Embedded Type Servo System Controller

AdvantagesQ173SCCFMR-MCseries

Configuration

Software Development Environment MR-MCseries

Create a user program by adding the API library for positioning control to the project of Microsoft Visual Studio^® which runs on a Windows^® OS PC.

(Note): OS and the development environment are not included.

Utility

The utility for C Controller Interface Module/Position Board includes the following software that is necessary for application development.

Test tool

This tool supports parameter and point data settings for application development, operation check such as servo adjustment and error analysis. MR Configurator2 can be started from the test tool, so servo adjustment is easily performed.

API library

The API library is the API functions for creating applications for C Controllers or on a personal computer.
Servo amplifier initialization, parameter change, startup in various operation modes, and monitor, etc., are available.

Device driver

The device driver is software required when a C Controller/a personal computer accesses to the Interface Module/Position Board from a user program via PCI Express^®/Compact PCI^® bus/PCI bus. You do not have to separately prepare a device driver.

High-speed Synchronous Network SSCNETIII/HQ173SCCFMR-MCseries

MR-MT2000 Series SSCNETIII/H Sensing ModuleQ173SCCFMR-MCseries

The sensing module MR-MT2000 series consists of one head module and four types of extension modules, the I/O module, pulse I/O module, analog I/O module, and encoder I/F module. The required extension modules can be selected according to your application.
Each I/O signal connected to the sensing module is synchronized with the control cycle, enabling a processing with little variation to achieve high speed and high accuracy of equipment.

More details of the g-code Control Add-on Library

LJ72MS15 SSCNETIII/H Head Module Q173SCCFMR-MCseries

The SSCNETIII/H Head module allows the controller to connect remotely with various modules (I/O, analog, high-speed counter, etc.) via SSCNETIII/H.
These remotely connected modules serve as the controller' s remote stations, transmitting the inputs/outputs.
This results in reduced wiring since the controller receives the I/O and analog I/O signals directly from the servo amplifier side.

(Note): MELSOFT GX Works2 is required to set the Head module.

(Note-1): Sensor I/O signals for inspection devices, etc., can be read/written via the Head module.
(Note-2): Outputs the hand open/close signals.

Positioning Control Q173SCCFMR-MCseries

Positioning operation is performed using the API library in a C language user program.
The operation is started with positioning data from the point data table and waits until an event occurs by interrupts.

Jerk ratio acceleration/deceleration (Vibration is suppressed with smooth speed changes) MR-MC341

Quick yet smooth acceleration

Vibration suppression command filter 1 (Suppression of the low-frequency vibration) MR-MC341

Suppression of the low-frequency vibration which is unable to suppress with the servo amplifier

Other Axes Start Function Q173SCCFMR-MCseries

This function automatically starts other axes according to its startup condition and its operation pattern.
Cycle time of assembly machines, etc., is shortened with this automatic startup via controllers.

Pass Position Interrupt Function Q173SCCFMR-MCseries

During automatic operation, interrupts are outputted when axes pass the specified position.
After that, the corresponding interrupt process of the user program is started.

• High-speed event processing start on host side (OS) is possible based on the servo axis position

Tightening & Press-fit Control Q173SCCFMR-MCseries

The motor can be switched to torque control (tightening & press-fit mode) during positioning without stopping.
Since the current position is controlled even during the tightening & press-fit control, positioning operation based on the absolute position coordinates can be performed smoothly after switching back to positioning control.

Interface Mode Function Q173SCCFMR-MCseries

This standard feature realizes unique control based on a C-language user program using SSCNETIII/H

The interface mode function transmits the position commands received from a user program to servo amplifiers every operation cycle. This allows servo amplifier to be controlled using a user program.
Speed and torque controls are also available in this method.
So, a MR-J4-B can be controlled based on user programs created with your programming know-how of position/speed/torque commands while taking advantage of SSCNETIII/H servo system synchronous network performance.

• The C Controller Interface Module or Position Board controls the SSCNETIII/H processing. This allows the user-program side to focus on information processing, human machine interface, and Motion control.
• A personal computer with a real-time OS can perform fixed-cycle Motion control using interrupts at every operation cycle.
• Thanks to the position command buffers of up to 64 phases, even non-real-time OS (Windows® only) can perform at 0.22 ms (the fastest rate) cycle command operation; This enables further increase in accuracy in trajectory control.

Specifications

Control specifications

	Standard Mode				Interface Mode
	MR-MC341	MR-MC240 MR-MC210	MR-MC220U3 MR-MC220U6	MR-MC241 MR-MC211	MR-MC341	MR-MC240 MR-MC210	MR-MC220U3 MR-MC220U6	MR-MC241 MR-MC211
Number of control axes	UP to 64	Up to 20 (MR-J4-B) Up to 16 (MR-JE-B)	Up to 20 (MR-J4-B) Up to 16 (MR-JE-B)	UP to 32	UP to 64	Up to 20 (MR-J4-B) Up to 16 (MR-JE-B)	Up to 20 (MR-J4-B) Up to 16 (MR-JE-B)	UP to 32
Control cycle	0.22ms/0.44ms/0.88ms (Select using parameters.)
Control mode	Position control, Tightening & press-fit control				Position control, Speed control, Torque control
JOG operation	Provided				−
Incremental feed	Provided				−
Automatic operation	Point table method, 1-axis control, Tightening & press-fit control				−
Linear interpolation	Point table method, Up to 4 axes interpolation (Note-1)				−
Circular interpolation	Provided	−			−
Home position return	Dog method, Dog cradle method, Dog front end method, Data set method, Stopper method, Z-phase detection method, Limit switch combined method, Limit switch front end method, Scale home position signal detection method, Scale home position signal detection method 2				−
	Home position reset (data set)				−
Electronic gear	Electronic gear numerator : 1 to 5242879 Electronic gear denominator : 1 to 589823				−
Speed units	Command unit/min, command unit/s, and r/min				Command unit/min, command unit/s, and r/min (the unit for speed of monitor output)
Acceleration/deceleration	Command speed limits: 1 to speed limit value Start speed limits: 1 to speed limit value Time constant limits: 0 to 20000 ms Separate setting of constants for deceleration and acceleration: Provided Separate setting of constants for each point: Provided Acceleration/deceleration method: Linear acceleration/deceleration, smoothing filter, start up speed, S-curve acceleration/deceleration (sine acceleration/deceleration), Jerk ratio acceleration/deceleration (Note-2) , vibration suppression command filter 1 (Note-2)				−
Stop function	Forced stop, Operation stop, Rapid stop				Forced stop
Command change	Position, Speed, Time constant				−
Application functions	Hardware stroke limit, Software stroke limit, Interlock, Rough match output, Torque limit, Backlash compensation, Position switch, Interference check (Note-1), Home position search limit, Gain switching, PI-PID switching, Absolute position detection system, Home position return request, Other axes start, Digital input/output, Servo amplifier general input/output, Pass position interrupt, Tandem operation, Mark detection				Torque limit, Gain switching, PI-PID switching, Absolute position detection system, Digital input/output, Servo amplifier general input/output, Mark detection, Event detection
Auxiliary function	Monitor, High speed monitor, Interrupt, Host PC watchdog, Parameter backup, Test mode , Connect/disconnect, Sampling, Log, Alarm history, External forced stop disabled

(Note-1): Unavailable when the control cycle is 0.22 ms(MR-MC200 series).

(Note-2): Available only with MR-MC341.

Module specifications

Position Board specifications

		MR-MC341 (Note-1)		MR-MC240	MR-MC241	MR-MC220U3	MR-MC220U6	MR-MC210	MR-MC211
Servo amplifier connection system		SSCNETIII/H
Number of SSCNETIII/H lines		2 lines		1 line	2 lines	1 line	1 line	1 line	2 lines
Maximum distance between stations [m(ft.)]		SSCNETIII/H: 100 (328.08)
Peripheral I/F		USB
Forced stop input signal (EMI) (Note-2)	Number of input points	1 point
	Input method	Positive Common/Negative Common Shared Type (Photocoupler isolation)
	Rated input voltage/current	24 V DC/approx. 2.4 mA
	Operating voltage range	20.4 to 26.4 V DC (24 V DC +10%/-15%, ripple ratio 5% or less)
	ON voltage/current	17.5 V DC or more/2.0 mA or more
	OFF voltage/current	1.8 V DC or less/0.18 mA or less
	Input resistance	Approx. 10kΩ
	Response time	1ms or less (OFF to ON, ON to OFF)
	Recommended wire size	AWG28 to AWG20 (0.08 to 0.52 mm2)		AWG28 to AWG22 (0.08 to 0.32 mm2)
Number of Position Boards for one computer		4
Bus specification		PCI Express® 2.0		PCI Express®1.1 × 1		Compact PCI® bus		PCI bus
	Size [mm(inch)]	Short sized version 105.8 (4.17) × 128.8 (5.07)		Short sized version 111.2 (4.38) × 167.6 (6.60)		3U size 128.7 (5.07) × 160.0 (6.30)	6U size 262.05 (10.32) × 160.0 (6.30)	Short sized version 106.7 (4.20) × 167.6 (6.60)
Operating ambient temperature		0 to 45℃ (Secure an air flow)		0 to 55℃
Cooling method		Air cooling (cooling fan required)		Self cooling
Power supply voltage		3.3 V DC	12 V DC	3.3 V DC		5 V DC
Current consumption [A]		3.0	0.5	1.1	1.5	0.45			0.7
Mass [kg]		0.15		0.11		0.17	0.19	0.11

(Note-1): Be sure to induce an airflow in the PC case of the host controller that the MR-MC341 is installed. Refer to "MR-MC200/MR-MC300 Series Position Board User's Manual (Details)" for details.

(Note-2): For MR-MC200 series, crimping tools and connectors are needed for cable fabrication. Be sure to prepare ones separately.
(The forced stop input connector is included with MR-MC341 in the package.)

(Note-4): Depending on the specifications of the personal computer, the PCI Express^® slot may be directly connected to the CPU of the personal computer.
If the PCI Express^® compatible Position Board is mounted to a PCI Express^® slot that is directly connected to the CPU of the host controller, it may not be able to operate.
Mount the PCI Express^® compatible Position Board to a PCI Express^® slot that is not directly connected to the CPU of the personal computer (connected to a chipset).