Instruction manual

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Unique Servo Control Available Through

C Language Based Programming

void sample()

{

PNT_DATA_EX PntData[2] =

{

{ 1000, 200, 20, 100, 0, 0, { 0 }, { 0 }, 0, { 0 } ,

{ 0, 200, 20, 100, 0, 0, { 0 }, { 0 }, 0, { 0 } ,

};

ans = sscSetPointDataEx( board_id, channel, axnum, &PntData[0] );

ans = sscAutoStart( board_id, channel, axnum, start_pnt, end_pnt );

ans = sscWaitIntDriveFin( board_id, channel, axnum, SSC_FIN_TYPE_SMZ, &fin_status, 0 );

}

Embedded in a personal computer for controlling MELSERVO-J4

Connected to a C Controller via PCI Express

for controlling MELSERVO-J4

C Controller Interface Module

Position Board

C Controller/Personal Computer Embedded Type

Servo System Controller

New publication, effective Jan. 2014.

Specifications are subject to change without notice.L(NA)03097-A 1401 Printed in Japan (MDOC)

C Controller/Personal Computer Embedded Type Servo System Controller

To ensure proper use of the products listed in this catalog,

please be sure to read the instruction manual prior to use.

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USA MITSUBISHI ELECTRIC AUTOMATION, INC.

500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.

Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch

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R.O.C.

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Summary of content (28 pages)

PAGE 1
C Controller/Personal Computer Embedded Type Servo System Controller Unique Servo Control Available Through C Language Based Programming void sample() { PNT_DATA_EX PntData[2] = { { 1000, 200, 20, 100, 0, 0, { 0 }, { 0 }, 0, { 0 } , { 0, 200, 20, 100, 0, 0, { 0 }, { 0 }, 0, { 0 } , }; ans = sscSetPointDataEx( board_id, channel, axnum, &PntData[0] ); ans = sscAutoStart( board_id, channel, axnum, start_pnt, end_pnt ); ans = sscWaitIntDriveFin( board_id, channel, axnum, SSC_FIN_TYPE_SMZ, &fin_status, 0 ); }
PAGE 2
High-speed Synchronous Network "SSCNET III/H" Through C Language Based Programming High-response servo control is achieved in a combination of C Controller and the Interface Module or a personal void sample() computer and the Position Board. { PNT_DATA_EX PntData[2] = The system that is completely configured by Mitsubishi { products boosts reliability further.
PAGE 3
void sample() { PNT_DATA_EX PntData[2] = { { 1000, 200, 20, 100, 0, 0, { 0 }, { 0 }, 0, { 0 } , { 0, 200, 20, 100, 0, 0, { 0 }, { 0 }, 0, { 0 } , }; ans = sscSetPointDataEx( board_id, channel, axnum, &PntData[0] ); ans = sscAutoStart( board_id, channel, axnum, start_pnt, end_pnt ); ans = sscWaitIntDriveFin( board_id, channel, axnum, SSC_FIN_TYPE_SMZ, &fin_status, 0 ); } {0}, }, annel, axnum, &PntData[0] ); axnum, start_ pnt, end_pnt ); annel, axnum, SSC_FIN_TYPE_SMZ, &fin_status, 0 ); Configuration C
PAGE 4
Configure a High-response Servo System in a Combination with a C Controller C Controller Interface Module Q173SCCF Connected directly to a C Controller through PCI Express®, this module is used for controlling MELSERVO-J4 SSCNET III/H compatible servo amplifiers, through a user program. Features ● High-speed access and interrupt detection are achieved with PCI Express®. ● A system which is configured with a C Controller has more reliable and longer-term stable product supply than the conventional PC.
PAGE 5
Configure a High-response Servo System by Embedding the Position Board in a PC Position Board MR-MC210/MR-MC211 This board type controller is used for controlling MELSERVO-J4 SSCNET III/H compatible servo amplifiers, through a user program. Features ● An SSCNET III/H servo system that is controlled by a personal computer can be configured. MR-MC210/MR-MC211 (Short sized version) ● Various conventional boards and programs for PC can be effectively used.
PAGE 6
Software Development Environment [ C Controller Interface Module ] Create a user program by adding the positioning control API library to the project of the C Controller software development environment "CW Workbench". Also, since the OS for the C Controller (VxWorks®) has been pre-installed, you do not need to install it.
PAGE 7
Q173SCCF MR-MC21n [ Utility ] The utility for C Controller Interface Module/Position Board includes the following software that is necessary for application development. Test tool API library Device driver (Position Board only) 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.
PAGE 8
Positioning Control Q173SCCF The C language user program executes positioning operations by using the API library. The operation is started with positioning data from the point data table and waits until an event occurs by interrupts. User program void sample() { int int int int int int int board_id channel axnum start_pnt end_pnt fin_status; ans; = 0; = 1; = 1; = 0; = 1; /* Board ID */ /* Channel No.*/ /* Axis No.*/ /* Start point No.*/ /* End point No.
PAGE 9
Various Optional Features for Point to Point Positioning Operation [ Deceleration check system ] When multiple points are specified, select the completion conditions of each point movement. Ensuring passing the target position Not waiting for motor stabilization In-position stop Not stopping at a point Smoothing stop V Continuous operation V t After In-position signal turns ON, operation proceeds to the next point.
PAGE 10
Tandem Operation Q173SCCF MR-MC21n With the operation start of the master axis, same commands start to be transmitted to both the master and slave axes, which achieves a tandem operation.
PAGE 11
Position Change Function Q173SCCF MR-MC21n While linear interpolation is performed, the target position can be changed by rewriting the position data of the point table and then turning ON Position change command (PCHG). Thus, tact time is shortened by changing the target position during the operation. The axes move to the new target position through an arc trace in order to maintain the speed. Operation example 1. Detect the compensation position with the vision system. 2.
PAGE 12
Interference Check Function Q173SCCF MR-MC21n Collision prevention The position of axes is constantly monitored. If the distance between axes (relative position) is assumed to become smaller than the "Interference check width", the "Entering interference area error" occurs, and the axes are forced to stop to prevent collision.
PAGE 13
Main Basic Functions JOG operation Operation function When the movement direction is specified and the start operation signal is inputted, JOG operation is started in the designated direction and the movement continues until the start operation signal is turned OFF. JOG operation can be used without completing home position return. Automatic operation Operation function The point table, where position data and feed speed are set, is used in this automatic operation.
PAGE 14
Control specification Function System function Number of control axes Standard Mode Interface Mode MR-MC210 MR-MC211 Q173SCCF MR-MC210 MR-MC211 Q173SCCF Up to 20 axes UP to 32 axes Up to 20 axes Up to 20 axes UP to 32 axes Up to 20 axes 0.22ms/0.44ms/0.88ms (Select using parameters.
PAGE 15
C Controller Interface Module specification Item Specification Servo amplifier connection system SSCNET III/H (1 system) Maximum overall cable distance [m(ft.)] SSCNET III/H: 2000 (6561.68) Maximum distance between stations [m(ft.)] SSCNET III/H : 100 (328.
PAGE 16
Dedicated library functions Simpler programming by using a dedicated library suite for access to hardware. More than 100 functions are available for creating user application, such as operating functions, monitor functions, other axes start functions, pass position interrupt functions, sampling functions, and log functions.
PAGE 17
Function Type User Watchdog Functions Other Axes Start Functions Pass Position Interrupt Functions Sampling Functions Log Functions Digital Input/Output Functions Interrupt Functions Function (some functions are omitted) Function Content sscWdEnable Enables the user watchdog function. sscWdDisable Disables the user watchdog function. sscChangeWdCounter Updates the watchdog counter. sscSetOtherAxisStartData Sets the data for starting other axes.
PAGE 18
Exterior dimension Q173SCCF MR-MC210/MR-MC211 167.6 (6.60) Q173SCCF RUN PCIe ERR. CN1 EMI 2CH (Note) PULL 106.7 (4.20) 98.4 (3.87) 1CH 98 (3.86) USB EMI. COM NC USB EMI PCIe 23 (0.91) 115 (4.53) 27.4 (1.08) SW1 4 (0.
PAGE 19
Operation environment C Controller Interface Module Q173SCCF/Position Board MR-MC210/MR-MC211 Test tool The following tables show the test tool operation environment. Refer to Mitsubishi IQ Platform C Controller catalogs and manuals for details.
PAGE 20
A global support network for MELSERVO users Across the globe, FA Centers provide customers with local assistance for purchasing Mitsubishi Electric products and with after-sales service. To enable national branch offices and local representatives to work together in responding to local needs, we have developed a service network throughout the world. We provide repairs, on-site engineering support, and sales of replacement parts.
PAGE 21
Global FA Center FA Center Satellite (China) Production Facility Mechatronics Service Base (China) Mitsubishi Sales Offices Development Center Seoul, Korea Korea FA Center Nagoya, Japan Nagoya Works Taiwan Left: Taipei FA Center/ Right: Taichung FA Center Chicago IL, U.S.A. North America FA Center/ North American Development Center Tlalnepantla Edo.
PAGE 22
Global FA Centers UK FA Center Germany FA Center Russia FA Center Beijing FA Center Europe FA Center Turkey FA Center Czech Republic FA Center Tianjin FA Center Guangzhou FA Center India Gurgaon FA Center Korea FA Center Mitsubishi Electric Corp Shanghai FA Center India Pune FA Center North America FA Center Mexico FA Center Taipei FA Center India Bangalore FA Center Hanoi FA Center Ho Chi Minh FA Center Thailand FA Center ASEAN FA Center Indonesia FA Center Brazil FA Center China Shanghai FA
PAGE 23
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PAGE 24
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PAGE 25
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PAGE 26
Warranty 1. Warranty period and coverage We will repair any failure or defect (hereinafter referred to as "failure") in our FA equipment (hereinafter referred to as the "Product") arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries.
PAGE 27
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PAGE 28
C Controller/Personal Computer Embedded Type Servo System Controller To ensure proper use of the products listed in this catalog, please be sure to read the instruction manual prior to use. Country/Region Sales office Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Tel : +1-847-478-2100 Fax : +1-847-478-2253 Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Mariano Escobedo #69, Col.Zona Industrial, Tlalnepantla Edo, C.P.