Connect to
CN2
4
3
Dimensions: (Units: mm)
Remote Motion Solutions
Ordering Information:
Model No.
Description
MN-D604-DIN CR
Distributed Motionnet 32-ch Isolated DO Module with Mini-clamp Connector (RoHS)
PISO-MN200(T/EC) CR
PCI Bus, Dual-Line Motionnet Master Control Card (RoHS)
Distributed Motionnet Single-axis Motion Control Modules (with Spring Type Terminal Blocks; EC:
with e-CON Mini-Clamp Connector) (RoHS)
MN-SERVO Series CR
MN-SERVO -EC Series CR
MN-2091U CR
MN-2091U-T CR
Distributed Motionnet Single-axis Universal Motion Control Module (RoHS)
Accessories:
Mini Clamp Wiremount Plug
Applicable Wire
Cross-sectional
AWG No.
Area (mm2)
20 – 22
0.3 – 0.5
Finished External
Diameter Φ (mm)
1.6 – 2.0
4PKD1O0000001
Cover
Color
Gray
37103-2206-000FL
4PKD1O0000002
Red
37103-3101-000FL
24 – 26
0.14 – 0.3
0.8 – 1.0
4PKD1O0000003
Orange
37103-3163-000FL
24 – 26
0.14 – 0.3
1.2 – 1.6
ICP DAS Part No.
3M Part No.
4-3-20
Remote Motion Solutions - Motionnet Solutions
MN-HUB4 / MN-HUB4EC
Distributed Motionnet 4 Port Hub Module
Features:
True Motionnet Star Wiring Hub
Independent Motionnet transceiver for each channel
Maximum communication speed: 20 Mbps
LEDs for indicating each Motionnet activity
RJ-45 jack for standard module while the EC module
equipped with Mini-Clamp connector
DIN-Rail Mounting
4
Remote Motion Solutions
3
Introduction:
In some user’s application, users may encounter some dif culty in wiring since the standard Motionnet only support daisy-chain
topology. The MN-HUB4 series modules can help users to use star or tree topology during wiring which not only can make the
wiring more easier but also reduce the total wiring distance and cost.
Module ID
No. of Layers to Master
Accessible
Module ID
No. of Layers to Master
Accessible
1 (I/O)
0
Yes
6 (Motion)
0
Yes
2 (I/O)
1
Yes
7 (Motion)
1
Yes
3 (I/O)
2
Yes
8 (Motion)
2
Yes
4 (I/O)
3
Yes
9 (Motion)
3
Yes
5 (I/O)
4
No
6 and 7
No. of Layers
between Modules
1
Yes
7 and 8
No. of Layers
between Modules
2
6 and 8
2
Yes
7 and 9
3
No
6 and 9
3
No
8 and 9
4
No
Motion Modules
4-3-21
Interpo-lation
Motion Modules
Interpolation
Yes
Machine Automation Solutions Catalog
Specifications:
Dimensions: (Units: mm)
Communication Speed 2.5, 5, 10, 20 Mbps
No. of Connection Line
Main Line (same layer): 2
Branch Line (to next layer): 4
100 M Max. (20 Mbps; up to 32 modules)
Communication Speed 50 M Max. (20 Mbps; up to 64 modules)
100 M Max. (10 Mbps; up to 64 modules)
Max. Layers between
Modules
I/O or independent axis: 3
Between two interpolation axes: 2
Power Input
12 - 24 V
Operating
Temperatures
0 °C ~ + 60 °C
Storage Temperatures
-20 °C ~ +80 °C
Operating Humidity
10 ~ 85%, Non-condensing
Storage Humidity
5 ~ 95%, Non-condensing
4
3
Ordering Information:
Description
MN-HUB4 CR
Distributed Motionnet 4 port Hub module (with RJ-45 Jack)
MN-HUB4EC CR
Distributed Motionnet 4 port Hub module (with e-CON Mini-Clamp connector)
Distributed Motionnet 4 port Hub module and 6 “4PKD1O0000003” Orange e-CON
Mini-Clamp connector
Distributed Motionnet 4 port Hub module and 6 “4PKD1O0000002” Red e-CON Mini-Clamp
connector
MN-HUB4EC-O CR
MN-HUB4EC-R CR
Remote Motion Solutions
Model No.
Related Products:
Model No.
Description
PISO-MN200(T/EC) CR
PCI Bus, Dual-Line Motionnet Control Master Card (RoHS)
MN-SERVO Series CR
MN-SERVO-MJ3 / PA4 / YSV / DAA / TTA:
Distributed Motionnet Single-axis Motion Control Modules (RoHS)
MN-SERVO -EC Series CR
Distributed Motionnet Single-axis Motion Control Module with e-CON Mini-Clamp connector (RoHS)
MN-3254(T) CR
Distributed Motionnet 16-ch Isolated DI, 16-ch Isolated DO Module (RoHS)
MN-3253(T) CR
Distributed Motionnet 32-ch Isolated DI Module (RoHS)
MN-3257(T) CR
Distributed Motionnet 32-ch Isolated DO Module (RoHS)
Accessories:
Mini Clamp Wiremount Plug
Applicable Wire
Cross-sectional
AWG No.
Area (mm2)
Finished External
Diameter Φ (mm)
ICP DAS Part No.
Cover
Color
3M Part No.
4PKD1O0000001
Gray
37103-2206-000FL
20 – 22
0.3 – 0.5
1.6 – 2.0
4PKD1O0000002
Red
37103-3101-000FL
24 – 26
0.14 – 0.3
0.8 – 1.0
4PKD1O0000003
Orange
37103-3163-000FL
24 – 26
0.14 – 0.3
1.2 – 1.6
4-3-22
Remote Motion Solutions - EtherCAT Motion Solutions
4.4 EtherCAT Motion Solutions
4
Remote Motion Solutions
4
Introduction:
EtherCAT (Ethernet for Control Automation Technology) is an open, high-performance fieldbus system that makes Ethernet
technologies available at the I/O level. EtherCAT provides exible wiring, fast communication and many other nice features. It needs
a master to control many slaves. ICP DAS provides PC master cards, ECAT-8000 and ECAT-8001, for users to build their applications
including motion control. These cards can offer multi-axis motion and I/O control functions by their own built-in CPU. In this way,
the CPU loading of PC can be reduced dramatically. In the mean while, ICP DAS also provides many I/O slave modules for users
to choose from. Since EtherCAT technology is an industrial standard, those modules can work together in a system with 3rd-party
EtherCAT slaves as well.
Versatile Motion Functions
Flexible and Easy Wiring
P-to-P, Line, circle, 3D-arc, helix and other motion
EtherCAT is a network technology which makes the system wiring easy
functions are provided.
and cost effective. Various coupler and junction slaves are provided for
Networking Standards
The ECAT-800x card is based on EtherCAT
exible wiring and less cabling.
Related Products:
and CiA402 standards for precise multi-
EtherCAT Solution Products of Remote Motion Solutions
axis control. Third-party EtherCAT I/O
Master Cards
slaves are also supported.
Programming API
Fast application implementation is enabled
Motion Control
Modules
by using motion API provided by ICP DAS.
Applications:
Packaging
I/O Modules
Material handling
Textile
Printing and automotive applications
Machine tools
Converters
Robotics
Junction Slave
Modules
Industrial automation
4-4-1
ECAT-8000
ECAT-8001
ECAT-2092(T)
ECAT-2093
ECAT-2091S
ECAT-2094S
ECAT-2098S
ECAT-2015
ECAT-2017
ECAT-2018
ECAT-2024
ECAT-2028
ECAT-204x
ECAT-205x
ECAT-206x
ECAT-2511-A
ECAT-2511-B
ECAT-2512
ECAT-2513
PCIe EtherCAT Master Card
EtherCAT Encoder Modules
EtherCAT Stepping Motor Driving Modules
EtherCAT Analog Input Modules
EtherCAT Analog Output Modules
EtherCAT Digital Input/Output Modules
EtherCAT to Single-mode Fiber Converters
EtherCAT Junction Slave Modules
Machine Automation Solutions Catalog
EtherCAT Master Cards:
PCIe, EtherCAT Master Card
ECAT-8000
Model Name
ECAT-8001
Pictures
Communication Interface
Connector
1x RJ45
Speed
100 Mbit/s
Protocol
EtherCAT Master
No. of Slave Node
Max. 32
No. of Motion Control
Max. 16-Axis Synchronously
Digital Output
Channels
12
4
13
Output Type
Sink(open collector)
Max load Current
100mA /ch
4
Digital Input
Channels
12
13
Wet (Sink/Source)
Remote Motion Solutions
Type
Encoder
Axis
-
2
Type
-
A/B Phase, CW/CCW, Pulse/Dir.
Speed, Resolution
1 MHz, 32-bit
Compare Trigger Output
2-ch
EtherCAT Motion Control Modules:
Encoder Module
Model Name
Axis
ECAT-2092
2
ECAT-2092T
2
ECAT-2093
3
Type
1. A/B Phase
2. CW/CCW
3. Pulse/Dir.
Operating
Voltage
Speed
Counter
5/24 V
6 MHz (5V)
(Jumper Select)
Compare Trigger Out
Hardware
Latch
Hardware
Reset
-
Yes
Yes
2 (Open Collector)
Yes
Yes
-
-
-
32-bit
Stepping Motor Driving Module
Model Name
Driver
Axis
ECAT-2091S
1
ECAT-2094S
4
ECAT-2098S
8
Type
2-phase
stepper motor
Resolution
200 x 256
Encoder
Output
Current
2A per axis
Voltage
Range
5 ~ 40 V
Operating
Resolution
Voltage
Axis
Type
Speed
1
A/B Phase
5V
32-bit
1 MHz
-
-
-
-
-
-
-
-
-
-
4-4-2
Remote Motion Solutions - EtherCAT Motion Solutions
EtherCAT I/O Modules:
Analog Input Module
Model Name
Channel
Input Range
Resolution
Accuracy
Output Capability
ECAT-2015
7
Pt100, Pt1000, Ni120, Cu50, Cu100, Cu1000
16-bit
0.1% of FSR
10 Hz (Total)
12-bit
0.2% of FSR
1k Hz per channel
16-bit
0.1% of FSR
10 Hz (Total)
ECAT-2017
8/16
ECAT-2018
8
0~10V, ±10 V, ±5 V, ±2.5 V,
0~ 20 mA, ±20 mA or 4~20mA (Software selectable)
J, K, T, E, R, S, B, N, C, L, M, LDIN43710
(Software selectable)
Analog Output Module
Model Name
Channel
Output Range
Resolution
Accuracy
Output Capability
ECAT-2024
4
ECAT-2028
8
±10V, ±5V,
0~10V,0 ~ 5V
12-bit
± 2 LSB
10V @ 5mA
Digital I/O Module
Model Name
4
Remote Motion Solutions
4
Digital Input
Digital Output
Channels
Type
Channels
Type
Max. Load
ECAT-2057
-
-
16
Open Collector (Sink)
100 mA
ECAT-2057-PNP
-
-
16
Open Emitter (Source)
100 mA
8
Open Collector (Sink)
100 mA
ECAT-2057-8P8N
-
-
8
Open Emitter (Source)
100 mA
ECAT-2045
-
-
16
Open Collector (Sink)
700 mA
ECAT-2045-32
-
-
32
Open Collector (Sink)
600 mA
ECAT-2051
16
Dry (Source), Wet (Sink/Source)
-
-
-
ECAT-2051-32
32
Dry (Source), Wet (Sink/Source)
ECAT-2050
14
Dry (Source), Wet (Sink/Source)
4
Open Collector/
Emitter by Jumper Selectable
100 mA
8
Wet (Sink/Source)
8
ECAT-2052
ECAT-2052-NPN
Open Collector (Source)
Open Collector (Sink)
100 mA
ECAT-2053
16
Wet (Sink/Source)
-
-
-
ECAT-2055
8
Dry (Source), Wet (Sink/Source)
8
Open Collector (Sink)
700 mA
ECAT-2055-32
16
Dry (Source), Wet (Sink/Source
16
Open Collector (Sink)
700 mA
ECAT-2060
6
Dry (Source), Wet (Sink/Source)
6
Relay, Form A (SPST-NO)
5A
EtherCAT Converter Modules: NEW
ECAT-2511-A
ECAT-2511-B
EtherCAT to Single-mode Fiber Converter
The ECAT-2511-A and ECAT-2511-B are EtherCAT to single-mode ber optic converter. They are designed not only to convert
EtherCAT signals to optical signals on a ber optic cable, to reshape the EtherCAT signal to compensate for distortion, but to
isolate the bus error due to the wire short or disturbance. With the advantage of ber optic, the ECAT-2511-A and ECAT-2511-B
enable secure data transmission via ber optic transmission, and helps the EtherCAT network to prevent the noise from EMS/RFI
interference.
EtherCAT Type: RJ45, 100 Base-TX
Fiber Type:
SC, Single mode, 100 Base-FX
Fiber Cable:
8.3/125, 8.7/125, 9/125 or 10/125 μm
Max. transmission distance up to 25 km
Fiber Wavelength:
• Tx: 1310 nm, Rx: 1550 nm for I-2533CS-A
• Tx: 1550 nm, Rx: 1310 nm for I-2533CS-B
4-4-3
Machine Automation Solutions Catalog
EtherCAT Junction Slave Modules:
ECAT-2512
ECAT-2513
NEW
Junction Slave
ECAT-2512 and ECAT-2513 are 1-to-2 port and 1-to-3 port EtherCAT junction slaves. They are designed for realizing exible wiring
by daisy chain and branch.
ECAT-2512
ECAT-2513
Model Number
No. of Port
3 x RJ45 (1 in, 2 out)
4 x RJ45 (1 in, 3 out)
No. of Node
1
2
Benefit 1: Translate Daisy-chain to Branch Topology
EtherCAT junction slaves can realize branch topology. This make the cabling easier than daisy-chain topology.
4
4
Remote Motion Solutions
Benefit 2: Improving the Debugging Efficiency
If a slave device is not working or the cable is disconnected, the following slave devices on the same network all not communicate
with the master controller. With EtherCAT junction slaves, all slave devices can be wired as separated sections. If one slave
device failed, only the slave devices on the same section will be in uenced. The EtherCAT junction slave keeps the slave devices
on another section communicate with the master controller. Debugging can be made separately, thus improving the debugging
ef ciency.
4-4-4
Remote Motion Solutions - CANopen Motion Solutions
4.5 CANopen Motion Solutions
Introduction:
The CAN (Controller Area Network) bus is one of the safest industrial network systems, and CANopen is the standard industrial
communication protocol on the CAN bus. CANopen technology has been used in a wide range of application elds, including medical
equipment, vehicles, railway applications or building automation. ICP DAS provides a motion control library (CiA 402) for CANopen Master
products meaning that users can now integrate motion control systems into a CANopen network, providing the ability to control CANopenbased motors and remote I/O devices within the same network, making wire connections and control easier and more ef cient.
The CANopen Motion Library is compliant with the CANopen standard CiA
402, and provides a variety of motion
control functions, such as position
control, velocity control, torque control, synchronous action etc. The CiA
4
Remote Motion Solutions
5
402 is one of the standard CANopen
application pro les, and is specially designed for motion control systems. In
addition to making the management of
the CANopen-based motors easy, the
CANopen protocol, which is based on
the CAN bus, can help to reduce the
need for wire connections between the
controller and the motors, and provides rapid troubleshooting functions.
A large number of CANopen-based
motors can be linked together so that
multi-axis motion control via a single
host becomes achievable. While controlling the motors, CANopen-based
remote I/O modules that comply with
the CiA 402 standard can also be accessed at the same time. Therefore, developing a motion control application becomes easier and more convenient.
Features:
Benefits:
Compliant with the CiA 402 v1.1 Standard
Suitable for distributed multi-axis motion control systems.
E.g., distributed sun tracker systems, conveyer transmission control systems, and so on.
Reduces the cost of wiring, especially time requirements.
Choose from a range of motors with no limit on certain types.
The CAN hardware has a range of error detection and error correction mechanisms, which provides the safest communication bus.
Able to use different CANopen I/O modules and motors in the
same CANopen network.
The range of the CANopen bus can be extended for long distance
applications. For example, for solar or wind farm application systems.
The CANopen bus can be converted to ber to protect against
high noise interference.
Supports a max. of 127 motors in a single network
Absolute and relative position control
Velocity, torque or jog control
Supports synchronous action for a maximum of 127
motors
Supports various homing control methods
Supports torque limitation via CANopen commands
Supports the node guarding and heartbeat protocols
Supports dynamic PDO object con guration
Bus distance ranges between 25 m to 5000 m
Supports baud rates of 10 Kbps, 20 Kbps, 50 Kbps,
125 Kbps, 250 Kbps, 500 Kbps, 800 Kbps and 1 Mbps.
4-5-1
Machine Automation Solutions Catalog
Typical Application Network:
CANopen Motion Applications:
1. Corrugated Carton Cutting Machine
5
Remote Motion Solutions
A creasing and cutting machine is one kind of
equipment for creasing and cutting ordinary
cardboard corrugated board plastic and leather
in general, applicable to printing packaging
decoration and plastic industries. Machine is
characterized by compact structure, ne workman ship, big pressure, and high precision and
easy and reliable operation. With high degree
of automation, this model can do integrative
process of auto-feeding, cutting and autounloading. All the cutting knives and rollers are
controlled by 31 CANopen motors. The WP8441 and I-8123W play the role of the CANopen master to control all the motors simultaneously.
4
2. Solar Tracking System
Solar Tracking System is a distribute device for
orienting a solar panel or concentrating a solar
reflector or lens towards the sun. The sun's
position in the sky varies both with the seasons and time of day as the sun moves across
the sky. The solar energy intercepted by the
solar panels during the course of the day is not
maximized if the position of the panel is always
static. Dynamically oriented solar panels can
track the sun throughout each day to greatly
enhance energy collection. There are more
than 100 motors in that system. The tracker
built-in one or two axis motors. The PC and
PISO-CPM100 control parts of the solar panels.
4-5-2
Remote Motion Solutions - CANopen Motion Solutions
CANopen Master Cards:
PISO-CPM100U
PCI Board for Industrial PC
Features:
Universal PCI supports both the 5 V and 3.3 V PCI bus
Embedded 80186, 80 MHz CPU
Baud Rate: 10, 20, 50, 125, 250, 500 and 800 Kbps, and 1 Mbps
Comply with the CANopen CiA 301 and CiA 402 pro les
Support the Guarding and Heartbeat protocol
Support EMCY receiving
Provide dynamic PDO functions
Support Windows 2000/XP, Win 7 (32-bit)
Libraries for BCB6, VC6, VB6, C#, etc.
Introduction:
4
Remote Motion Solutions
5
The PISO-CPM100 is a PCI board for industrial applications compliant with the CiA CANopen specification CiA 301 and CiA
402. The embedded 80186 80M Hz CPU means that the card is highly suitable for high transmission applications, and the 16-bit
on-board micro-controller with the real-time MiniOS7 Operating System provides many features, such as real-time message
transmission and reception, ltering, preprocessing, and storage of CAN messages. Times tamping of PDO messages with at least
1 ms precision is also supported. Combined with the free CPM Utility, users can easily manage and integrate a range of CANopen
industrial devices.
Specifications:
Hardware
CPU
SRAM / Flash /
EEPROM
Bus Interface
Type
Board No.
CAN Interface
Controller
Transceiver
80186, 80 MHz or compatible
512 KB / 512 KB / 2 KB
PCI bus, 5 V, 33 MHz, 32-bit, plug and play.
Via DIP switch
NXP SJA1000T with 16 MHz clock
NXP 82C250
Channel Number 1
PISO-CPM100-D: 9-pin male D-Sub (CAN_L,
CAN_SHLD, CAN_H, N/A for others)
Connectors
PISO-CPM100-D: 5-pin screwed terminal
block (CAN_L, CAN_SHLD, CAN_H, N/A for others)
Baud Rate (bps) 10, 20, 50, 125, 250, 500, 800 Kbps, and 1 Mbps
Transmission
Depend on baud rate (for example, max.
Distance (m)
1000 M at 50 Kbps )
1000 VDC for DC-to-DC,
Isolation
2500 Vrms for photocouples
Terminator Resistor Jumper for 120 Ω terminator resistor
Speci cations
ISO-11898-2, CAN 2.0A and CAN 2.0B
Protocols
CANopen CiA 301 v4.02, CiA 402 v1.1
LED
Round LED
Software
Driver
Library
Power
Power Supply
Green, Red
Windows 2000/XP, Win 7 (32-bit)
VB 6.0, VC++ 6.0, BCB 6.0.
Power Consumption
Mechanical
Dimensions
Environmental
Operating Temperature
Storage Temperature
Humidity
Unregulated +10 ~ +30 VDC
300 mA @ 5 V
127 mm x 121 mm (W x H)
0 ~ 60°C
-20 ~ 80°C
0 ~ 95% RH, non-condensing
Pin Assignments:
9-pin
D-Sub
Male
Connector
5-pin
Screw
Terminal
Connector
Ordering Information:
4-5-3
Model No.
Description
PISO-CPM100-D
1 Port Intelligent CANopen Master Universal PCI Board with D-Sub 9-pin male connector
PISO-CPM100-T
1 Port Intelligent CANopen Master Universal PCI Board with 5-pin screw terminal connector
CAN-8x23 Series
CAN-2000C Series
CANopen Remote I/O Expansion Unit with 1/2/4/8 slots
Distributed CANopen I/O Modules
Machine Automation Solutions Catalog
CANopen Converter:
I-7565-CPM
USB to CANopen Master Converter
Features:
Fully compliant with USB 1.1/2.0 speci cations
Built-in 80186, 80 MHz CPU
Powered via USB
Baud Rate: 10, 20, 50, 125, 250, 500 and 800 Kbps, and 1 Mbps
Compliant with the CANopen CiA 301 and CiA 402 pro les
Support for the Guarding and Heartbeat protocols
Support EMCY receiving
Provide dynamic PDO functions
Support Windows 2000/XP, Win 7 (32-bit)
Libraries for BCB6, VC6, VB6 and C#, etc.
Introduction:
The I-7565-CPM was developed as a standardized CANopen network device with highly exible con guration capabilities, and
is a CANopen master solution with a USB interface and an 80 MHz 186 CPU. The module complies with the CANopen CiA 301 and
CiA 402. There is a CANopen protocol interpreter, I-7565-CPM rmware, running in the I-7565-CPM. This converter can be used
to process the complex CANopen protocol without dramatically increasing the PC load. The rich APIs provided by the I-7565-CPM
library together with the easy-to-use utility tool can satisfy the requirements of a wide range of complex CANopen applications.
4
5
Remote Motion Solutions
Specifications:
Hardware
Software
CPU
80186, 80 MHz.
Driver
Windows 2000/XP, Win 7 (32-bit)
SRAM/Flash/
EEPROM
512 KB / 512 KB /16 KB
Library
VC++6.0, VB6, C#.net, VB.net
ESD Protection
2 kV class A and 3 kV class B
CAN Interface
Controller
NXP SJA1000T CAN Controller
Transceiver
NXP 82C250 CAN Transceiver
Interface
Transfer Rate
Speci cations
ISO/IS 11898-2, 9-pin male D-Sub (GAN_
GND, CAN_L, CAN_SHLD, CAN_H, CAN_
V+, N/A for others)
10, 20, 50, 125, 250, 500, 800 Kbps, and
1 Mbps
CANopen CiA 301 v4.02, CiA 402 v1.1
USB Interface
Connector
Power
Power Supply
Dimensions
72 mm x 101 mm x 33 mm (W x L x H)
Environmental
Operating Temperature -25 ~ +75°C
Storage Temperature
-30 ~ +80°C
Humidity
10 ~ 90% RH, non-condensing
Pin Assignments:
USB Type B
Transmission Speed 921.6 Kbps
LED
Round LED
Via USB interface.
Mechanical
9-pin D-Sub Male Connector
PWR, ACT, ERR, Tx/Rx
Ordering Information:
Model No.
Description
I-7565-CPM
USB to CANopen Master Converter
CAN-8x23 Series
CANopen Remote I/O Expansion Unit with 1/2/4/8 slots
CAN-2000C Series
Distributed CANopen I/O Modules
4-5-4
Remote Motion Solutions - CANopen Motion Solutions
CANopen Master Module:
I-8123W
High Performance Intelligent CANopen Master Module
(For WinPAC/ViewPAC/XPAC)
Features:
Supports WinPAC/ViewPAC/XPAC series PAC controllers
Embedded 80186, 80 MHz CPU
Baud Rate: 10, 20, 50, 125, 250, 500 and 800 Kbps, and 1 Mbps
Complies with CANopen CiA 301 and CiA 402 pro les
Supports Guarding and Heartbeat protocols
Supports EMCY receiving
Provides dynamic PDO functions
Supports WinCE 5/6, XPe OS
Libraries provided for BCB6, VC6, VB6 and C#, etc.
Introduction:
4
Remote Motion Solutions
5
The I-8123W is a high-performance/low-cost CANopen Master module that is compliant with CiA CANopen speci cation CiA 301
and CiA 402. Thanks to the ViewPAC or WinPAC series MCU (main control unit), the module can be generally applied to industrial
automation, building automation, vehicle, and embedded control networks. In addition the embedded CANopen protocol rmware
means that users can easily access slave devices via the I-8123W without requiring in-depth knowledge of the complex CANopen
protocol, which is helpful in reducing the development cycle time and allows users to establish their CANopen applications more
quickly and easily.
Specifications:
Hardware
CPU
LED
80186, 80 MHz or compatible
Round LED
PWR, RUN, ERR
SRAM/Flash/EEPROM 512 KB / 512 KB / 16 KB
Software
Watchdog
Driver
Windows CE 5.0 / 6.0
Library
eVC++4.0, VB.Net 2005, C#.Net 2005
Yes
CAN Interface
Controller
NXP SJA1000T with 16 MHz clock
Power
Transceiver
NXP 82C250
Power Consumption 2 W
Channel Number
1
Mechanical
Connector
5-pin screwed terminal block (CAN_GND,
CAN_L, CAN_H, N/A for others)
Dimensions
Baud Rate (bps)
10, 20, 50, 125, 250, 500, 800 Kbps, 1 Mbps
Transmission Distance Depends on baud rate (for example, max.
(m)
1000 M at 50 Kbps )
3000 VDC for DC-to-DC, 2500 Vrms for
Isolation
photocouples
Terminator Resistor
Switch for 120 Ω terminator resistor
Speci cations
ISO-11898-2, CAN 2.0A and CAN 2.0B
Protocols
CANopen CiA 301 v4.02, CiA 402 v1.1
31 mm x 91 mm x 115 mm (W x L x H)
Environmental
Operating Temp.
-25 ~ +75°C
Storage Temp.
-30 ~ +80°C
Humidity
10 ~ 90% RH, non-condensing
CAN Pin & Terminator Resister Switch:
Ordering Information:
4-5-5
Model No.
Description
I-8123W-G
1 Port High Performance Intelligent CANopen Master Module
CAN-8x23 Series
CANopen Remote I/O Expansion Unit with 1/2/4/8 slots
CAN-2000C Series
Distributed CANopen I/O Modules
Accessories
5. Accessories
5.1 Terminal Boards .................................................................................................................................
5.2 FRnet Remote I/O Modules ..................................................................................................................
5.3 Cables and Connectors ........................................................................................................................
5-1-1
5-2-1
5-3-1
Accessories - Terminal Boards
5. Accessories
5.1 Terminal Boards
DB-8R
Relay Board for SERVO-300U and PISO-PS300
•
•
•
•
•
•
DN-68
I/O connector block with Din-rail mounting
Connection board for PISO-PS300 or SERVO-300U
For Limit Switches, Digital Inputs/Outputs
25-pin D-Sub connector
Pin-to-Pin screw terminal for I/O connections
Screw terminals for easy eld wiring
Manual-Pulse-Generator (MPG) and FRnet Input Board for PISO-PS600/VS600/PMDK (RoHS)
Accessories
1
DN-8237 Series:
DN-8237UB
DN-8237GB
DN-8237MB
DN-8237PB
DN-8237YB
DN-8237DB
• I/O connector block with Din-rail mounting
• Connection board for SERVO-300 Driver
• 25-pin D-Sub connector and two 9-pin D-Sub
connectors
• Pin-to-Pin screw terminal for I/O connections
• Screw terminals for easy eld wiring
I/O connector block with Din-rail mounting
68-pin SCSI-II connector
Pin-to-Pin screw terminal for I/O connections
Screw terminals for easy eld wiring
Dimensions: 103 mm x 86 mm
• MPG and FRnet connector block with Din-rail
mounting.
• 20-pin SCSI-II connector
• Pin-to-Pin screw terminal for manual pulse
generator connection
• Screw terminals for easy eld wiring
• RJ-45 for FRnet connector
5
Encoder Input Board for SERVO-300
Encoder Input Board for PISO-ENCODER300U and PISO-ENCODER600U (RoHS)
•
•
•
•
•
DN-20M
DB-200
Specifications:
Power
Nominal Load
Input Power
Power Consumption
Environmental
Operating Temperature
Storage Temperature
Operating Humidity
Storage Humidity
Mechanical
Dimensions
0.1 A / 24 VDC
20 ~ 26 VDC, 0.1 A
2.4 W (24 VDC)
-20 ~ +75°C
-30 ~ +85°C
20 ~ 80% RH, Non-condensing
10 ~ 90% RH, Non-condensing
103 mm X 86 mm
Photo-isolated Terminal Boards for ICP DAS 2-axis Stepper/Servo Motion Controllers
Universal Snap-on Wiring Terminal Board
General Purpose Wiring Terminal Board
Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
Snap-on Wiring Terminal Board for Panasonic MINAS A4/A5 Servo Ampli er
Snap-on Wiring Terminal Board for Yaskawa Sigma II/III/V Servo Ampli er
Snap-on Wiring Terminal Board for Delta ASDA-A Servo Ampli er
Specifications:
Power
Nominal Load
Input Power
Power Consumption
DN-8237UB
DN-8237GB
DN-8237MB DN-8237PB DN-8237YB DN-8237DB
Features:
•
•
•
•
5-1-1
High-speed Photocouple isolation
Support Pulse Command Type Step Motors or Servo Motors
Include a Power LED and other status LEDs (Home, Limit Switches, etc.)
Include an FRnet Terminal for High-speed serial I/O expansion when the controller supports FRnet
ICP DAS CO., LTD.
Environmental
Operating Temperature
Storage Temperature
Operating Humidity
Storage Humidity
Mechanical
Dimensions
Professional Provider of High Quality Industrial Computer Products and Data Acquisition Systems
0.5 A / 24 VDC
20 ~ 26 VDC, 0.5 A
12 W (24 VDC)
-20 ~ +75°C
-30 ~ +85°C
20 ~ 80% RH, Non-condensing
10 ~ 90% RH, Non-condensing
110 mm X 107 mm
Vol. MA 1.0.006
Machine Automation Solutions Catalog
DN-8368 Series:
DN-8368UB
DN-8368GB
DN-8368MB
Photo-isolated Terminal Board for PISO-PS600/VS600/PMDK
Universal Snap-on Wiring Terminal Board
General Purpose Wiring Terminal Board
Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
Specifications:
Power
Nominal Load
Input Power
Power Consumption
DN-8368UB
DN-8368GB
Environmental
Operating Temperature
Storage Temperature
Operating Humidity
Storage Humidity
Mechanical
Dimensions
DN-8368MB
Features:
• High-speed Photocouple isolation
• Support Pulse/Voltage Command Type Step Motors or Servo Motors
• Include a Power LED and other status LEDs (Home, Limit Switches, etc.)
DN-8468 Series:
DN-8468UB
DN-8468GB
DN-8468MB
DN-8468PB
DN-8468YB
DN-8468DB
DN-8468FB
DN-8468GB
DN-8468YB
DN-8468DB
DN-8468MB
DN-8468FB
Features:
•
•
•
•
162 mm X 107 mm
Environmental
Operating Temperature
Storage Temperature
Operating Humidity
Storage Humidity
Mechanical
Dimensions
0.5 A / 24 VDC
20 ~ 26 VDC, 0.5 A
12 W (24 VDC)
5
1
Accessories
DN-8468PB
-25 ~ +75°C
-30 ~ +85°C
20 ~ 80% RH, Non-condensing
10 ~ 90% RH, Non-condensing
Photo-isolated Terminal Boards for ICP DAS 4-axis Stepper/Servo Motion Controllers
Universal Snap-on Wiring Terminal Board
General Purpose Wiring Terminal Board
Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Ampli er
Snap-on Wiring Terminal Board for Panasonic MINAS A4/A5 Servo Ampli er
Snap-on Wiring Terminal Board for Yaskawa Sigma II/III/V Servo Ampli er
Snap-on Wiring Terminal Board for Delta ASDA-A Servo Ampli er
Snap-on Wiring Terminal Board for Fuji FALDIC-W Servo Ampli er
Specifications:
Power
Nominal Load
Input Power
Power Consumption
DN-8468UB
0.5 A / 24 VDC
20 ~ 26 VDC, 0.5 A
12 W (24 VDC)
-20 ~ +75°C
-30 ~ +85°C
20 ~ 80% RH, Non-condensing
10 ~ 90% RH, Non-condensing
162 mm X 107 mm
High-speed Photocouple isolation
Support Pulse Command Type Step Motors or Servo Motors
Include a Power LED and other status LEDs (Home, Limit Switches, etc.)
Include an FRnet Terminal for High-speed serial I/O expansion when the controller supports FRnet
DN-84100U
Universal Snap-on Wiring Terminal Board for PISO-PS410 and PISO-PS810
Specifications:
Power
Nominal Load
Input Power
Power Consumption
Features:
• Support Pulse Command Type Step Motors or Servo Motors
• Include a Power LED and other status LEDs (Home, Limit Switches, etc.)
• Include an FRnet Terminal for High-speed serial I/O expansion when the controller supports FRnet
Website: http://www.icpdas.com
E-mail: [email protected]
Environmental
Operating Temperature
Storage Temperature
Operating Humidity
Storage Humidity
Mechanical
Dimensions
0.5 A / 24 VDC
20 ~ 26 VDC, 0.5 A
12 W (24 VDC)
-25 ~ +75°C
-30 ~ +85°C
20 ~ 80% RH, Non-condensing
10 ~ 90% RH, Non-condensing
118 mm X 121 mm
Vol. MA 4.06.03
1.0.006
5-1-2
Accessories - FRnet Remote I/O Modules
5.2 FRnet Remote I/O Modules
High-speed Synchronization Remote I/O Control
Introduction
FRnet is an innovative industrial eld bus. It uses twisted pair cable as the
transmission medium. Each FRnet port can link up to 128 DI and 128 DO
channels. The whole I/O status are updated at a xed cycle time (0.72 ms
or 2.88 ms) no matter how many FRnet I/O modules are connected to the
FRnet network. Furthermore, the update is done by the FRnet chip, there
is no need for a communication protocol. Using FRnet, the user can easily
and quickly implement high-speed distributed I/O control systems.
FRnet Speci cation
Communication Speed
Cycle Time
Communication Distance
I/O Channels
Normal speed
250 Kbps
2.88 ms
Max. 400 M
128 DI / 128 DO
High-speed
1 Mbps
0.72 ms
Max. 100 M
128 DI / 128 DO
Features
1. Token-stream Communication
5
Accessories
1
2
4-wire inter module cable (including a 2 wire power supply cable )
FR-2053
(SA8)
FR-2053
(SA9)
FR-2057
(RA0)
4-wire inter module cable (including a 2 wire power supply cable )
FR-2053
(SA8)
FR-2053
(SA9)
FR-2057
(RA0)
FR-2053
(SA10)
FRnet_0
FR-2057
(RA1)
FRnet_1
FR-2053
(SA10)
FR-2057
(RA1)
Applications
Building Automation, Machine Automation, Testing
Equipment, etc.
The FRnet chip uses a simple token-stream communication mechanism to provide a fast and xed cycle time I/O-scanning capability.
It doesn't need any special transmission protocol; the chip takes care of the data transfer for every device.
The most signi cant bene ts of FRnet are:
• Fixed cycle time:
The cycle time is xed at 2.88/0.72 ms no matter how
many devices connected in the network.
• Memory-Mapped I/O:
The data transfer is automatically done by the FRnet
chip. The CPU of the host (PC or PAC) doesn’t need
to take care of the communication protocol. All I/O
status are mapped to the memory of the FRnet chip.
2. Multi-drop Networking
The physical connection is same as the standard
RS-485 cabling to implement multi-drop networking.
The maximum communication distance is up to
100/400 m at high/normal speed communication.
• I/O expansion up to 128 DI and 128 DO channels
Each FRnet chip addresses 8 DI and 8 DO groups
which each group contains 16 DI or DO channels
• DO broadcasting
Due to the broadcasting algorithm adopted, the
DO group address is not required to be unique.
Therefore, it is easy to build a data delivery from
one group (16-bit data) to a multi-group.
3. Easy to Diagnose
There are several LED indicators to diagnose whether FRnet I/O modules work properly. And the built-in FRnet terminator switch can
be used to improve communication signal quality.
4. Easy to Configure
All basic con gurations (address, speed and input/output range of AI/AO modules) are set by DIP switches. The operator can use only
one screwdriver to complete the con guration.
5-2-1
ICP DAS CO., LTD.
Professional Provider of High Quality Industrial Computer Products and Data Acquisition Systems
Machine Automation Solutions Catalog
FRnet Remote I/O Modules - Selection Guide
Features of FRnet Remote I/O Modules:
• Built-in wire-saving FRnet DI/DO control
• High-speed transmission reliability
• Simple synchronization mechanism
• No software overhead on protocol processing
•
•
•
•
Supporting broadcasting (1:n data transmission)
Easy output duplication
Fixed I/O scan-time and I/O synchronization
DIN-Rail mountable
FR-2053 Series (16-ch Isolated DI Module)
FR-2053iT
FR-2053HTA
FR-2053TA
FR-2053HT
FR-2053T
16-ch Sink/Source Type Isolated Digital Input Module (with Isolated Communication
Line)
16-ch Sink/Source Type Isolated Digital Input Module (H is for high-speed)
16-ch Sink Type Isolated Digital Input Module (H is for high-speed)
FR-2046 Series (16-ch Isolated DI Module)
FR-2046iT
16-ch Dry Contact Isolated Digital Input Module (with Isolated Communication Line)
FR-2057 Series (16-ch Isolated DO Module)
FR-2057iT
FR-2057HTA
FR-2057TA
FR-2057HT
FR-2057T
FR-2057TW
16-ch Sink Type Isolated Digital Output Module (with Isolated Communication Line)
16-ch Source Type Isolated Digital Output Module (H is for high-speed)
16-ch Sink Type Isolated Digital Output Module (H is for high-speed)
16-ch Sink Type Isolated High Current Digital Output Module
FR-2054 Series (8-ch DO and 8-ch DI Module)
FR-2054T
5
1
2
8-ch Digital Output and 8-ch Digital Input Module
Accessories
FR-2152 Series (8-ch Isolated DI Module)
FR-2152T
8-ch Isolated Digital Input Module (with 12-pin Screw Terminal Connector)
FR-2156 Series (8-ch Isolated DO Module)
FR-2156T
8-ch Isolated Digital Output Module (with 12-pin Screw Terminal Connector)
FR-2017 Series (8/16-ch Isolated AI Module)
FR-2017iT
8/16-ch Isolated Analog Input Module (With High Voltage Protection & Isolated Communication Line)
FR-2024 Series (4-ch Isolated AO Module)
FR-2024iT
4-ch Isolated Analog Output Module (with Isolated Communication Line)
FR-32iP Series (32-ch Isolated DI Module)
FR-32iP/DIN
FR-3
32-ch Sink/Source Type Isolated Digital Input Module (with Isolated Communication
Line)
FR-32iR Series (32-ch Isolated DO Module)
FR
FR-32iR/DIN
32-ch Relay Type Isolated Digital Output Module (with Isolated Communication Line)
Website: http://www.icpdas.com
E-mail: [email protected]
Vol. MA 4.06.03
5-2-2
Accessories - Cables and Connectors
5.3 Cables and Connectors
For Motion Card/Module:
CA-3715DM-H
CA-3730DM-H
CA-3750DM-H
CA-SCSI15-H
CA-SCSI30-H
CA-SCSI50-H
CA-SCSI15-H
CA-SCSI30-H
CA-SCSI50
DB-37 D-Sub Male-Male
68-pin SCSI-II and
68-pin SCSI-II and
Cable for High-speed
68-pin Male Connector
68-pin Male Connector
Moti on A p p l icati on s,
Cable for High-speed
Cable, 1.5/3/5 M.
1.5/3/5 M.
M oti on A p p lication s,
(for PISO-ENCODER600/
1.5/3/5 M.
600U/300/300U)
CA-SCSI100-15
CA-MINI100-15
CA-MINI68-15
SCSI-II 100-pin &
100-pin VHDCI to
68-pin VHDCI to SCSI-II
100-pin Male Connector
SCSI-II Connector
Connector Cable, Length
Cable, 1.5 M.
Cable, 1.5 M.
1.5 M
For Universal Snap-on Wiring Terminal Board:
CA-26-MJ3-15
CA-26-MJ3-30
CA-26-MJ3-50
5
Accessories
1
3
CA-26-PA4-15
CA-26-PA4-30
CA-26-PA4-50
CA-26-YSV-15
CA-26-YSV-30
CA-26-YSV-50
26-pin HD D-Sub Male
26-pin HD D-Sub Male
26-pin HD D-Sub Male
C a b l e fo r M i t s u b i s h i
C a b l e f o r Pa n a s o n i c
Cable for Yaskawa Servo
Servo Amplifier, 1.5/3/5
Servo Amplifier, 1.5/3/5
Ampli er, 1.5/3/5 M.
M. (for MELSERVO-J3/J4
M. (for MINAS A4/A5
(for Sigma II/III/V
Series)
Series)
Series)
CA-26-TTA-15
CA-26-TTA-30
CA-26-TTA-50
CA-26-DAA2-15
CA-26-DAA2-30
CA-26-DAA2-50
CA-26-DAB2-15
CA-26-DAB2-30
CA-26-DAB2-50
26-pin HD D-Sub Male
26-pin HD D-Sub Male
26-pin HD D-Sub Male
Cable for Teco Servo
Cable for Delta A2 Servo
Cable for Delta B2 Servo
Ampli er, 1.5/3/5 M.
Ampli er, 1.5/3/5 M.
Ampli er, 1.5/3/5 M.
(for TSTA-A/A+ Series)
(for ASDA-A2 Series)
(for ASDA-B2 Series)
CA-26-FFW-15
CA-26-FFW-30
CA-26-FFW-50
26-pin HD D-Sub Male
C able for Fuji Servo
Ampli er, 1.5/3/5 M.
( f o r FA L D I C - W a n d
ALPHA5 Smart Series)
For Snap-on Wiring Terminal Board:
CA-SCSI20-M1
CA-SCSI20-M3
CA-SCSI20-M5
5-3-1
ICP DAS CO., LTD.
CA-SCSI50-D1
CA-SCSI50-D3
CA-SCSI50-D5
CA-SCSI50-PY1
CA-SCSI50-PY3
CA-SCSI50-PY5
20-pin SCSI-II and
50-pin SCSI-II and
50-pin SCSI-II and
20-pin Male Connector
50-pin Male Connector
50-pin Male Connector
Cable, 1/3/5 M.
Cable, 1/3/5 M.
Cable, 1/3/5 M.
(for Mitsubishi J2 Series
(for Delta ASDA A Series
(for Panasonic &
Motor)
Motor)
Yaskawa Series Motor)
Professional Provider of High Quality Industrial Computer Products and Data Acquisition Systems
Machine Automation Solutions Catalog
For Motionnet Module:
CA-PC26M
4POPP-003F
26-pin HD D-Sub Solder
4POPP-003G
Pink Cord-End Terminal
Tu r q u o i s e C o r d - E n d
Cup Male Connector
Terminal
With Plastic Cover
4POPP-003F
4POPP-003G
L
C
W
t
8.0
12.0
0.80
1.90
0.15
4PKD1O0000001
4PKD1O0000002
Gray Mini Clamp
Red
Wiremount Plug
Mini Clamp
0.34
Orange Mini Clamp
Wiremount Plug
5
1
3
Applicable Wire
3M Part No.
AWG No.
Cross-sectional Area
(mm2)
Finished External Diameter Φ
(mm)
4PKD1O0000001
Gray
37103-2206-000FL
20 – 22
0.3 – 0.5
1.6 – 2.0
4PKD1O0000002
Red
37103-3101-000FL
24 – 26
0.14 – 0.3
0.8 – 1.0
4PKD1O0000003
Orange
37103-3163-000FL
24 – 26
0.14 – 0.3
1.2 – 1.6
Accessories
Mini Clamp Wiremount Plug
Cover Color
(mm2)
4PKD1O0000003
Wiremount Plug
ICP DAS Part No.
Wire Range
F
For CAN Card/Module:
CNT-CAN
CAN bus Connector
CA-0910-C
9-pin Female D-Sub and
3-wire CAN bus cable,
1M. (Pin Assignment)
Website: http://www.icpdas.com
E-mail: [email protected]
Vol. MA 4.06.03
5-3-2
Taiwan
Website: http://www.icpdas.com
Email: [email protected]
Headquarters in Taiwan (Hsinchu)
No. 111, Guangfu N. Rd., Hukou Township, Hsinchu County 30351, Taiwan, R.O.C.
TEL: 886-3-5973366
FAX: 886-3-5973733
Hsintien (Xindian)
7 F.-2, No. 137, Lane 235, Baoqiao Rd., Xindian District, New Taipei City 23145, Taiwan, R.O.C.
TEL: 886-2-8919-2216
FAX: 886-2-8919-2221
Banchiao (Banqiao)
18 F, No. 33, Sec. 1, Minsheng Rd., Banqiao District, New Taipei City 22069, Taiwan, R.O.C.
TEL: +886-2-2950-0655
FAX: +886-2-2950-0807
Taichung
24F-1, No. 360, Sec. 2, Taiwan Blvd., Taichung, Taiwan, 40453, R.O.C.
TEL: 886-4-2328-5522
FAX: 886-4-2328-3389
Kaohsiung
3 F., No. 505, Jhongshan 2nd Rd., Qianjin District, Kaohsiung City 80146, Taiwan, R.O.C.
TEL: 886-7-215-7688
FAX: 886-7-216-2602
Capital Federal
Congreso 2171, Piso 6 (C1428BVE)
Tel: + 5411 4701-9316
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