Motion Net Work System:motionCAT( motinCAT)


motionCAT



MotionCAT series product(composition and feature)


What is motionCAT ?

　
What Is motionCAT (Motion by Control Automation Technology)? MotionCAT is a motion network system that uses Motionnet. It is capable of connecting any kinds of motor drivers supplied by various manufacturers. Its communication master connects a number of slaves and LAN cables, controlling communications by the multi-dropped method. * Motionnet is a registered trademark of Nippon Pulse Motor Co.,Ltd. MotionCAT uses the G9000 series manufactured by Nippon Pulse Motor, and controls the motors and I/Os by high-speed communications via LAN cables.

　Advantages of motionCAT series products

(1) Motion network system -> Reduced cost wiring Generic LAN cables are used.
(2) 32 motors per one line, or 64 motors per two lines, can be connected for motor control.
(3) 2048 I/Os (32 I/Os × 64 slaves) can be controlled.
(4) A maximum total length of LAN cables per one line is 50 meters.
(5) A motor control slave is connected to a driver that uses the pulse-train input method. Servomotors, stepping motors, etc. offered by any manufactures can be used.
(6) Easy porting of software from the CPD board series.
(7) Easy I/O control through the I/O port memory on the mother board automatically updated every transmission cycle. (8) Short transmission time, quick response -> 20Mbps
The following table shows a transmission cycle.


Connections per one line

8

16

32

Comment

Transmission cycle

0.12ms

0.24ms

0.49ms

Data communication time 19.3us/6 bytes
(Writing to one register in a motion device)


Slave composition

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Connection rules for motionCAT slaves

The following “Communication cable connection rules” must be observed in connecting the mother board.

Communication cable connection rules
1. Cables to be used? Shielded LAN cables, CAT5e or CAT6
2. Total number of modules per line 32 modules or less
(In the example shown below, 2 modules for the #1 Slave, 1 module for the #2 Slave)
3. Total length of cables per line 50 m or less
4. Minimum length of cable between slaves 60 cm or more
5. Setting for the last module The communication settings switch (termination) must be set to ON.
(See the user’s manual for each slave.)

6. Connections to in/out LAN connectors The two LAN connectors of a slave can be connected in any order.

　

Communication Specifications

Item

Specification

Reference clock

40 or 80 MHz (depends on system)

Transmission speed

2.5, 5, 10, or 20 Mbps

Communication code

NRZ

Communication protocol

Motionnet by Nippon Pulse Motor

Communication system

Half-duplex communication

Communication I/F

RS-485, pulse transformer

Connection method

Multi-dropped

Transmission distance

50 m

Number of local devices connected

32

Time per cyclic communication

At 20 Mbps:
8 local devices on one line .... 0.12 ms
16 local devices on one line.... 0.24 ms
32 local devices on one line.... 0.49 ms

Data communication time

Transmission of 3 words * (writing to one register in a motion device) .... 19.3μs

Transmission data size

1 to 3 words / frame

For communication cable disconnection

Motion stop upon detecting disconnection

* 1 word = 2 bytes = 16 bits

motionCAT series product configuration

MotionCAT is capable of connecting a number of slaves to the master board by the multi-dropped method.
The master board provides two communication lines, allowing each to connect with a maximum of 32 modules.
A slave consists of one communication board and one to four (six) modules. The communication board offers
communication functions. The modules are available as motion modules and DIO modules.
The following table shows our product configuration as well as model numbers.

Category

Product name

Model number

Comment

Master board

PCI master board

HPCI -MNT520M

Compact PCI master board

HCPCI-MNT720M

Motion slave

HMG 1-axis motion slave (1 axis x 1)?

HMG-P1

Pulse-train Positioning

HMG 2-axes motion slave (1 axis x 2)

HMG-P2

HMG 3-axes motion slave (1 axis x 3)

HMG-P3

HMG 4-axes motion slave (1 axis x 4)

HMG-P4

HMG 5-axes motion slave (1 axis x 5)

HMG-P5

HMG 6-axes motion slave (1 axis x 6)

HMG-P6

DIO slave

HMG DIO 32 slave (16-in/16-out x 1)

HMG-D1

Photo isolation
Generic I/O

HMG DIO 64 slave (16-in/16-out x 2)

HMG-D2

HMG DIO 96 slave (16-in/16-out x 3)

HMG-D3

HMG DIO 128 slave (16-in/16-out x 4)

HMG-D4

Composite slave

HMG 1-axis + DIO 32 slave?

HMG-P1D1

Combination of the slaves above

HMG 1-axis + DIO 64 slave

HMG-P1D2

HMG 1-axis + DIO 96 slave

HMG-P1D3

HMG 2-axes + DIO 32 slave

HMG-P2D1

HMG 2-axes + DIO 64 slave

HMG-P2D2

HMG 3-axes + DIO 32 slave

HMG-P3D1