Instruction manual

Control specification
C Controller Interface Module specification
Function
Reconnect/disconnect
Linear interpolation
Automatic operation
Incremental feed
JOG operation
Control cycle
Up to 20 axes UP to 32 axes Up to 20 axes
Provided
Provided
Point table method, 1-axis control
Point table method, Up to 4 axes interpolation
(Note-3)
Up to 20 axes UP to 32 axes
—
Home position reset (data set)
Command unit/min, command unit/s, and r/min can be selected.
Location, Speed, Time constant
Forced stop, Operation stop, Rapid stop
—
—
Hardware stroke limit, Software stroke limit, Interlock, Rough match output,
Torque limit, Backlash, Position switch, Interference check
(Note-3)
,
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
Provided
Provided
Provided
Provided
Provided
Provided
Provided
Provided
—
Current command position, Current feedback position, Moving speed,
Feedback moving speed, External signal, Electrical current feedback
Provided (Check for the watchdog of the CPU of the host computer)
Parameters can be saved to the flash ROM.
By connecting MR Configurator2 via the controllers,
the servo amplifier can be simply tested.
Provided
History of operation start, alarms, etc., can be recorded.
Provided
0 to 3 —
Forced stop
—
—
Command unit/min, command unit/s, and r/min
can be selected. (the unit for speed of monitor output )
Up to 20 axes
MR-MC210 MR-MC211 Q173SCCF MR-MC210 MR-MC211 Q173SCCF
Standard Mode Interface Mode
Servo amplifier connection system
Maximum overall cable distance [m(ft.)]
Maximum distance between stations [m(ft.)]
Peripheral I/F
Number of input points
Input method
Rated input voltage/current
Operating voltage range
ON voltage/current
OFF voltage/current
Input resistance
Response time
Recommended wire size
The number of Interface Module for one C Controller
Bus specification
Number of I/O occupying points
Number of module occupied slots
5 VDC internal current consumption [A]
Mass [kg]
Exterior dimensions [mm(inch)]
Forced stop input signal
(EMI)
(Note-1)
SSCNET III/H (1 system)
SSCNET III/H: 2000 (6561.68)
SSCNET III/H : 100 (328.08)
USB
1 point
Positive Common/ Negative Common Shared Type (Photocoupler isolation)
24 VDC/approx. 2.4 mA
20.4 to 26.4 VDC (24 VDC +10%/−15%, ripple ratio 5% or less)
17.5 VDC or more/2.0 mA or more
1.8 VDC or less/0.18 mA or less
Approx. 10kΩ
1ms or less (OFF to ON, ON to OFF)
AWG16 to 26 (0.12 to 1.3 mm
2
)
1 module
PCI Express
®
0
1
0.7
0.17
98 (3.86) (H)✕27.4 (1.08) (W)✕115 (4.53) (D)
Item Specification
(Note-1): The input connector for external forced stop is enclosed in the C Controller module package.
Housing
Terminal
Hand crimp tool
51103-0300
50351-8100
57295-5000 Applicable terminal: 50351
Molex
Manufacture Name Model Description
Position Board specification
Servo amplifier connection system
Maximum overall cable distance [m(ft.)]
Maximum distance between stations [m(ft.)]
Peripheral I/F
Number of input points
Input method
Rated input voltage/current
Operating voltage range
ON voltage/current
OFF voltage/current
Input resistance
Response time
Recommended wire size
The number of Position Boards for one computer
Bus specification
Size [mm(inch)]
5 VDC internal current consumption [A]
Mass [kg]
SSCNET III/H: 2000 (6561.68)
SSCNET III/H : 100 (328.08)
USB
1 point
Positive Common/ Negative Common Shared Type (Photocoupler isolation)
24 VDC/approx. 2.4 mA
20.4 to 26.4 VDC (24 VDC +10%/−15%, ripple ratio 5% or less)
17.5 VDC or more/2.0 mA or more
1.8 VDC or less/0.18 mA or less
Approx. 10kΩ
1ms or less (OFF to ON, ON to OFF)
AWG22 to 28 (0.08 to 0.32 mm
2
)
4
PCI bus
Short sized version (106.7(4.20)✕167.6(6.60))
0.11
SSCNET III/H (2 systems) SSCNET III/H (1 system)
Item
MR-MC211 MR-MC210
Specification
(Note-1): Crimping tools and connectors are needed for cable fabrication. Be sure to prepare ones by user.
Position Board connector for forced stop input (cable-side)
(Note-1): The Position Board can move within the limits of -2147483648 to 2147483647. Movement outside the limits is not covered with warranty. If software limits have been disabled, be careful not to
move it outside of the physical limits.
(Note-2): For the absolute position detection system, the command limits of the position after calculation using the electronic gear are also -2147483648 to 2147483647. The moveable limits may be
narrower than -2147483648 to 2147483647, depending on the electronic gear ratio.
(Note-3): Unavailable when the control cycle is 0.22 ms.
System function
Operation
functions
(Note-1, 2)
Application
functions 1
—
—
—
—
Number
of control axes
Home position
return
Speed units
Electronic gear
Acceleration/
deceleration
Command change
Stop function
High speed
monitor
Monitor
Parameter backup
Host PC watchdog
Test mode
Sampling
Alarm history
Board ID
Log
0.22ms/0.44ms/0.88ms (Select using parameters.)
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
Electronic gear numerator : 1 to 5242879
Electronic gear denominator : 1 to 589823
The maximum sampling point: 65536.
(Ring buffer of 8192 points)
During start operation, Operation stoppage
(During operation, in-position, during smoothing stop, rough match, etc.)
When alarm occurs (servo alarm/operation alarm),etc.
Interrupt Provided
Current command position, Current F/B position, Speed command,
Position droop, Electrical current command, Servo alarm number,
External signal status, etc.
Provided
Auxiliary function
Torque limit, Gain switching, PI-PID switch,
Absolute position detection system, Digital input/output,
Servo amplifier general input/output
Application functions 2
Command speed limits: 1 to speed limit
Limits of start speed: 1 to speed limit
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)
Applicable wire size (AWG): 22, 24, 26, 28
Two terminals are needed for one housing
Forced stop input signal
(EMI)
(Note-1)
0.7 0.45
13
14