1. Controller interfaces
Connecting peripherals to the
Motion Coordinator

2. Motors – Pulse and direction output
Stepper drives or Servo drives
No feedback
Flexible axis ports set as outputs by ATYPE (MC_CONFIG)
WDOG relay to be used as part of a safety/ enable circuit
Watchdog Relay
Pulse and Direction out x 5

3. Motors – Pulse and direction output
Variable pulse width based on frequency
No feedback – no closed loop
Maximum 2MHz pulse frequency
Internal count is 16 * pulse output – smoother pulses

4. Motors – Closed loop servo
Watchdog Relay
Servo drives
±10V DAC demand signal
Speed
Torque
Feedback
Incremental encoder
Absolute encoder
Analogue feedback
Flexible axis ports set as input by ATYPE (MC_CONFIG)
WDOG relay to be used as part of a safety/ enable circuit
Analogue inputs
DAC Outputs
Incremental or absolute
encoder inputs

5. Motors – Closed loop servo
12bit or 16bit DAC
Direction can be reversed in software
Dead zones can be applied for Piezo motor systems

6. Motors – Closed loop servo
Incremental Encoder
Typically uses a RS422 Differential line driver output
Has an A & B sensor at 90 degrees displacement
Maximum edge rate of 6Mhz (limits speed or resolution)
Controller counts are 4 * encoder lines
Encoder Lines A
Encoder Read head B
4 x 2 = 8 Pulses 6

7. Motors – Closed loop servo
Absolute Encoders
Absolute position comes from the encoder on power up
This is based on a coded bit pattern on the optical disc
Resolution of position is based on bit count.
Eg 24 Bit encoder offers 224 = 16,777,216 pulses
Position data is transmitted in serial form to the controller.
The controller requests the current position once per servo cycle.
Synchronous Serial Interface (SSI)

8. Motors – Closed loop servo
Analogue feedback
Analogue feedback is often used in limited travel applications
Provides an absolute feedback as a voltage
Resolution is based on length of travel and analogue bit resolution
Typical analogue input is 12 bits
This provides 212 = 4095 increments
100mm travel provides 100/4095 = mm resolution 8

9. Motors – Digital drive interface
Servo drives or stepper drives
Numerical demand signal
Position
Speed
Torque
Outputs
Parameters (limits, IO setup etc)
Feedback
Current
Captured positions (touch probe)
Digital/ Analogue inputs
WDOG relay to be used as part of a safety/ enable circuit
Digital drive interface
Watchdog Relay

10. Power
24V Logic and CAN
+ -
Isolated power terminals for different sections of the controller
Isolated or filtered 0V for signal noise reduction
24V supplies need to be regulated 18V to 29V d.c
Different controllers have different 24V power terminals
24V I/O and DAC

11. Input and output 8 x Hi Level (PNP) Inputs
Can bus
8 x Hi Level (PNP) Inputs
8 x Bi-Directional Sourcing (PNP) Outputs or Hi Level Inputs
(4 on the MC403)
2 x 12 bit 0-10V Analogue Inputs
Any DAC outputs not used for servo control can be used as regular 12 bit ±10V outputs
CAN connector for additional I/O
Digital I/O
Digital Inputs
Analogue inputs
DAC Outputs

12. Communications and extra memory
Ethernet
Motion Perfect v3
UNIPLAY HMI
TextFileLoader
TrioPC ActiveX
Modbus TCP
Ethernet IP
UDP
RS232 and RS485 serial ports
Modbus RTU
Omron Hostlink
User programmed
Serial Ports
Ethernet Port
Micro SD card slot

13. Digital and analogue I/O
Inputs and Outputs
Digital and analogue I/O

14. All Motion Coordinators have some IO capability
Can bus
Example: MC405
8 x Hi Level (PNP) Inputs
8 x Bi-Directional Sourcing (PNP) Outputs or Hi Level Inputs
2 x 12 bit 0-10V Analogue Inputs
4 x Analogue outputs 12 bit ±10V outputs
CAN connector for additional I/O
Digital I/O
Digital Inputs
Analogue inputs
AnalgoueOutputs

15. Programming Inputs and Outputs
I/O is accessed using IN and OP commands in BASIC
IN(number) Returns the state of the numbered input
IN(start, end) Returns a binary value of input range
OP(number, state) Sets an output to the defined state
OP(start, end, bit_pattern) Sets a range of outputs
READ_OP(number) Returns the state of the output logic
READ_OP(start, end) Returns a binary value of output bits

16. Programming Inputs and Outputs
Set an output
OP(10, ON)
OP(8, 1) ' ON is same as 1. OFF is same as 0
Read an input
input_state = IN(5) ' value will be 0 or 1
IF IN(15)=ON THEN ' Make a decision depending on an input
WAIT UNTIL IN(3)=OFF ' program pauses until input is OFF

17. CANbus I/O expansion I/O be extended by using Trio CAN IO modules
Program simply addresses new I/O
IN(16) to IN(31)
IN(32) to IN(47)
Outputs:
OP(35, ON)
OP(16, OFF)
Up to 256 additional digital inputs
Up to 256 additional digital outputs
Bi-directional module uses 16 IN and 16 OP

18. Input / Output on MC4N-ECAT
CANbus
Expansion port
MC4N-ECAT has CANbus and EtherCAT expansion for Input / Output
Max Digital Inputs: 1024
Max Digital Outputs: 1024
Combined internal + CAN + EtherCAT
EtherCAT
Expansion port
Digital Inputs
Digital I/O

19. EtherCAT I/O expansion
I/O extended by using Trio Flexslice modules
New I/O addresses added automatically
For example IN(129), IN(982) etc.
OP(300, ON), OP(26, OFF)
Up to 1008 additional digital inputs
Up to 1008 additional digital outputs

20. * Expert tip - IOMAP

21. MPv4 IO display

22. Analogue Inputs and Outputs
Analogue I/O is accessed using AIN and AOUT commands in BASIC
value = AIN(number) Returns the value of the numbered analogue input
AOUT(number) = value Sets an analogue output to the defined value
AIN ranges:
AIN(32) .. AIN(33) Built-in analogue inputs (MC405)
AIN(0) .. AIN(31) CAN Analogue / Flexslice Analogue
AOUT ranges:
AOUT(0) .. AOUT(15) CAN Analogue outputs
AOUT(0) .. AOUT(31) Flexslice Analogue outputs

23. Programming Inputs and Outputs
Set an output
OP(10, ON)
OP(8, 1) ' ON is same as 1. OFF is same as 0
Read an input
input_state = IN(5) ' value will be 0 or 1
IF IN(15)=ON THEN ' Make a decision depending on an input
WAIT UNTIL IN(3)=OFF ' program pauses until input is OFF

24. Full connection information
Quick start guide
Included with every product
Can be downloaded from
Hardware technical manual