MC206x PDF
MC206x PDF
MC206x PDF
MOTION COORDINATOR
USER PROGRAMMABLE
MC302X
STATUS LED’S
technology.
OR DRIVE AS STEPPER OUTPUTS
(2MHZ)
Overall Dimensions
101mm
48mm
94mm
Trio Motion Technology Ltd. Trio Motion Technology LLC Trio Shanghai
Shannon Way, Tewkesbury, Glos. 1000 Gamma Drive, Suite 206, Thompson Centre
GL20 8ND. UK Pittsburgh PA 15238, USA 118 Zhang Yang Road, B1701,
Tel: +44 1684 292333 Tel: +1 412 968 9744 Pudong New Area, Shanghai,
Fax: +44 1684 297929 Fax: +1 412 968 9746 200122, CHINA
Email: sales@triomotion.com Email: enovak@triomotion.com Tel/Fax: +86-21-58797659
Website: www.triomotion.com Website: www.triomotion.com mail: triomotion@126.com
Website: www.triomotion.com
Analogue Output,
WDOG and
I/0 Connector
5 Way Connector
Power / CANbus
Signal LEDS
Axes 0-1
Encoder Inputs /
StepperOutputs
Serial A
Serial B
MOTION COORDINATOR
MC302X
Quick Connection Guide
(Please refer to the Motion Coordinator Technical Reference Manual for Full Details)
5-WAY This is a 5 way 3.81mm pitch connector. The
CONNECTOR connector is used both to provide the 24 Volt
CA D
-H
-L
L
N
N
IE
CA
power to the MC302X and provide connections
V+
SH
V-
for I/O expansion via Trio’s P316 and P325 CAN
I/O expanders. A 24V dc, Class 2 transformer or
power source must be provided as this powers
the unit.
5 4 3 2 1 DIRECTION
3
B
9 8 7 6 4
0V 5
5 4 3 2 1
BOOST / ENABLE
9 8 7 6
6
Z
7
5v 8
Current Limit NC 9
Stepper Configuration:
Axis 0: Step and direction differential outputs ATYPE AXIS(0)=1
Axis 1: Step and direction differential outputs ATYPE AXIS(1)=1
Stepper/Encoder Configuration:
Axis 0: Encoder feedback axis for synchronisation ATYPE AXIS(0)=3
Axis 1: Step and direction differential outputs ATYPE AXIS(1)=1
Changes to ATYPE should be set prior to enabling the axes with WDOG=ON.
This statement should ideally placed in the STARTUP program. See user
manual for other ATYPE combinations.
I/O Connector
Analogue Output / WDOG / Inputs 0-3 / I/O 8-11
24V Pin
Optical
Output
Control
Signal Protected
Switch
Input Pin
Optical 6k8 Input / Output Pin
Input 6k8
Signal Optical
Input
Signal
0V Pin
0V Pin
MOTION COORDINATOR
DIN RAIL MOUNT RS232
4 ANALOGUE OUTPUTS
(FOR SERVO) PLUS 1
(PROGRAMMING PORT) ENCODER INPUT
PRODUCT CODE: P136
RS485 MODBUS
The MC206X Motion Coordinator is RTU SLAVE, FREELY
PROGRAMMABLE OR
based on Trio’s high-performance HOST LINK
linked axes, and interpolation is made easy be assigned to the built in hardware or one Software “Feature Enable Codes” can be purchased
and then entered using Motion Perfect to enable axis
with Trio’s comprehensive BASIC command of the 3 available digital drive networks 1, 2 and 3 for either servo or stepper operation. No
set. by means of the appropriate daughter extra hardware is required to update these additional
axes.
board option. Each board is capable of
The MC206X has 16 opto-isolated 24V driving different numbers of axes. Any un-
digital I/O (8 in, 8 bi-directional) built- allocated axes can be assigned to the built
in. Fast high speed hardware registration in hardware or used as virtual axes. I/O Capability
inputs are available for each axis where
highly accurate control is required for When used with the MC206X, the different
• 8 inputs and 8 bi-directional channels
applications such as print and packaging digital drive network daughter boards can • 1 x 10 bit 0-10V analogue input
lines. have the following number of axes: • Expandable to 256 bi-directional channels and
32 analogue inputs.
The I/O count can be expanded using Trio’s Sercos CAN SLM
remote I/O system with both digital and
analogue modules. Fieldbus Communication Options
Up to 8 axes* Up to 4 axes* Up to 3 axes
Trio’s MC206X offers wide communications (2 Standard) (2 Standard) (3 Standard)
CAN Trio remote I/O, CANopen I/O,
capability with 2 RS-232 serial ports, 1 RS- DeviceNet slave or user
485 port, 1 TTL serial port, 1 USB port and programmable
1 CAN channel as standard. RS232 Modbus RTU slave, Hostlink or user
programmable†
RS485 Modbus RTU slave, Hostlink or user
Axis Configuration (without SERCOS / CAN or programmable†
P291 P293 P292
SLM) Option Slot Profibus, CANbus, Ethernet or
*Extra axes added by P701, P702 and P704 Ethernet IP
Axis 0 stepper / servo / encoder
†Only 1 instance of a protocol can be used at a time.
Axis 1 stepper / servo / encoder
Multi-tasking Option slot is limited to one daughter board.
Axis 2 stepper / servo / encoder
Axis 3 stepper / servo / encoder
• 7 simultaneous BASIC tasks
Axis 4 encoder only
Axis 5 Added by use of an axis option board
fitted to intelligent option slot
Axis 6/7 virtual
Part Number P136
Size 107mm x 182mm x 53mm
Weight 325g
Temperature Range 0-45 degrees Celsius
Power Consumption 24Volts @ 300mA
Maximum Number Of Axes 8
Built In Encoder Inputs 1 @ 6MHz
(Line Driver) RS422
Bi-directional Port 4 @ 6MHz (Encoder) or 2 MHz
(Stepper)
Built in Analogue Outputs 4 @ +/-10V 16 Bit Resolution
Servo Cycle Time 1000us, 500us, or 250us
Built In Inputs 8 x 24V Opto-Isolated
Built In Outputs None
Built In Bi-directional I/O 8 x 24V Opto-Isolated
Built in Analogue Inputs 1 @ 0-10V 10 Bit Resolution
Inputs Functions Forward Limit/ Reverse Limit /
Datum / F Hold
Watchdog Relay 1 Solid State - 24V @ 100mA Max
Current
Serial Ports RS232 (Programming) / RS232 /
RS485 / TTL / USB Required to fit any daughter board to
CAN Ports 1 @ 1MBAUD max MC206X.
Daughter board Slots 1 Slot
User Memory 512kbytes
Table Memory 32000 values
Multi-tasking 2 Fast Tasks + 5 Normal Tasks
EMC Compliance BS EN61000-6-2 : 2001 generic noise
immunity standard for industrial
environment
BS EN61000-6-4 : 2001 generic
emission standard for light industrial
environment
Overall Dimensions
107mm
53mm
182mm
Trio Motion Technology Ltd. Trio Motion Technology LLC Trio Shanghai
Shannon Way, Tewkesbury, Glos. 1000 Gamma Drive, Suite 206, Thompson Centre
GL20 8ND. UK Pittsburgh PA 15238, USA 118 Zhang Yang Road, B1701,
Tel: +44 1684 292333 Tel: +1 412 968 9744 Pudong New Area, Shanghai,
Fax: +44 1684 297929 Fax: +1 412 968 9746 200122, CHINA
Email: sales@triomotion.com Email: enovak@triomotion.com Tel/Fax: +86-21-58797659
Website: www.triomotion.com Website: www.triomotion.com Email: triomotion@126.com
Website: www.triomotion.com
I/O Connector 1
Analogue In / Inputs 0-7
I/O Connector 2
24V Power / I/O 8-15
5 Way Connector
Power /CANbus I/O Connector 3
WDOG / Ref Encoder /
Analogue Outputs
USB
Serial A
Serial B
Axes 0-3
Encoder Inputs /
StepperOutputs
MOTION COORDINATOR
MC206X
Quick Connection Guide
(Please refer to the Motion Coordinator Technical Reference Manual for Full Details)
5-WAY This is a 5 way 3.81mm pitch connector. The
CONNECTOR connector is used both to provide the 24 Volt
CA D
-H
-L
L
N
N
IE
CA
power to the MC206X and provide connections
V+
SH
V-
for I/O expansion via Trio’s P316 and P325 CAN
I/O expanders. A 24V dc, Class 2 transformer or
power source must be provided as this powers
the unit.
Note: Port 0 is the default programming port for connection to the PC running Motion
Perfect.
SERIAL Serial Connector B
CONNECTIONS
Pin Function Note
1 RS485 Data In A Rx+
Serial Port #2
2 RS485 Data In B Rx-
3 RS232 ransmit
T
4 RS232 0V / RS485 0V Serial Port #1
5
5 RS232 eceive
R
8
2 6 Internal v 5
4 7
1
6
7 RS485 Data Out Z Tx- Serial Port #2
3
8 RS485 Data Out Y Tx+
Input Pin
Optical 6k8
Input
Signal
0V Pin
I/O CONNECTOR 2 I/O 0v
I/O 24v
Input / Output Channel 8
Input / Output Channel 9
Input / Output Channel 10
Input / Output Channel 11
Input / Output Channel 12
Input / Output Channel 13
Input / Output Channel 14
Input / Output Channel 15
I/O Connector 2
24v Power / I/O 8-15
24V Pin
Optical
Output
Control
Signal Protected
Switch
0V Pin
I/O Connector 3
WDOG / Ref. Enc. / Analogue Outputs
AMPLIFIER An internal relay is used to enable external amplif ers when the
ENABLE controller has powered up correctly and the system and application
(WATCHDOG) software are ready. The amplif er enable is a single pole solid state
RELAY OUTPUT relay with a normally open “contact”. The enable relay contact will
be open circuit if there is no power on the controller OR a following
error exists on a servo axis OR the user program sets it open with
the WDOG=OFF command.
Amplif er
Enable 1 24v 0v 0v
Amplif er
Enable 2 Enable
V+
VIN +
V- VIN-
3
9 8 7 6 B
4
5 4 3 2 1 0V 5
BOOST / ENABLE
9 8 7 6
6
5 4 3 2 1 Z
7
9 8 7 6
5v 8
Current Limit NC 9
Ensure that:
1. The shield pin is grounded as close to
the MC206X as possible.
2. 0V, V- and E- connections are NOT used
for terminating screens.
3. Pin 5 of Encoder/Stepper plug is
connected to 0V on drive.
4. Encoder cable screen is clamped to 9
way D shell.
5. MC206X 24V supply has common 0V with
the drive(s)
Good quality screened cables should be used for the serial ports and for the USB link. The serial
ports, USB port and CANbus port are not galvanically isolated, therefore the 0V return MUST be
connected to all peripheral devices. In addition, bond together the 0V (24V return) terminals of
all system components so as to minimise current f owing in the serial cables.
Trio Motion Technology Ltd. Trio Motion Technology LLC Trio Shanghai
Shannon Way, Tewkesbury, 1000 Gamma Drive, Suite 206, Tompson Centre
Glos. GL20 8ND. UK Pittsburgh PA 15238, USA 118 Zhang Yang Road, B1701,
Tel: +44 1684 292333 Tel: +1 412 968 9744 Pudong New Area, Shanghai,
Fax: +44 1684 297929 Fax: +1 412 968 9746 200122, China
Email: sales@triomotion.com Email: enovak@triomotion.com Tel/Fax: +86-21-58797659
Website: www.triomotion.com Website: www.triomotion.com HP: +8613816137446
Email: triomotion@126.com
Website: www.triomotion.com
Input Connector
0-7
StatusLEDS
DIP Switch
I/O MODULE
CAN ANALOGUE INPUTS MODULE
Quick Connection Guide
(Please refer to the Motion Coordinator Technical Reference Manual for Full Details)
DESCRIPTION The CAN Analogue Earth
Inputs Module 0v reference
Input 7
allows the Motion Input 6
Input 5
Input 4
Coordinator to be (Black)
(Blue)
V-
CAN _L Input 3
Input 2
SHIELD
expanded with banks (White) CAN_H
(Red) V+
Input 1
Input 0
of 8 analogue input
channels.
0v 24v 7 6 5 4 3 2 1 0
24V DC Class 2
BELDEN 3084A
16
32
PR
DR
DIP SWITCH The switch marked DR sets 125kHz or 500kHz. Only 500Khz is valid
SETTINGS with the TRIO protocol. The switch marked "PR" selects Analogue
Feedback Mode (PR=off). Up to 4 P325 modules can be connected.
Note: P325 modules and P316 (16-I/O) modules may be mixed on the
network. The P316 addresses will be 0 to 15 in sequence and the P325
modules will be 16 to 19 in sequence.
LED INDICATORS
MS NS
WIRING
M O T I O N T E C H N O L O G Y
A SERIAL B
OK STA
BAT
0 8
1 9
2 10
3 11
4 12
5 13
6 14
7 15
ENCODER V+ V- R 0v
5 4 3 2 1
9 8 7 6
24V Power A-
supply
A0
0v 24v 7 6 5 4 3 2 1 0 0v 24v 7 6 5 4 3 2 1 0
A1
to Network
24V DC Class 2 24V DC Class 2
I0 B
I1 MS NS MS NS
I2 IO8
I3 IO9
I4 IO10 CAN Analog CAN Analog
P325 Inputs P325 Inputs
I5 IO11
OFF 1 OFF 1
I6 IO12 2 2
I7 IO13 4 NODE
ADDRESS
4 NODE
ADDRESS
8 8
24v IO14 16 16
32 32
0v IO15 PR PR
DR DR
Trio Motion Technology Ltd. Trio Motion Technology LLC Trio Shanghai
Shannon Way, Tewkesbury, 1000 Gamma Drive, Suite 206, Tomson Centre
Glos. GL20 8ND. UK Pittsburgh PA 15238, USA B1602, 118 Zhang Yang Road,
Tel: +44 1684 292333 Tel: +1 412 968 9744 Pudong New Area, Shanghai,
Fax: +44 1684 297929 Fax: +1 412 968 9746 200122, China
Email: sales@triomotion.com Email: enovak@triomotion.com Tel/Fax: +86-21-58797659
Website: www.triomotion.com Website: www.triomotion.com HP: +8613816137446
Email: triomotion@126.com
Website: www.triomotion.com
Status
LEDS
DIP Switch
I/O MODULE
CAN 16 I/O
Quick Connection Guide
(Please refer to the Motion Coordinator Technical Reference Manual for Full Details)
DESCRIPTION The CAN 16-I/O Module 0v for IO 0-7
24v for IO 0-7
IO 7
allows the 24volt digital IO 6
IO 5
inputs and outputs of (Black)
(Blue)
V-
CAN _L
IO 4
IO 3
the Motion Coordinator SHIELD
(White) CAN_H
IO 2
IO 1
of 16 bi-directional
channels. 0v 24v 7 6 5 4 3 2 1 0
24V DC Class 2
MS NS
0 8
1 9
2 10
3 11
4 12
5 13
6 14 CAN 16-I/O
P315 7 15
OFF 1
2
4 NODE
8 ADDRESS
16
32
PR 8 9 10 11 12 13 14 15 24v Ov
DR
0v for IO 8-15
NOTE: Network cable 24v for IO 8-15
IO 15
must be screened IO 14
IO 13
twisted pair such as IO 12
IO 11
BELDEN 3084A IO 10
IO 9
IO 8
DIP SWITCH The top 6 DIP switches on the CAN 16-I/O set the module address. Only
SETTINGS addresses 0..15 are valid CAN 16-I/O addresses. The switch marked PR
is set ON to select TRIO protocol. The switch marked DR sets 125kHz
or 500kHz. Only 500Khz is valid with the TRIO protocol.
Note that the I/O Channels referred to above are the I/O channels
including the 0..15 channels built in to the controller.
24V INPUT/ Input/output channels are all identical bi-directional channels. The
OUTPUT inputs have a protected 24v sourcing output connected to the same
CHANNELS pin. The maximum current capacity is 250mA/Channel (Maximum 1
Amp total/bank of 8)
24V Pin
Optical
Output
Control
Signal Protected
Switch
0V Pin
M O T I O N T E C H N O L O G Y
A SERIAL B
OK STA
BAT
0 8
1 9
2 10
3 11
4 12
5 13
6 14
7 15
ENCODER V+ V- R 0v
5 4 3 2 1
9 8 7 6
24V Power A-
supply
A0
A1 0v 24v 7 6 5 4 3 2 1 0 0v 24v 7 6 5 4 3 2 1 0
to Network
24V DC Class 2 24V DC Class 2
MS NS MS NS
I0 B
I1 0
1
8
9
0
1
8
9
I2 IO8 2 10 2 10
3 11 3 11
I3 IO9 4 12 4 12
5 13 5 13
I4 IO10 6 14 CAN 16-I/O 6 14 CAN 16-I/O
P315 7 15 P315 7 15
I5 IO11
IO12 OFF OFF
I6 1
2
1
2
I7 IO13 4 NODE
ADDRESS
4 NODE
ADDRESS
8 8
24v IO14 16 16
32 32
0v IO15 PR 8 9 10 11 12 13 14 15 24v Ov
PR 8 9 10 11 12 13 14 15 24v Ov
DR DR
Trio Motion Technology Ltd. Trio Motion Technology LLC Trio Shanghai
Shannon Way, Tewkesbury, 1000 Gamma Drive, Suite 206, Tomson Centre
Glos. GL20 8ND. UK Pittsburgh PA 15238, USA B1602, 118 Zhang Yang Road,
Tel: +44 1684 292333 Tel: +1 412 968 9744 Pudong New Area, Shanghai,
Fax: +44 1684 297929 Fax: +1 412 968 9746 200122, China
Email: sales@triomotion.com Email: enovak@triomotion.com Tel/Fax: +86-21-58797659
Website: www.triomotion.com Website: www.triomotion.com HP: +8613816137446
Email: triomotion@126.com
Website: www.triomotion.com