Omron CJ1W-C113 - REV 02-2008 Operation Manual

Position control units

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Cat. No. W397-E1-07

SYSMAC

CJ1W-NC113/213/413/133/233/433

Position Control Units

OPERATION MANUAL

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Summary of Contents for Omron CJ1W-C113 - REV 02-2008

Page 1 Cat. No. W397-E1-07 SYSMAC CJ1W-NC113/213/413/133/233/433 Position Control Units OPERATION MANUAL...
Page 2 CJ1W-NC113/213/413/133/233/433 Position Control Units Operation Manual Revised February 2008...
Page 4  OMRON, 2001 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.
Page 5 CJ Series according to differences in functionality accompanying Unit upgrades. Notation of Unit Versions The Unit version is given to the right of the lot number on the nameplate of the on Products applicable Position Control Units, as shown below.
Page 6 This label can be attached to the front of the Position Control Unit to differenti- ate between Position Control Units of different Unit versions. Unit Version Notation In this manual, the Unit version of a Position Control Unit is given as shown in the following table. Product nameplate...
Page 7 Checking Position Control Unit Version and Internal System Software Version Position Control Units have an internal system software version in addition to the Unit version used by CS/CJ-series Units to distinguish functions. The fol- lowing table shows the relationship between the Position Control Unit’s Unit version and internal system software version.
Page 8 Version Upgrade Information The following tables outline changes made for the most recent version upgrade for SYSMAC CJ-Series Position Control Units. ■ Enhanced Functions for Unit Version 2.0 Changing Multiple-start Acceleration for Relative and Absolute Move- ment during Direct Operation Previous version Present version (Ver.
Page 9 Present version (Ver. 2.3 or later) Parameters and data were not checked at star- Parameters and data for up to four axes can be checked and up to tup. four errors (i.e., one per axis) can be detected and output.
Page 10: Table Of Contents
Transferring Data with CX-Position ........
Page 11 Setting Data for Memory Operation ........
Page 12 Index.........
Page 14 Information on using Servo Relay Units is also provided. Section 4 provides an overview of the parameter and data settings used in Position Control Unit oper- ation and provides information on memory allocation.
Page 16 WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS...
Page 17 The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products: •...
Page 18 PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements.
Page 20 Conformance to EC Directives ........
Page 21: Intended Audience
This manual provides information for using the Position Control Unit. Be sure to read this manual before attempting to use the Unit and keep this manual close at hand for reference during operation.
Page 22 As a countermeasure for such errors, external safety measures must be provided to ensure safety in the system. • The PLC or PCU outputs may remain ON or OFF due to deposits on or burning of the output relays, or destruction of the output transistors. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.
Page 23: Operating Environment Precautions
• Locations subject to possible exposure to radioactivity. • Locations close to power supplies. !Caution The operating environment of the PLC System can have a large effect on the longevity and reliability of the system. Improper operating environments can lead to malfunction, failure, and other unforeseeable problems with the PLC System.
Page 24: Application Precautions
Failure to abide by the following precautions could lead to serious or possibly fatal injury. Always heed these precautions. • Always connect to a ground of 100 Ω or less when installing the Units. Not connecting to a ground of 100 Ω or less may result in electric shock.
Page 25 • Remove the label after the completion of wiring to ensure proper heat dis- sipation. Leaving the label attached may result in malfunction. • Do not apply voltages to the Input Units in excess of the rated input volt- age. Excess voltages may result in burning.
Page 26: Conformance To Ec Directives
In this case, the product may fail to meet EC Directives. In order to prevent such interference, fill clearances in the control panel with con- ductive packing.
Page 27 Conformance to EC Directives xxviii...
Page 28: Introduction
Other Operations........
Page 29: Features
CPU Unit. Number of Control Axes The PCU is available with 1, 2, or 4 control axes. With 2-axis and 4-axis mod- els, linear interpolation is possible for all axes. Either open collector output or and Output Type line driver output is available for any number of control axes.
Page 30 PCU they can be saved to the PCU’s flash memory, so there is no need for battery maintenance. Note There is a limit to the service life of the flash memory. A total of up to 100,000 data saving operations can be performed. CX-Position The PCU is compatible with the Windows-based NC Support Software (CX- Position) that enables setting of the PCUs in a Windows environment.
Page 31: System Configuration
Servomotors Servomotors Note (1) A dedicated cable is available for connecting the PCU to the dedicated terminal block. (2) Origin input signals cannot be used as external connection terminals with dedicated terminal blocks. Connect the Z-phase signal to the Servo Drive using the dedicated cable.
Page 32: Basic Operations
Position Control Positioning can be executed with either an absolute value (i.e., to an absolute position from the origin) or with an incremental value (i.e., to a relative position from the present position). There are two methods for positioning: memory operation and direct opera- tion.
Page 33 With memory operation, positioning sequences (i.e., individual positioning operations, which include data such as positions and speeds) are transferred to the PCU in advance, and then positioning is executed from the CPU Unit by specifying those positioning sequences by number. Depending on the com- pletion code that is set, positioning sequences can be executed using inde- pendent positioning, automatic positioning, or continuous positioning.
Page 34: Speed Control
1-3-2 Speed Control When a start is executed once, pulses are continuously output at a constant rate. The pattern depends on the completion code that is set for “memory operation” positioning sequences. To stop the sequence, use the STOP com- mand.
Page 35: List Of Functions
List of Functions Section 1-4 Zones A zone is a range of positions which can be defined so that flags are turned ON whenever the present position is within the range. Zone setting Zone Flag Deceleration Stop The STOP command decelerates positioning to a stop.
Page 36 Saves parameters, position data, and speed data to non- volatile memory (flash memory) in the PCU. Common to direct opera- Jogging Outputs pulses at a fixed speed in the CW or CCW direc- tion and memory opera- tion. tion Teaching Reads the currently stopped position as position data.
Page 37: Specifications
21.6 to 26.4 V DC (external power sup- 22.8 to 25.2 V DC range ply) (external power supply) 4.75 to 5.25 V DC (external power supply; line driver output only) Internal current con- 250 mA max. at 250 mA max. at 360 mA max. at...
Page 38: Performance Specifications
0 to 9,999 pulses. Compensation speed can also be set. tion Teaching With a command from the PLC, the present position can be taken as the position data. Deceleration stop The STOP command causes positioning to decelerate to a stop accord- ing to the specified deceleration time.
Page 39 When the override enabling command is executed during positioning, the target speed is changed by applying the override coefficient. Possi- ble to set to a value from 1 to 999% (by an increment of 1%) Data saving Saving to flash memory. (Can be written 100,000 times.) Reading from PLC area by data reading instruction.
Page 40: Comparison With Existing Models
–9,999,999 to 9,999,999 pulses pulses Speed designation range 1 to 500,000 pps, set in pps units 1 to 500,000 pps, set in units of the smallest multiplication factor specified CPU Unit scan timeover for END 0.5 ms max. per PCU 2.6 to 4.5 ms per PCU...
Page 41: Control System Principles
Control System Principles Section 1-7 Control System Principles 1-7-1 Data Flow Position Control Unit Stepping motor driver Pulse train Stepping motor Pulse genera- CPU Unit External input Magnetizing dis- Power tribution circuit amplifier interface Memory I/O connector Pulse genera- interface...
Page 42: Control System Principles
= L ÷ (P x θ )/(360 x M) = (360 × M × L)/(P x θ The pulse speed required to move the object with a feed speed of V mm/s is given by the following calculation: = Feed speed ÷ Pulse rate Pulse speed = V ÷...
Page 43 Control System Principles Section 1-7...
Page 44: Basic Procedures
SECTION 2 Basic Procedures This section gives an overview of the procedures required to use the Position Control Unit.
Page 45: Section 3
Basic Procedures Section 2 The following table shows the basic flow of operation for the PCU. Flow of operation Reference Installation SECTION 3 Installation and Wir- START 3-1 Nomenclature and Func- Mount the PCU. tions 3-3 Installation Set the unit number of the PCU.
Page 46 2. Refer to the operation manual for the CPU Unit. 3. Use the axis parameter designation setting in the common parameter area to specify whether for operation is performed according to axis parameters saved in the PCU or the axis parameters set in the CPU Unit’s DM Area.
Page 47 Basic Procedures Section 2...
Page 48: Installation And Wiring
Nomenclature and Functions ........
Page 49: Nomenclature And Functions
No error has occurred at the CPU Unit. Orange Pulses are being output to the X axis (either forward or reverse). Flashing An error has occurred, such as incorrect cable type for the X axis or faulty data. Not lit None of the above has occurred. Orange Pulses are being output to the Y axis (either forward or reverse).
Page 50: Area Allocation
Area Allocation Section 3-2 Unit Number Setting This switch sets the unit number (i.e., the machine number) for the PCU as a Switch Special I/O Unit. MACH × 10 × 10 Memory is allocated to the PCU from the CPU Unit’s Special I/O Unit Area according to the unit number setting.
Page 51: Installation
Installation Section 3-3 2. Be sure to set the unit numbers so that they do not overlap with the unit numbers of other Special I/O Units. 3. Since the CJ1W-NC413/433 are allocated the words for two unit numbers, unit number 95 cannot be set.
Page 52: Precautions When Handling The Pcu
Installation Section 3-3 3. To remove the PCU, slide the sliders in the “release” direction and then separate the PCU from the Rack. 3-3-3 Precautions When Handling the PCU • Before installing or disconnecting the PCU or connecting cable, be sure to first turn off both the Programmable Controller and the power supply.
Page 53: Mounting Precaution For Cj1W-Nc413/Nc433
The ambient operating temperature of the CJ1W-NC413/NC433 PCUs is 0 to 50 ° C. The ambient operation temperature range, however, can be increased to 0 to 55 ° C if the CJ1W-SP001 CJ-series Space Unit is used under the fol- lowing conditions.
Page 54: External I/O Circuitry
Dimensions (Unit: mm) SP001 Space Unit Precautions The CPU Unit and CX-Programmer will not detect the Space Unit as a Unit on a Rack. Always be careful not to have more than 10 Units in any Rack. External I/O Circuitry...
Page 55 External I/O Circuitry Section 3-4 CJ1W-NC113/213/413 (Pulse Open Collector Output) Connector pin arrangement for X and Z axes Connector pin arrangement for Y and U axes Designation Designation Power supply, 24 V DC (for output signals) Power supply, 24 V DC (for output signals)
Page 56 1. Use either the 24-V origin input signal or the 5-V origin input signal, but not both. 2. Use 24 ± 10% V DC for the CJ1W-NC1@3/NC2@3 and 24 ± 5% V DC for the CJ1W-NC4@3 as the output power supply.
Page 57: External I/O Connector Arrangement
14. The common for the positioning completed input signal is connected to the 24-V output power supply via a diode. 15. Use the origin common as a pair with the 24-V origin input signal or the 5-V origin input signal.
Page 58 M2.6x6 pan-head screws (two) Connector Cable holder Case M2.6 nut (two) M2 nut (three) The following connectors (Fujitsu 360 Jack) can be used: 1,2,3... 1. FCN-361J040-AU (solder-type) FCN-360C040-J2 (connector cover) 2. FCN-363J040 (crimp-type housing) FCN-363J-AU/S (contact) FCN-360C040-J2 (connector cover) 3. FCN-367J040-AU (crimp type) Cover Dimensions 17.9...
Page 59 Connector Connector After wiring is completed Remove the label NC41 3 Connector screw MACH Tighten the connector screws to a torque of 0.2 N·m. After wiring is com- pleted, be sure to remove the label to allow proper heat dissipation.
Page 60: I/O Circuitry
Output Circuitry: The pulse output and error counter reset circuitry of the PCU are provided with two types of terminals: terminals with 1.6 k Ω (1/2 W) limit resistance and terminals with no resistance. Select the terminals in accordance with the...
Page 61 External I/O Circuitry Section 3-4 !Caution Connect a load of 7 to 30 mA (or 7 to 16 mA for terminals with 1.6-k Ω limit resistance) to the output section. If a current greater than this is used, it will cause damage to the PCU’s internal components.
Page 62 External I/O Circuitry Section 3-4 !Caution Be sure to wire the 5-V DC pulse output power supply with the correct polarity. Wiring with the polarity reversed will result in damage to internal elements. Inputs Output power supply, 24 VDC 560 Ω...
Page 63: I/O Electrical Specifications
CJ1W-NC4@3 24 V DC ±10% 24 V DC ±5% Voltage Current 4.66 to 5.15 mA (at 24 V) typ. 3.91 to 4.32 mA (at 24 V) typ. ON voltage 17 V DC min. 19 V DC min. OFF voltage 5.0 V DC max.
Page 64: Wiring
Note 1. The load in the above table is the net resistance load, and the connecting cable impedance with the load is not considered. 2. Due to distortions in pulse waveforms as a result of connecting cable im- pedance, pulse widths during actual usage may be smaller than those shown in the above table.
Page 65 CCW pulse Approx. output 12 mA A2/B2 In this example, the 1.6 k Ω resistors of the PCU are used to allow a 24-V DC Note power supply to be used with a motor driver rated at 5 V DC.
Page 66 When wiring your system, carefully note the current required by the motor driver in order to avoid damaging the input circuitry of the motor driver. Outputting CW and CCW In this example, a 5-V DC photocoupler input motor driver is used for output- Pulses, Example 2 ting CW and CCW pulses.
Page 67 A5/B5 Pulse (CW+CCW) Direction input output 7 to 30 mA 1.6 kΩ A7/B7 Direction output Pulse input 7 to 30 mA A2/B2 When voltage-level output is used, the level is L for output ON, and H for out- put OFF.
Page 68 Wiring Section 3-5 Outputting CW and CCW In this example, a motor driver with a line receiver input is used and either CW Pulses or Pulse and and CCW pulses or pulse and direction signals are output. Direction Signals Position Control Unit...
Page 69 Wiring Section 3-5 Error Counter Reset There is approximately 20 ms of output when origin search is completed in Output modes 1 or 2. Position Control Unit 24-VDC 24-VDC A1/B1 power power supply OMRON R88D-WT supply for Servo Drive –...
Page 70: Connecting Input Signals
CW/CCW limit signal changes from ON to OFF is used as the timing for origin signal detection. In this case, use a sensor with no chattering, such as a photoelectric sensor, for the input. Using a switch with contacts may cause the position of the origin to be displaced due to chattering.
Page 71: Connecting Origin And Positioning Completed Input Signals
Z-phase line driver output are used. Use a sensor with no chattering, such as a photoelectric sensor, for the origin input signal. !Caution Connect a switch with a switching capacity of at least 5 mA to the 24-V origin input signal terminal.
Page 72 Wiring Section 3-5 !Caution Do not connect the 5-V DC origin input signal input to any output circuit except the line driver. !Caution Use either the 24-V origin input signal or the 5-V origin input signal, but not both. Also, be sure not to connect them to the wrong terminal. Using both sig- nals or connecting them to the wrong terminal will result in damage to internal circuitry.
Page 73: Wiring Precautions
• Attach a multi-layer ceramic capacitor of a thickness of less than 1 µ F to the pulse output power supply to improve noise resistance. • Do not use a 24-V DC or 5-V DC power supply for pulse output in com- mon with the power supply for other I/O.
Page 74: Connection Examples For Different Types Of Motor Driver
• Connect to a ground of 100 Ω or less and use the thickest possible wire, greater than 1.25 mm • Twisted-pair cable is recommended for power lines.
Page 75 Connection Examples for Different Types of Motor Driver Section 3-6 Example 1: Mode 0 Connection This example shows the use of a stepping motor with an external sensor sig- nal connected to the origin input signal. Position Control Unit Example: (open collector outputs DFU1514W stepping motor driver, made by Oriental Motor Co.
Page 76 12 to 15 Search direction: CW Note “m” is the beginning DM word allocated when the unit number is set. Origin Search Operation The origin search operation is completed with the rising edge of the origin input signal after the rising edge of the origin proximity input signal.
Page 77 Section 3-6 Example 2: Mode 1 Connection In this example, a Servo Drive is employed and the Z-phase of the encoder is connected to the origin line driver input terminal and used as the origin input signal. An OMRON G-Series Servo Drive is used.
Page 78 Connection Examples for Different Types of Motor Driver Section 3-6 Parameter Setting Example This example is explained in terms of the X axis. For more details, refer to 4-4 Axis Parameter Area. 0 E 0 Word Bits Setting Contents CW/CCW output 01 to 03 Limit input: N.C.
Page 79 Connection Examples for Different Types of Motor Driver Section 3-6 Line Driver Output (CJ1W-NC133/NC233/NC433) Position Control Unit (line driver outputs on the CJ1W-NC@33) 5-V GND for pulse Example: output OMRON R88D-GT@@@ 5-V power Servo Drive Shield supply for pulse output...
Page 80 Section 3-6 Example 3: Mode 2 Connection In this example, as in example 2, a Servo Drive is employed and the Z-phase of the encoder is connected to the origin line driver input terminal and used as the origin input signal.
Page 81 Connection Examples for Different Types of Motor Driver Section 3-6 G-series Servo Drive (CJ1W-NC113/NC213/NC413) Position Control Unit (open collector outputs OMRON R88D-GT@@@ on the CJ1W-NC@13) Shield Servo Drive R88M-G@ Servomotor CW output −CW (with 1.6-kΩ resistance) +CCW CCW output −CCW (with 1.6-kΩ...
Page 82 Connection Examples for Different Types of Motor Driver Section 3-6 Connection to Line Driver (CJ1W-NC133/NC233/NC433) Position Control Unit (line driver outputs on the CJ1W-NC@33) 5-V GND for pulse Example: output OMRON R88D-GT@@@ 5-V power Servo Drive Shield supply for pulse...
Page 83 Connection Examples for Different Types of Motor Driver Section 3-6 SMARTSTEP2-series Servo Drive (CJ1W-NC113/NC213/ND413) Position Control Unit (open collector outputs OMRON R7D-BP@@@ Shield on the CJ1W-NC@13) Servo Drive R88M-G@ Servomotor CW output (with 1.6-kΩ −CW resistance) +CCW CCW output −CCW (with 1.6-kΩ...
Page 84 Connection Examples for Different Types of Motor Driver Section 3-6 Connection to Line Driver (CJ1W-NC133/NC233/NC433) Position Control Unit (line driver outputs on the CJ1W-NC@33) 5-V GND for pulse Example: output OMRON R7D-BP@@@ 5-V power supply for Shield Servo Drive pulse...
Page 85 Connection Examples for Different Types of Motor Driver Section 3-6 Parameter Setting Example This example is explained in terms of the X axis. For more details, refer to 4-4 Axis Parameter Area. 0 E 0 Word Bits Setting Contents CW/CCW output 01 to 03 Limit input: N.C.
Page 86 Connection Examples for Different Types of Motor Driver Section 3-6 SMARTSTEP A-series Servo Drive (CJ1W-NC113/NC213/NC413) Position Control Example: Unit (open collector outputs OMRON R7D-AP@@@ on the CJ1W-NC@13) Shield Servo Drive R7M-A@ Servomotor CW output (with 1.6-kΩ −CW resistance) +CCW CCW output −CCW...
Page 87 Connection Examples for Different Types of Motor Driver Section 3-6 Connection to Line Driver (CJ1W-NC133/NC233/NC433) Position Control Unit (line driver outputs on the CJ1W-NC@33) 5-V GND for pulse Example: output OMRON R7D-AP@@@ 5-V power Shield Servo Drive supply for pulse...
Page 88: Connection Of Unused Axes
(not used; no wiring required) To set only the X axis as the axis to be used, set the number of unused axes to 01 in Axis Parameter Designation of 4-4 Common Parameter Area. The following table shows the relation for each Unit between the number of unused axes and the settings.
Page 89: Using Only The X Axis And Not The Y Axis On The Cj1W-Nc213/ Nc233 (Unit Versions Earlier Than 2.3)
(and not the Y axis) is used. In this example, the limit input signals for both axes are set to N.C. contacts. With the CJ1W-NC413/NC433, if the Z axis is used and the U axis is not used, the connection will be the same with X and Y replaced by Z and U respectively.
Page 90: Servo Relay Unit
Servo Relay Unit • Wiring requirements can be reduced by connecting Servo Drives and PCUs via a Servo Relay Unit, which provide a connector and a terminal block in one Unit. • The connecting cable and the type of Servo Relay Unit required will depend on the Servo Drive model connected.
Page 91 XW2Z-@@@J-A21 XW2B-40J6-4A XW2Z-@@@J-B7 R7D-AP@@@ (when using RS-422) • The cable length for PCU Connecting Cables is indicated in the “@@@”. 050: 0.5 m 100: 1 m • The cable length for Servo Drive Connecting Cables is indicated in the “@@@”.
Page 92: Data Areas
Operation Modes ........
Page 93: Overall Structure
The user can select by means of a common parameters setting whether the axis parameters set in the CPU Unit’s DM Area are to be transferred to the PCU for use, or whether the axis parameters saved in the PCU’s flash mem-...
Page 94 Overall Structure Section 4-1 The data handled by the PCU can be classified in the way shown below. Data name Contents Setting area Enable timing Common parameter area This area contains the parameters for DM Area words in the The settings are trans-...
Page 95: Data Areas
PCU. For more details, refer to the relevant sections. Note Do not write to unused bits or words in the parameter and other data areas. Doing so may result in malfunctions. Common Parameter Area (refer to page 71) Beginning word of common parameter area, m = D20000 + 100 ×...
Page 96 Data Areas Section 4-2 Operating Memory Area (refer to page 95) Beginning word of operating memory area, n = 2000 + 10 × unit number. Words Bits Operation 1 axis 2 axes 4 axes X axis X axis Y axis X axis Y axis Z axis U axis...
Page 97 00 to Error code Operating Data Area (refer to page 98) Beginning word of operating data area, I = word specified in common parameters (m, m+1). Words Name Data size 1 axis 2 axes 4 axes...
Page 98: Common Parameter Area
Memory from the area allocated to Special I/O Units in the CPU Unit’s DM Area is allocated to the common parameters. The beginning word of the allo- cated area is determined by the unit number set for the PCU according to the following equation.
Page 99: Details
Memory from the area allocated to Special I/O Units in the CPU Unit’s DM Area will be allocated according to the unit number set for the PCU. The fol- lowing words will be allocated consecutively to common parameters and axis parameters.
Page 100 (error code 0010). Note Do not set a bank number for a bank that is being used as PLC file memory. If a bank that is being used as PLC file memory is set, the operating data area settings will not be reflected in PCU operation and this will result in malfunc- tion.
Page 101 When using a 1-axis or 2-axis PCU, set 0 for the other axes (i.e., those not controlled by the PCU). Setting to a value other than 0 will result in a parame- ter designation error (error code 0013).
Page 102: Axis Parameter Area
Axis Parameter Area Section 4-4 required for all axes (e.g., when a 4-axis PCU is used to control 3 axes), if uncontrolled axes are set to 1, there is no need to make settings for those axes in the DM Area.
Page 103 When the axis parameters are set from the DM Area words allocated to Spe- cial I/O Units, the setting area (i.e., the axis parameter area) will follow on from the area used for the common parameters. The beginning word will depend on the unit number set for the PCU in the way shown below.
Page 104 Specifies the amount of com- (000E) (002A) (0046) (0062) tion value pensation after the origin m+15 m+43 m+71 m+99 (leftmost word) input signal is detected by an (000F) (002B) (0047) (0063) origin search operation. m+16 m+44 m+72 m+100 Backlash compensation Specifies the number of...
Page 105: Details
The default setting for I/O settings is 0060. Explanation These settings specify the output pulse selection, the limit input signal con- tacts, and so on. The meanings of each of the settings are given below. Bits Settings Output pulse selection: Specifies the pulse method for outputs.
Page 106 09 to 15 Not used The PCU constantly outputs the ON/OFF status of the input signals for each of the axes to the operating memory area. The following table shows the cor- respondence between these signals and the parameter settings.
Page 107 The default setting for operation mode selection is 0000. Explanation The data set in this word specifies the operation mode and the origin detec- tion method. The meanings of each of the settings are given below. Bits 00 to 03: Operation Mode Selection Set the operation mode according to the motor driver and signal lines that are used.
Page 108: Operation Modes
Reverse mode 3 (supported for unit version 2.3 or later) Basic functions are the same as with reverse mode 2. When the direc- tion is reversed at the origin proximity input signal, however, the origin search operation will continue at the origin search proximity speed until the origin input signal.
Page 109 24 VDC Mode 1 Set mode 1 when using a Servo Drive and connecting a line driver input and a error counter reset output without using a positioning completed signal. The response time for the origin line driver input is 0.1 ms. (N.O. contact setting)
Page 110 This setting specifies the maximum speed (in pps units) that can be output by the PCU for each axis. The maximum speed is set in the range 1 to 500,000 pps using two words (the leftmost word and the rightmost word) as 32-bit unsigned data.
Page 111 Explanation This setting specifies the initial speed (in pps units) for each axis. The initial speed is set in the range 0 to 500,000 pps using two words (the leftmost word and the rightmost word) as 32-bit unsigned data. Origin Search High Speed...
Page 112 TION 6 Defining the Origin. Note Be sure to set the origin search proximity speed so that it is lower than the ori- gin search high speed. If the origin search proximity speed is set equal to or higher than the origin search high speed, an origin search speed error (error code 1603) will be generated.
Page 113 (the leftmost word and the rightmost word) as 32-bit signed data. If the compensation is set to anything other than 0, the axis will be moved at the origin search proximity speed for the set amount of compensa- tion after the origin input signal is detected.
Page 114 32-bit unsigned data. If the backlash compensation is set to anything other than 0, and the backlash compensation speed is set to 0, backlash will be per- formed at the initial speed or 250 pps, whichever is the greater. For details on backlash compensation operation, refer to 9-8 Backlash Compensation.
Page 115 1: S-curve Bits 04 to 07 Acceleration/Deceleration Time Designation These bits specify the method to be used to set the acceleration and deceler- ation times. 0: The acceleration and deceleration times are set as the time between the initial speed and the maximum speed parameters for each axis. These...
Page 116 Axis Parameter Area Section 4-4 1: The acceleration and deceleration times are set as the time required to reach the target speed from the present speed. Speed (pps) Maximum speed Target speed Initial speed Time Deceleration time setting Acceleration time setting The acceleration and deceleration time data that is used for axis operation is determined by the operation executed as shown in the table below.
Page 117 The S-curve used for the PCU is the tertiary curve that joins the initial speed and the target speed. If an S-curve is used, the maximum acceleration/decel- eration will be 1.5 times that of the trapezoidal curve with the same accelera- tion/deceleration time.
Page 118 The default setting is 00000064 (100). Explanation This setting specifies the time (in ms) taken to go from the initial speed to the maximum speed when performing origin search. The origin search accelera- tion time is set in the range 0 to 250,000 ms using two words (the leftmost word and the rightmost word) as 32-bit unsigned data.
Page 119 This setting specifies the time (in ms) taken to go from the maximum speed to the initial speed when performing origin search. The origin search decelera- tion time is set in the range 0 to 250,000 ms using two words (the leftmost word and the rightmost word) as 32-bit unsigned data. This deceleration is applied if deceleration time 0 is selected in memory operation.
Page 120 1,073,741,823 pulses using two words (the leftmost word and the rightmost word) as 32-bit unsigned data. If the CW software limit is set to less than or equal to the CCW software limit, the software limit function be disabled and the present position will taken to be 0 when operation starts.
Page 121 Case 1 is for when the initial pulse designation is set to 0 and case 2 is for when it is set to 1. Although, the time from the PCU receiving the startup instruction for jog operation from the CPU Unit until internal processing is performed will be the same for the two cases, the time for the first pulse will be reduced from 4 ms (250 pps) to 0.002 ms (500 kpps),...
Page 122: Operating Memory Area
Position Control Unit (PCU) when their respective bits are turned ON, or at the rising edge ( ↑ ) when the bits are turned ON. The PCU’s status and the status of external I/O are input from the PCU to the operating memory area.
Page 123 JOG or INTERRUPT FEEDING are exe- Feeding cuted. At the rising edge ( ↑ ) when this bit turns TEACH 9-2 Teaching ON, the teaching operation is executed. At the rising edge ( ↑ ) when this bit turns...
Page 124 Direct operation (ABSOLUTE MOVEMENT, RELATIVE MOVE- MENT, INTERRUPT FEEDING), ORIGIN SEARCH, ORIGIN RETURN, memory operation (see note 1) No Origin Flag ON when the origin is not estab- SECTION 6 lished. Defining the Ori- Origin Stop ON when stopped at the origin.
Page 125: Operating Data Area
• NC1@3: l = m + 32 = D20000 + 100 × unit number + 32 • NC2@3: l = m + 60 = D20000 + 100 × unit number + 60...
Page 126 Section 4-6 User-specified DM/EM Area Words If 000D (user-specified DM Area words) or 0X0E, where X = 0 to 9, A, B, or C (user-specified EM Area words) is set for the common parameter used for the operating data area designation (word m), the beginning word, l, of the operat- ing data area will be determined by the setting of word m+1, which specifies the beginning word of operating data area.
Page 127 Operating Data Area Section 4-6 For Individual Axes Model Words Name Operation Reference X axis Y axis Z axis U axis Output NC4@3 I+20 I+32 I+44 Operating Position Specifies the position for SECTION (CPU data for (rightmost) direct operation and...
Page 128: Memory Operation Data
Settings for memory operation data can be saved to flash memory. Memory operation data consists of the following six types of data. Settings for this data can be written from the CPU Unit to the PCU using data transfer. 1,2,3...
Page 129 Speed #0 (leftmost word) Speed #1 (rightmost word) rightmost word Sets speed #0 (in pps units). The speed can be set in the range 1 to Speed #0 1,000,000 pps as unsigned 32-bit hexadecimal data using 2 words. (00 Hex) left-...
Page 130 (01 Hex) Dwell time #1 (1 word) Sets dwell time #1 (in 0.01-s units). The dwell time can be set in the range 0.00 to 9.99 s as unsigned 16-bit hexadecimal data. Setting range: 0000 to 03E7 Hex (0.00 to 9.99)
Page 131: Zone Data Area
4-8-1 Zone Function The zone function is used to notify the CPU Unit whether or not the position of the machine being controlled by the PCU is within a set region. Notification is made to the CPU Unit using the Zone Monitor Flags.
Page 132: Examples Of Parameter Settings
• The unit number for the PCU is set to 0. • The origin proximity signal, origin signal, CW/CCW limit input signal, and emergency stop input signal are wired for two axes. • The parameters for the PCU are set in the DM Area in the CPU Unit.
Page 133 • The two axes are controlled. • A Servo Drive is used for each axis. • The pulse output method for the two axes is set to CW/CCW output (i.e., default setting). • The two axes operate within the same operating range (1,000 to 1,000,000 pulses).
Page 134: Setting Positioning Using One Axis
• The following are wired for the X axis only: origin proximity signal, origin signal, CW/CCW limit input signal, and emergency stop input signal. • The parameters for the PCU are set in the DM Area in the CPU Unit. • The operating data area is allocated to the area following the parameter described above.
Page 135 Examples of Parameter Settings Section 4-9 Note Operation will be performed for PCUs with unit version 2.0 or earlier. The emergency stop for the Y axis, however, requires wiring. Some parameter set- tings will also vary. Parameter Settings • Set the default settings using the CX-Programmer.
Page 136: Setting For Continuous Operation In The Same Direction For One Axis
• The emergency stop input signal for the X axis is wired. • The parameters for the PCU are set in the DM Area in the CPU Unit. • The operating data area is allocated to the area following the parameter described above.
Page 137 • With the following settings, jog operation and direct operation can be per- formed from the CPU Unit. • The present position is set to 0 every time the axis is started. Take into consideration that the software limits will not operate and the present position will be lost.
Page 138 Maximum speed 500000 m + 8 to m + 9 Initial speed m + 10 to m + 11 Origin search high speed 25000 m + 12 to m + 13 Origin search proximity 2500 speed m + 14 to m + 15 Compensation data...
Page 139 Examples of Parameter Settings Section 4-9...
Page 140: Transferring And Saving Data
Transferring and Saving Data ........
Page 141: Transferring And Saving Data
Parameters and data can be transferred between the CPU Unit and the PCU using one of the 3 methods explained below. The different types of data can be classified into the following groups (it is possible to send only parts of these groups):...
Page 142: Saving Data
The transferred data is written to the PCU’s memory, but it will be lost if the power is turned OFF or if the PCU is restarted from the CPU Unit. To keep the transferred data permanently in the PCU, it is necessary to save it to the PCU’s flash memory using the operating memory area.
Page 143: Data That Can Be Saved And/Or Transferred
Transferring and Saving Data Section 5-1 4. There is a limit on the number of times you can read something using the flash memory. Set this so that up to 100,000 data saving operations can be performed. 5-1-3 Data that Can be Saved and/or Transferred All the following data used by the PCU can be read, written, and saved to the flash memory.
Page 144: Data Checking
(in the range 1000 to 4019) is output to the operating memory area and, at the same time, all of the data in the buffer is annulled. (In this case, the transferred parameter or data is not written to its respective parameter...
Page 145 Error codes output • If an error is detected by the data check, the correct data should be sent again. • If data transfer is completed successfully, the error is cleared. • If the data is stored or the instruction to activate is executed without the correct data being re-sent, the error will be cleared but the data after the error will not be transmitted.
Page 146: Data Transfer Priority
Data Transfer Priority As mentioned in 5-1-1 Transferring Data, parameters and data can be trans- ferred to the PCU using the 3 methods shown below. If these 3 methods are used in combination, a situation where data transfer is impossible may occur.
Page 147 The above table shows the operation that results when a data transfer func- tion is executed (the “executed” row in the table) on the data for one axis from the CPU Unit or CX-Position while a data transfer function is being executed (the “status”...
Page 148: Writing Data With The Write Data Bit
Note 1. Take care not to turn OFF the power supply or restart the PCU while a data transfer is in progress. The PCU will not operate normally unless all data is transferred. If there is an interruption, the data should be re-sent.
Page 149: Outline
The “m” in the DM Area is the beginning word of the common parameter area and is determined when the unit number is specified. The “I” in the EM or DM Area is the beginning word of the operating data area specified by the common parameters and is also the beginning word of the operating data that determines data transfer.
Page 150: Data Writing Procedure
Beginning address (Hex) of PCU data area where data is to be stored. 4. Set data. Set data to be written to the PCU in the area (in the DM or EM Area) spec- ified by words I to I+2. 5. Execute WRITE DATA.
Page 151 (banks 0 to C) Write source word 00 to 15 Specifies the beginning word of the area in the DM or EM Area used for setting parame ters and data. Setting range: 0000 to 7FFF Hex (Word 0 to 32767)
Page 152: Timing Chart For Writing Data
When the data writing operation is completed, the Data Transferring Flag (word n+8, bit 14) is turned from ON to OFF. If an error occurs during data transfer, the Error Flag (word n+8, bit 12) is turned ON and the error code is output to n+10 in the operating memory area.
Page 153 Writing Data with the WRITE DATA Bit Section 5-2 PCU (unit number = 0) CPU Unit CIO Area Operating memory Area WRITE DATA (200012) Data area Common parameter area Operating data area Data transfer Speed #0 Speed #1...
Page 154: Reading Data With The Read Data Bit
PCU using the READ DATA Bit (word n+1, bit 13). A program example is also provided. Note 1. Data can be read while pulses are being output, but not while data is being written or saved. If attempted, it will result in a multiple start error (error code 8000).
Page 155: Data Settings Required For Reading Data
PCU are determined (or set) accord- ing to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 156: Timing Chart For Reading Data
After the data reading operation has been completed, the Data Transferring Flag (word n+8, bit 14) is turned from ON to OFF. If an error occurs during data transfer, the Error Flag (word n+8, bit 12) will be turned ON and the error code will be output to n+10 in the operating memory area.
Page 157: Data Reading Program Example
In this example, speeds #0 and #1 written in 5-2 Writing Data with the WRITE DATA Bit are read. The conditions to be set are the same as those for the data writing example. The beginning word of the DM Area, where the read data is to be stored, is D00500.
Page 158 Reading Data with the READ DATA Bit Section 5-3 Program Example The work bit R1 is used to begin reading. DIFU Read switch 200814 Set total number of words to be read from PCU to "4." #0004 Work bit Data Transferring...
Page 159: Writing Data With Iowr
IOWR instruction. 1,2,3... 1. Set IOWR. C: Beginning address of the data area in the PCU where the data is to be stored. S: Beginning word address of the area in the CPU Unit in which the data has been set.
Page 160: Iowr: Intelligent I/O Write
Specifies the address (Hex) in the PCU to which data will be written. First source word Specifies the first word in the CPU Unit from which data is to be trans- ferred. The following areas can be specified as the source start word.
Page 161: Error Code Treatment For Iowr
• If pulse output from the Position Control Unit is being prohibited, none of the current error codes will be changed and the operation will end. • In all other cases, the error codes for all axes will be cleared to all zeros and the operation will end.
Page 162: Precautions When Using Iowr
When transferring the origin search high speed or the origin search proximity speed, be sure to send both of these items together. If only one of these items is transferred, an IOWR format error (error code 8701) will be generated.
Page 163 PCU and send the instruction to start operation within one cycle. Method 2 The data is writ- Up to 128 words of data can be transferred in one operation. If the number of words to be ten to the data...
Page 164 Equals Flag turns ON and, at the same time, the data is transferred to the PCU. At the PCU, this data is first stored in the receive buffer. After this, the next IOWR instruction is executed. Because the data in the receive buffer has not been processed (i.e., to check that the data items are within the respective...
Page 165: Iowr Program Example
IOWR instruction is executed once more in the next cycle. Execution of this second instruction is repeated until all the data in the receive buffer has been processed. For this reason, it takes at least two cycles for transfer of all the data to be completed and the instruction to start to be output.
Page 166: Reading Data With Iord
Reading Data with IORD Section 5-5 Program example Work bit R1 is used to start writing. When debugging, it is a good idea to cre- ate a ladder program that refers to the ER Flag and Error Flag (word n+8, bit12).
Page 167: Error Code Treatment For Iord
#000C0003 (total number of words transferred: 000C (12 words), unit number: 0003 (3)) First destination word Specifies the first word of the CPU Unit to store the data that will be read. Refer to the CPU Unit manuals for more details.
Page 168: Flags
When data is transferred using IORD, the Error Flag (word n+8, bit 12), the ER Flag and the Equals Flag can be used to check whether the transfer has been completed successfully. If the Error Flag (word n+8, bit 12) is ON, an error code will be output to n+10 in the operating memory area.
Page 169: Precautions When Using Iord
In this example, speeds #0 and #1 written in 5-4 Writing Data with IOWR are read. The conditions to be set are the same as those used in the example of writing the data. The beginning word for the DM Area where the read data is to be stored is set at D00500.
Page 170: Saving Data
Note 1. Do not turn OFF the power or restart the PCU while data is being saved. It may cause a failure in the PCU’s internal flash memory, or cause the PCU to operate abnormally.
Page 171: Data Saving Procedure
• Dwell times • Zones Note The data for the number of axes for the particular PCU being used is all saved at once. Parameters and other data that have been saved to flash memory are read to the PCU’s internal memory when the PCU is powered up or restarted. If the...
Page 172: Transferring Data With Cx-Position
Transferring Data with CX-Position Section 5-7 Operating Memory Area When the SAVE DATA Bit (word n+1, bit 14) is turned from OFF to ON, all parameters and data are saved to flash memory. Name Model Operating Contents memory area SAVE DATA...
Page 173 Transferring Data with CX-Position Section 5-7...
Page 174: Defining The Origin
Outline of Operation ........
Page 175: Outline
When performing positioning for a system in terms of absolute positions in that system, it is first necessary to define the origin. For example, in the X-Y plane shown below, before positioning to (X,Y) = (100 mm,200 mm), it neces- sary to establish where the origin is, i.e., it is necessary to determine the ori-...
Page 176: Origin Search Procedure
If an attempt to execute TEACH is made, a present position unknown error (error code 5040) will be generated. Origin Search Procedure The data settings required to perform origin search for the X axis are given here as an example. 1,2,3...
Page 177: Data Settings Required For Origin Search
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 178: Axis Parameter Area
(leftmost) Set range: 0 to 7A120 Hex Initial speed m+36 m+64 m+92 00 to 15 (0 to 500,000 pps) (rightmost) Only the initial speed can be set to 0. m+37 m+65 m+93 00 to 15 (leftmost) Origin search m+10 m+38...
Page 179: Operating Memory Area
(Origin input signal type: N.O. input: 10 kpps max.; N.C. input: 1 kpps max.) If a higher value is set, it may not be possible to stop at the origin accurate- 2. When setting using the IOWR instruction, set both the origin search high speed and origin search proximity speed at the same time.
Page 180: Origin Search Operation
• Set the optimum operation mode for the driver (servomotor, stepping motor) used. • Set to mode 0 for a stepping motor and set to modes 1, 2, or 3 for a Servo Drive. (See note.) 2. Mode for origin search operation: Set the movement of the motor during origin search.
Page 181 Note There are drivers for stepping motors that can output positioning completed signals in the same way as Servo Drives. It is possible to set modes 1 or 2 if this kind of driver is used. Origin Search Operation...
Page 182 1: Reverse mode 2 2: Single-direction mode 3: Reverse mode 3 Origin Detection Method The origin detection method specifies settings related to the origin proximity input signal. Depending on the setting of the axis parameter, the following 4 patterns can be selected.
Page 183 Acceleration Initial speed Start Stop If the origin search proximity speed is less than or equal to the initial speed, there will be no acceleration. Origin Search Direction This setting determines the direction when detecting the origin input signal. During origin search, the origin input signal in the direction of the origin search direction is always being detected.
Page 184: Operation Mode Settings
ON or if the motor has been changed). After the origin is initially detected using origin search, the number of pulses specified with this setting are output, the present position is set to 0, and at the same time, the origin is established (the No Origin Flag turns OFF).
Page 185 During error counter reset output, if the origin input signal turns ON again, the Servo Drive’s error counter reset function is deemed to have been used, and the error counter reset output is turned OFF. In this case, the output time of the error reset counter will be less than 20 ms.
Page 186 “0,” the signal waits until the positioning completed input signal turns ON. Therefore, if a problem exists in the positioning completed input sig- nal wiring or if the servo gain is set to a large value, the busy state continues without completing the positioning.
Page 187 Stops here The stop position is the same in Mode 1 and Mode 2. For an operation where the start location of the origin search is different or where the deceleration time is short, refer to the previously-described Mode 1. In Mode 3, if decelera-...
Page 188 Origin Detection Method: 3 Deceleration starts on the rising edge of the limit input signal. After the signal turns OFF, an origin adjustment command output turns ON. If the deceleration is insufficient while the limit input signal is ON, there will be an error.
Page 189: Origin Search Operation And Origin Detection Direction Settings
CW limit (See note.) Start Stop Start Note If a reversal is initiated by a limit signal, a stop without deceleration will occur, and acceleration will occur after reversing. 1: Takes origin signal after origin Origin proximity input proximity signal turns ON (↑).
Page 190 Start Stop Start Note If the direction of operation is reversed, the reverse will be sudden, without deceleration or acceleration. 3: Limit input signal used instead of An origin detection method error (error code 1607) is generated and settings are origin proximity input signal not possible.
Page 191 Start Limit Stop (Error code 6201) Note A limit signal is input and a stop without deceleration will occur as a result. 3: Limit input signal used instead of An origin detection method error (error code 1607) is generated and settings are origin proximity input signal not possible.
Page 192 Limit Stop (Error code 6200) CW limit (See note.) Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. 1: Takes origin signal after origin Origin proximity input proximity signal turns ON (↑). signal...
Page 193 Stop CW limit (See note.) Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. Origin detection method Origin search operation 3: Reverse mode 3 0: Takes origin signal after origin Origin proximity input proximity signal turns ON (↑) and...
Page 194: Operation Pattern With Origin Compensation
Time The override is not enabled with respect to pulse output during origin search, but it is enabled with respect to the amount of pulse output set for origin com- pensation. In this case, the origin search proximity speed corresponds to an override set-...
Page 195 Origin Search Operation Section 6-4 gin compensation value is made at twice the speed of the origin search proximity speed, as shown below. Override Override enable Twice the origin search proximity speed Deceleration Acceleration Pulse output Time Approx. 0.5 s...
Page 196: Origin Search Timing Charts
Origin Search Timing Charts Section 6-5 Origin Search Timing Charts 6-5-1 Without Origin Compensation When Using an Origin Proximity Input Signal Origin proximity input signal Origin input signal ORIGIN SEARCH Pulse output Time Start Stop Positioning Completed Flag Origin Stop...
Page 197: With Origin Compensation
Origin Search Timing Charts Section 6-5 When Not Using an Origin Proximity Input Signal Origin input signal ORIGIN SEARCH Pulse output Time Start Stop Positioning Completed Flag Origin Stop Flag No Origin Flag Busy Flag 10 ms max. 6-5-2 With Origin Compensation...
Page 198 Origin Search Timing Charts Section 6-5 When Not Using an Origin Proximity Input Signal Origin input signal ORIGIN SEARCH Pulse output Time Stop Start Positioning Completed Flag Origin Stop Flag No Origin Flag Busy Flag 10 ms max.
Page 199: Origin Search Deceleration Stop
When a deceleration stop is executed during an origin search, the origin search is canceled. The following diagram shows an example of a decelera- tion stop during an origin search when there is an origin proximity input signal reversal. ORIGIN...
Page 200: Emergency Stop Of Origin Search
Section 6-5 6-5-4 Emergency Stop of Origin Search The origin search will be interrupted if the emergency stop input signal is input while the origin search is being executed. To execute the origin search again, first release the pulse output prohibition.
Page 201: Present Position Preset
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 202: Origin Return
In the following timing chart, the X-axis present position for a 4-axis PCU is changed to “0.” When the present position is changed to “0” it becomes the origin, so the Origin Stop Flag is turned ON. There will be no change in the status of the Positioning Completed Flag.
Page 203: Timing Chart
The origin return will not operate if the software limit function has been dis- abled by setting the axis parameters so that the CW software limit is less than or equal to the CCW software limit. (At the time of the command, the present position is “0.”)
Page 204: Z-Phase Margin
ON to OFF until the Z-phase was detected. If this value is close to 0 or close to one motor rotation, there is a possibility of origin displacement during origin search. A simple way of reducing the probability of this is to adjust the motor’s mounting...
Page 205 Z-phase Margin Section 6-8 Calculation of Z-phase Margin Origin search operation Motor rotation Time Return using JOG at low speed. Origin proximity signal Z-phase...
Page 206: Direct Operation
Operating Data Area ........
Page 207: Outline
2. When it is the X axis. I: Beginning word address of area designated in common parameters. n: Beginning word address of work bit determined when the PCU's unit number was set. The positions and speeds set in the operating data area by the MOVL instruc- tion are output to the Position Control Unit (PCU) automatically at I/O refresh time.
Page 208: Direct Operation Procedure
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 209: Axis Parameter Area
Setting Data for Direct Operation Section 7-3 Set the beginning words of the operating data area and designate the axis parameters used with the common parameters as shown below. Word Name Reference Operating data 00 to 15 SECTION 4 area designation...
Page 210: Operations With Direct Operation
1. Turn the ABSOLUTE MOVEMENT command from OFF to ON ( 2. Turn the RELATIVE MOVEMENT command from OFF to ON ( When Executed by Positions to the location arrived at by designating the position for the operat- ing data area as absolute. ABSOLUTE MOVEMENT...
Page 211: Multiple Start Operating Patterns
If data in the operating data area is changed during direct operation, position data will become effective when the next direct operation is designated. Speed data goes into effect as soon as it is written to the operating data area, unrelated to any other commands.
Page 212 MOVEMENT command Busy Flag If a multiple start must be activated in this time period as required by an appli- cation, turn ON the start bit for a specified time as shown in the following fig- ure. This case will be treated as starting the next operation rather than as a multiple start.
Page 213: Direct Operation Timing Charts
The interrupted sequence number will be retained as long as new sequence numbers are not set and provided an origin search or an origin return is not executed, or the present position is reset.
Page 214 Direct Operation Timing Charts Section 7-5 Example 2: Changing target position to absolute position at –10,000 pulses while moving to absolute position at 10,000 pulses Position (I+8, I+9) 2710 Hex (10000) FFFFD8F0 Hex (−10000) Speed (I+10, I+11) 3E8 Hex (1000)
Page 215: Acceleration/Deceleration
2. If an absolute move command to the present position or a relative move command with position data of 0 is executed (i.e., when a linear movement is made with a travel distance of 0), the Busy Flag will be turned ON for one cycle at startup.
Page 216: Calculating Accel/Decel Times For Continuous Positioning
T time T Note If override is enabled (i.e., the Override Enable Bit is ON), the speed will be as follows: Speed = Operating data area’s speed setting × Operating data area’s override setting ÷ 100. 7-6-2...
Page 217: Calculating Accel/Decel Times For Speed Changes During Operation
T and T are calculated using the acceleration time Ta and decel- eration time Td specified at the time operation started from the stopped posi- tion. It is not necessary to specify new acceleration and deceleration times. Speed First positioning operation...
Page 218: Sample Program
7-7-1 Details of Operation The X axis is moved by relative movement at a speed of 15,000 pps to the position at 135,000 pulses. The speed is not modified by override.
Page 219: Setting Conditions And Details
Deceleration time: 3 ms The values set for the acceleration and deceleration times and the actual acceleration and deceleration times are related to the values set for the actual target speeds and maximum speeds for the axis parameter area. For details, refer to Appendix B Estimating Times and Pulses for Acceleration/Decelera- tion.
Page 220 Name Configuration Contents Acceleration time 00512 0064 Leftmost Rightmost 00513 0000 l+13 l+12 Setting range: 0 to 3D090 Hex (0 to 250,000 ms) Deceleration time 00514 0064 Leftmost Rightmost 00515 0000 l+15 l+14 Setting range: 0 to 3D090 Hex (0 to 250,000 ms)
Page 221: Program Using Function Blocks
MENT command. Use of function blocks provides the following advantages. • Bits for commands and address calculations for data areas that depend on the unit number and axis number are automatically calculated in the function block, reducing the work required to perform calculations.
Page 222 Sample Program Section 7-7 When the starting trigger is changed from OFF to ON, the servomotor (axis 1) connected to the Position Control Unit for unit number 0 is operated using the ABSOLUTE MOVEMENT command. Unit number: 0 &0 Servo motor: 1...
Page 223 Sample Program Section 7-7...
Page 224: Memory Operation
Operating Data Area ........
Page 225: Outline
Deceleration time #9 The positioning sequences are sent in advance by data transfer to the PCU. After the sequence numbers to be used have been set in the operating mem- ory area, the Sequence Number Enable Bit is switched ON.
Page 226: Axis Designation
The positions used are those for the axes designated by the axis designation. For data other than position data, the data of the axis that started operation is used as the data to be designated in the sequence data.
Page 227: Axis Designation And Flags
Axis Designation and Flags The status and present position allocated to the operating memory area and operating data area are input for the “starting axis” (i.e. the axis whose posi- tioning sequence is used to start operation) and for the “designated axis/axes”...
Page 228 It will not be reset at startup or when the origin is established. • At the end of operation for a sequence with the completion code set to ter- minating. • At the end of an operation for a sequence with the completion code set to automatic or continuous started as an independent operation.
Page 229: Memory Operation Procedure
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 230: Axis Parameter Area
00 to 15 (Leftmost) Note The speed data specified for initial speed #2 in the sequence data is used as the initial speeds for memory operation. The initial speeds in the axis parame- ters are not used.
Page 231: Positioning Sequences
2. If the software limit function set with the axis parameters is disabled (CW limit equal to or less than CCW limit), and if the designation is made while the origin is established (No Origin Flag OFF), positioning will be carried out by a relative amount, even with absolute position data.
Page 232: Sequence Format
8-4-1 Sequence Format Each positioning sequence is configured of three words, as shown below. Up to 100 of these sequences can be set for each axis, and transferred to the PCU and saved. 12 11 08 07...
Page 233: Axis Designation
Y axis X axis For example, to start only the X axis, set these bits to “0001.” To start the X and Z axes for linear interpolation, set these bits to “0101.” For details on linear interpolation, refer to 8-6 Linear Interpolation.
Page 234: Position Designation
For example, if the axis designation is set to 0111 and the position designa- tion is set to 0001, relative positioning will be performed for the X axis and absolute positioning will be performed for the Y and Z axes.
Page 235: Completion Code
“sign” set for the Time position data. To stop this pulse out- put, use the STOP command. Positioning stopped STOP START Note The initial speed is used at the end.
Page 236: Dwell Time Number
01 to 13 Hex: Designate dwell time numbers 1 to 19. The dwell time can be set from 0.01 s to 9.99 s (unit: 0.01 s). The timing of the next start following the elapse of the dwell time differs depending on which operation mode is used.
Page 237: Acceleration And Deceleration Time Numbers
These settings specify the acceleration and deceleration times for pulse out- put, by setting acceleration/deceleration time numbers from 1 to 9 (Hex). When either of these is set to “0,” the acceleration/deceleration time set in the axis parameter area is used.
Page 238: Completion Codes
These settings specify the initial speed and target speed for pulse output, by setting speed numbers from 00 to 99 in hexadecimal (00 to 63 Hex). To set an initial speed of 0, set the speed designated with the initial speed number to 0.
Page 239 Completion Codes Section 8-5 If a dwell time (numbers 1 to 19) has been set, the positioning sequence is terminated after the dwell time has elapsed. Terminating completion Waiting for memory Speed operation Sequence Sequence #n+1 Time Sequence number Sequence...
Page 240 If a dwell time (numbers 1 to 19) has been set, operation will be the same as that for automatic completion, not continuous completion.
Page 241 code.
Page 242 Completion speed in this positioning sequence. The present position can be calculated even during continuous output. The direction of the pulse output is set by the (Codes 5 and 6) sign for the position data of the same number. When an interrupt signal is input, positioning is carried out according to the position data that is set.
Page 243 Completion Codes Section 8-5 (sequence number +1) will be executed when the next START or INDEPEN- DENT START command is received. Completion Code 5 External interrupt input signal Speed Movement by specified amount. Sequence Time Present position is reset to...
Page 244: Linear Interpolation
(or axes) is equal to the maximum speed setting. With this PCU, the interpolation speed can be set up to 1,000 pps so as to allow each axis to move simultaneously at its maximum speed (500 pps) whilst operating according to linear interpolation.
Page 245: Using Continuous Completion With Linear Interpolation
(completion code 2) is used. As a result, the motor may not be able to follow the variations in the pulses and may malfunction.
Page 246 When this operation is executed, therefore, set the completion code to automatic (completion code 1). The following example shows the linear interpolation of the X and Y axes starting at the X axis. At point “A” the direction of movement at the Y axis is reversed. Y axis θ...
Page 247: Transferring Positioning Sequences
CX-Position, and then write this data from the flash memory at startup. • Save the data to the DM or EM Area of the CPU Unit, and then, using the data transfer function, transfer this data to the PCU where it is written to the buffer.
Page 248: Pcu's Internal Addresses
Section 8-7 8-7-1 PCU’s Internal Addresses • When transferring data to the PCU, it is necessary to specify an internal PCU address. • The PCU’s internal addresses are shown in the following table. For details, refer to 5-1 Transferring and Saving Data.
Page 249: Transferring 100 Positioning Sequences From Cpu Unit To Pcu
• The PCU used is a NC413 with the unit number set to 0. • The beginning word of the operating data area is set to D00500. • The data for sequence numbers 0 to 99 is set in EM bank 0 from word 0. Ladder Program The work bit R1 is used to start write.
Page 250: Timing Chart For Memory Operation
If an absolute move command to the present position or a relative move com- mand with position data of 0 is executed (i.e., when a linear movement is made with a travel distance of 0), the Busy Flag will be turned ON for one cycle at startup.
Page 251: Timing Chart For Start
START begins execution from any sequence number in accordance with the completion code set for each positioning sequence. When a sequence num- ber with its completion code set to terminating or bank end is executed, pulse output stops when positioning is completed, and then waits for START.
Page 252: Timing Of Data Changes During Memory Operation
0004 Hex (word I+58, bit 00 to 15) Note If START is turned from OFF to ON when the Sequence Number Enable Bit is OFF after a power-up or a restart, the sequence number error (error code 8101) will be generated.
Page 253: Acceleration/Deceleration
If the acceleration/deceleration time designation parameter in the axis parameter area is set to 1, the acceleration and deceleration times will be the times required to go from the present speed to the target speed.
Page 254: Calculating Basic Acceleration/Deceleration Times
Actual acceleration deceleration time T time T Note If override is enabled (i.e., the Override Enable Bit is ON), the speed will be as follows: Speed designation = Positioning sequence’s speed setting × Operating data area’s override setting ÷ 100.
Page 255: Calculating Accel/Decel Times For Continuous Positioning
(pps) • Speed, V (pps) • Acceleration time, Ta (ms) • Deceleration time, Td (ms) As can be seen from the equations above, the acceleration and deceleration time settings for the current sequence are used until the next sequence starts.
Page 256: Sample Program
Sample Program Section 8-10 If the speed for the next sequence is faster, the acceleration time is used, and if the speed for the next sequence is slower, the deceleration time is used. Speed Sequence #0 Sequence #1 Sequence #2...
Page 257: Conditions And Details Of Settings
Apart from the settings given below, the default settings should be used. When settings other than the default settings are used, operations may vary from those shown. Refer to SECTION 5 Transferring and Saving Data for information on how to write data to the PCU. Positioning Sequences...
Page 258: Program Example
12DC Setting range: time #6 0000 12DD 0 to 3D090 Hex (ms) (0 to 250,000 ms) 8-10-4 Program Example W030 is used as a work bit. W03000 Start switch W03000 201213 Setting for sequence #10 Work bit #000A Busy Flag...
Page 259 Sample Program Section 8-10...
Page 260: Other Operations
Outline of Operation ........
Page 261 Outline of Operation ........
Page 262: Jogging
2. Set the speed and acceleration/deceleration times in the operating data ar- 3. Designate the start direction in the operating memory area. 4. Turn ON the JOG Bit. If the initial speed is set in the parameters, it will be in effect.
Page 263: Timing Chart
JOG stop or deceleration stop. 9-1-5 Timing Chart The following is an example of a timing chart for a JOG operation on the X axis with a 4-axis PCU. Directional speed (word n, bit 10)
Page 264: Teaching
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 265: Operating Memory Area Allocation And Operating Data Area Settings
Specify a position #00 to #99 in hexadecimal. (0000 to 0063 Hex). 9-2-5 Timing Chart The following timing chart shows an example of teaching on the X axis for a 4- axis PCU, taking the present position as position #2. Teaching address (word I+18)
Page 266: Interrupt Feeding
It can be started from either from memory operation or from direct opera- tion. The present position will be set to “0” if an interrupt input signal is input when the origin is not fixed.
Page 267: Procedure For Direct Operation
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 268 The accelera- tion/deceleration times set for the first start will be used whenever there is a speed change. The deceleration time set for the first start will be used after an interrupt signal is input.
Page 269: Forced Interrupt
9-3-6 Timing Chart The following timing chart illustrates interrupt feeding under direct operation, using the X axis for a 4-axis PCU as an example. There is a movement of 10,000 pulses in the direction of travel. Position 2710 Hex (10000) (Interrupt feeding in the direction of travel)
Page 270: Beginning Words Of Memory Areas
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 271: Deceleration Stop
(see 8-9 Acceleration/Deceleration). When a deceleration stop is executed at any other time, the stop occurs with a deceleration time that can be calculated from the deceleration time set in the...
Page 272: Beginning Words Of Memory Areas
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 273: Operating Memory Area Allocation
Note During pulse output, the Deceleration Stop Execution Flag turns ON when the STOP Bit is turned ON. When there is no pulse output, the Deceleration Stop Execution Flag does not turn ON when the STOP Bit is turned ON.
Page 274 Time Deceleration Stop with A deceleration stop with linear interpolation is executed by the STOP Bit of the axis for which the START Bit (to start memory operation) is turned ON. After Linear Interpolation deceleration has been completed, the Deceleration Stop Execution Flag is turned ON.
Page 275 Deceleration Stop Section 9-5 When the X axis position is absolute and the Y axis position is relative, the X axis and Y axis operate in the opposite way from that illustrated above. When the X Axis and Y Axis Positions are Both Absolute When a decelerated stop is executed before the target position has been reached, positioning is resumed for both axes by restarting.
Page 276: Override
For example, when memory operation (started from the X axis) is being performed for the X, Y, and Z axes, if the STOP Bit for the X axis is turned ON, the Deceleration Stop Execution Flags for each of the axes will turn ON after all 3 axes have decelerated to a stop.
Page 277: Beginning Words Of Memory Areas
The beginning words of the operating memory area, operating data area, and common parameter area used for a Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number...
Page 278: Operating Memory Area Allocation And Operating Data Area Settings
Override Section 9-6 • Beginning word of the common parameter area, m = D20000 + 100 × unit number • Beginning word of the operating data area, l, is specified in m and m+1. Set the beginning words of the operating data area and designate the axis parameters used with the common parameters as shown below.
Page 279: Error Counter Reset Output And Origin Adjustment Command Output
Error Counter Reset Output and Origin Adjustment Command Output Section 9-7 9-6-4 Timing Chart In the following timing chart, the target speed is changed by the override while jogging the X axis for a 4-axis PCU. Speed 3E8 Hex (1000)
Page 280: Beginning Words Of Memory Areas
Make sure this bit is OFF before executing the opera- tion. Do not turn this bit ON during an origin search. If it is turned ON during an origin search (while busy), an error counter reset or origin adjustment command output error (error code 8400) will be generated.
Page 281: Memory Allocations And External I/O Connector Pin Arrangement
(5 v) 9-7-4 Timing Chart In the following timing chart, operation modes 0 to 2 are used, with the X axis for a 4-axis PCU taken as an example. Example 1: Used as general outputs in mode 0...
Page 282 Error Counter Reset Output and Origin Adjustment Command Output Section 9-7 Example 2; Error counter reset output turned ON during an ABSOLUTE MOVEMENT command in operation mode 1 ABSOLUTE MOVEMENT (word n, bit 03) Error counter reset output (word n, bit 13)
Page 283: Backlash Compensation
The backlash compensation operation is used after the origin has been estab- lished. If the backlash compensation speed is set to “0,” compensatory output is made at the initial speed. If the initial speed is below 250 pps, the compen- satory speed is output at 250 pps.
Page 284: Beginning Words Of Memory Areas
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 285: Software Limit
CW and CCW limit input signals, the PCU also has a function that monitors the position at a soft- ware level. This function is called the “software limit” function. The range in which the software limit function monitors the position is determined by the values of two settings: the CW software limit and the CCW software limit.
Page 286: Beginning Words Of Memory Areas
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 287: Setting Axis Parameters
The timing with which the software limit function operates will depend on the type of positioning performed. 1,2,3... 1. In the axis parameter area, set the software limits so that CCW software limit < CW software limit. 2. Establish the origin using origin search or present position preset (the No Origin Flag turns OFF).
Page 288: Stop Function
Note 1. Origin return is not possible if 0 is outside the software limit range. For ex- ample, if the software limits are 100 and 200 respectively, origin return is not possible.
Page 289: Easy Backup Function (Ver. 2.0 Or Later)
Unit. The function can simultaneously and automatically back up and restore the following data from/to flash memory in the PCU at the same time as CPU Unit data using a Memory Card in the CPU Unit. It can also compare the data. • Parameters for each axis •...
Page 290: Applications
File name: BACKUP@@.PRM Note @@ is the PCU’s unit address, that is the unit number + 10 hex. This is also the file that is read from Memory Card and used for data compari- son. Memory Card power supply switch...
Page 291: Operating Procedures
9-11-3 Operating Procedures Backing Up PCU Data Files on Memory Card Set the DIP switch on the front of the CPU Unit as shown in the following table, and then press and hold the Memory Card power supply switch for three seconds.
Page 292 Memory Card. When the power supply switch is pressed, the MCPWR indica- tor on the front of the CPU Unit will flash once and then will remain lit while data is being compared. The indicator will go out after the comparison has...
Page 293 Easy Backup Function (Ver. 2.0 or later) Section 9-11...
Page 294: Program Examples
10-4 Two-axis Linear Interpolation........
Page 295: Operating Procedures For Program Examples
10-1 Operating Procedures for Program Examples The following explanations describe some procedures for using test equip- ment to check the operation of the program examples introduced in this sec- tion. Refer to the various relevant sections for more information on particular procedures.
Page 296 Note When using the NC2@3/NC4@3, make the above connections as a minimum, even for unused axes. If this wiring is not done, an error will be generated and the PCU will not operate. Also be sure to use separate power supplies for the 24-V DC output power supply and the common input power supply.
Page 297: Memory Operation
10-2 Memory Operation 10-2-1 Checking Positioning Operations Overview • The operation of each positioning sequence can be tested using INDE- PENDENT START under memory operation. • Positioning is executed one positioning sequence at a time with INDE- PENDENT START, according to the contents of each sequence.
Page 298 1,2,3... 1. When the operation start switch is turned ON, the program outputs 1,000 pulses CW on the X axis and stops, and immediately moves to the positioning in the next step (2, below). (Automatic) 2. Using continuous positioning, the program outputs 3000 pulses CW on the X axis and stops.
Page 299 Memory Operation Section 10-2 Data Settings Axis Parameters The values for D20004 onwards are transferred when the power is turned ON (or at restart). Positioning Sequences Address Setting Contents of setting 1000 1011 Sequence #0 X axis designation Output code: 0...
Page 300 (0). Dwell Times Dwell times are not used in these programs, so this data area needs to be set completely to the default settings (0). Zones Zones are not used in these programs, so this data area needs to be set com- pletely to the default settings (0).
Page 301 Memory Operation Section 10-2 Program W030 is used as a work word. Operation start switch DIFU W03000 Takes the rising edge of the operation start switch. Operation checking switch W03002 Takes the status of the operation start switch. W03000 200213...
Page 302: Repeat Operation
1. When the operation start switch is turned ON at the origin, the program outputs 1,000 pulses CW on the X axis and stops. (Independent) (First, set the origin to “0” either by performing an origin search or by exe- cuting PRESENT POSITION PRESET.) 2.
Page 303 Initial pulse designation (default setting) Note Set the operation mode (by setting an appropriate value for # in the table above) according to the driver used. Designation of the Operating Data Area The operating data area is allocated to D00500 through D00523 by the data...
Page 304 Memory Operation Section 10-2 Data Settings Axis Parameters The values for D20004 onwards are transferred when the power is turned ON (or at restart). Positioning Sequences Address Setting Contents of settings 1000 1000 Sequence #0 X axis designation Output code: 0...
Page 305 Note Addresses other than the above should be set to their default settings (0). Dwell Times Dwell times are not used in these programs, so this data area needs to be set completely to the default settings (0). Zones Zones are not used in these programs, so this data area needs to be set com-...
Page 306: Cancelling Positioning
W03015 10-2-3 Cancelling Positioning Overview • A forced interrupt can be used during memory operation to cancel the current positioning and perform a circumvention in case of an emergency. • This operation forcibly cancels the current positioning operation and exe- cutes positioning from the designated sequence number.
Page 307 The program outputs 3,500 pulses CW on the X axis and stops. 3. When the operation start switch is turned ON, the procedure in 2 above is repeated. 4. When the FORCED INTERRUPT switch is turned ON during the above po- sitioning operation, that operation is immediately canceled and positioning is executed to the absolute-coordinates origin.
Page 308 Initial pulse designation (default setting) Note Set the operation mode (by setting an appropriate value for # in the table above) according to the driver used. Designation of the Operating Data Area The operating data area is allocated to D00500 through D00523 by the data memory settings.
Page 309 Position designation: absolute Completion code: bank end 1010 0011 Dwell time #0 Acceleration time #1 Deceleration time #1 1011 0400 Initial speed #4 Target speed #0 Note Addresses other than the above should be set to their default settings (0).
Page 310 Note Addresses other than the above should be set to their default settings (0). Dwell Times Dwell times are not used in these programs, so this data area needs to be set completely to the default settings (0). Zones Zones are not used in these programs, so this data area needs to be set com-...
Page 311 Memory Operation Section 10-2 Program W030 is used as a work word. Operation start switch 200206 Takes the rising edge of the DIFU W03000 operation start switch. Forced No Origin Flag interrupt switch W03001 200206 Takes the rising edge of the...
Page 312: Direct Operation
Subsequently, as the switch turns ON each time, positioning is executed to 3000 in the CW direction on the X axis and then to 4500 in the CW di- rection on the X axis, and then returns to the origin and stops. (First, set the origin to “0”...
Page 313 The values for D20004 onwards are transferred when the power is turned ON (or at restart). Positioning Sequences This data area is not used with direct operation. It should be left entirely at the default settings (0). Speeds This data area is not used with direct operation. It should be left entirely at the default settings (0).
Page 314 Direct Operation Section 10-3 Zones Zones are not used in these programs, so this data area needs to be set com- pletely to the default settings (0). DM Area D00000 through D00031 are used in this program example, and the following positions are set in this area.
Page 315 Direct Operation Section 10-3 Program W030 is used as a work word. Operation start switch Takes the rising edge of the DIFU W03000 operation start switch. W03000 200206 200213 Transfers DM Area position data. #0008 Busy Flag No Origin Flag...
Page 316: Inching
1. Set the number of inching pulses and the inching direction. 2. When the INCH command switch is turned ON, the designated number of pulses are output in the specified direction on the X axis, and the position- ing is stopped.
Page 317 The values for D20004 onwards are transferred when the power is turned ON (or at restart). Positioning Sequences This data area is not used with direct operation. It should be left entirely at the default settings (0). Speeds This data area is not used with direct operation. It should be left entirely at the default settings (0).
Page 318 Direct Operation Section 10-3 Zones Zones are not used in these programs, so this data area needs to be set com- pletely to the default settings (0). Program W030 is used as a work word. D00000 and D00001: Inching pulses in CW direction (set positive value)
Page 319: Two-Axis Linear Interpolation
(X,Y) = (5000, 1000) → (0, 2000) → (5000, 3000) → (0, 4000) → (5000, 5000) → (5000, 0) → (0, 0) The interpolation speed at this time is 500 pps.
Page 320 Initial pulse designation setting) (default setting) D20028 3FFF D20029 0000 Reserved D20030 0000 Reserved D20031 0000 Initial pulse designation (default setting) Note Set the operation mode (by setting an appropriate value for # in the table above) according to the driver used.
Page 321 Two-axis Linear Interpolation Section 10-4 Designation of the Operating Data Area The operating data area is allocated to D00500 through D00539 by the data memory settings. In this program example, the operating data area is not set because it is not used.
Page 322 Dwell time #0 Acceleration time #0 Deceleration time #0 1014 0100 Initial speed #1 Target speed #0 Note Addresses other than the above should be set to their default settings (0). Speeds Address Setting Contents of setting 112C 01F4 Speed #0...
Page 323 (0). Dwell Times Dwell times are not used in these programs, so this data area needs to be set completely to the default settings (0). Zones Zones are not used in these programs, so this data area needs to be set com- pletely to the default settings (0).
Page 324 Two-axis Linear Interpolation Section 10-4 Program W030 is used as a work word. Operation start switch Takes the rising edge of DIFU W03000 the operation start switch. W03000 200413 200406 W03001 Sets #0 for the sequence number. Busy Flag No Origin...
Page 325: Origin Search Using Limit Input
1. When the operation start switch is turned ON, the origin search starts with an origin search high speed of 500 pps in the CW direction on the X axis. 2. When the CCW limit input signal is turned OFF, the program decelerates to an origin search proximity speed of 100 pps.
Page 326 The values for D20004 onwards are transferred when the power is turned ON (or at restart). Positioning Sequences This data area is not used for origin search. It should be left entirely at the default settings (0). Speeds This data area is not used for origin search. It should be left entirely at the default settings (0).
Page 327: Changing Speed Using An Override During Pulse Output
• The target speed is determined by the override coefficient set in the oper- ating data area. • In order to use the actual target speed that has been set, either disable the override or set it to 100%. Operation Example The following is an example of changing the speed with override during con- tinuous operation.
Page 328 The values for D20004 onwards are transferred when the power is turned ON (or at restart). Positioning Sequences This data area is not used with direct operation. It should be left entirely at the default settings (0). Speeds This data area is not used with direct operation. It should be left entirely at the default settings (0).
Page 329 Changing Speed Using an Override during Pulse Output Section 10-6 Program W030 is used as a work word. Operation start switch Takes the operation start DIFU W03000 switch. W03005 W03000 200213 MOVL Speed: 300 pps (12C Hex) #0000012C Busy Flag...
Page 330: Transferring And Saving Data
• This operation can also be used for reading data from a PCU to which data has already been transferred, and for backing the data up or copying it to another PCU.
Page 331 X and Y axes, and save it in the flash memory. WRITE DATA and SAVE The data in D03000 through D03799 is transferred to the PCU, so set all the DATA data such as the axis parameters, positioning sequences, speeds and so on, in this DM Area.
Page 332 Transferring and Saving Data Section 10-7 READ DATA DIFU W03000 Takes the rising edge of Operation start switch the operation start switch. W03000 W03001 W03001 DIFU W03002 W03001 200414 W03004 DIFU W03003 Data Transferring W03003 Flag Timing determination for data reading...
Page 333 #0304 D00504 #1000 D00505 Setting of operating data area for reading axis parameters #000D D00506 #0BD4 D00507 200414 W03002 READ DATA 200113 Data Transferring W03005 Flag 200113 WRITE DATA and SAVE DATA W030 and W031 are used as work words.
Page 334 Transferring and Saving Data Section 10-7 Takes the rising edge of DIFU W03000 the operation start switch. Operation start switch W03000 W03001 W03001 DIFU W03002 W03001 202214 W03004 DIFU W03003 Data Transferring W03003 Flag Timing W03004 determination for data writing...
Page 335 Transferring and Saving Data Section 10-7 (continued from previous page) W03002 #001C D00600 #000D D00601 Setting of operating data for writing axis parameters #0BB8 D00602 #0004 D00603 W03005 #0304 D00600 #000D D00601 Setting of operating data area for writing data...
Page 336: Troubleshooting
11-5-1 Data Check at Startup ........
Page 337: Troubleshooting Tables
Is there excessive moisture (from humidity, water usage, etc.)? Are there corrosive materials in the environment (acid, salt, sulphur, etc.)? Is there a source of noise nearby (such as a welding machine or inverter)? Wiring Are signal lines and power lines placed in separate ducts?
Page 338: Problems And Countermeasures
Section 11-1 11-1-2 Problems and Countermeasures • If any errors occur that are not covered in the following tables, print out the contents of the PLC Interface Area and related DM Area words from the CX-Programmer or other Programming Device and provide them to your OMRON representative.
Page 339 Check the run prohibit inputs. Turn ON the Servo Drive POT or NOT, is OFF (when run prohibit input. Cn-01 bits 2 and 3 are 0). Make the setting so that the Servo Drive run pro- hibit inputs will not be used.
Page 340 There is no Z-phase margin. Check the Z-phase margin using Remove the motor cou- There is no margin for the ori-...
Page 341 (The next axis is not in the in-position operation cannot be range. (If it is not in the in- started.) position range, the next oper- ation cannot be started because the preceding opera- tion is not completed.)
Page 342 Re-adjust the gain. which place a torsion load on the axes. The mechanical structure is Perform autotuning. producing stick slip (high-vis- Manually adjust the gain.
Page 343 Sequence Number Enable data trace. gram so that the rarily stopped and Bit is ON at the point when the Sequence Number then restarted, it START Bit is turned ON. Enable Bit is turned OFF starts from the...
Page 344: Introduction
• Flash memory check • Axis parameters check The error status is retained when an error occurs. Refer to the tables for the error-clearing procedure and clear the error. When two or more errors have occurred, the next error will be detected when the first error is cleared.
Page 345 Common parameters check Error detected Flash memory check Error detected Axis parameters check Check the wiring and the settings for the PCU and the CPU Unit and correct if necessary. Instruction execution error Error detected START command received START command executed Correct the wiring, data, or ladder program.
Page 346: Led Error Indicators
LED Error Indicators Section 11-3 11-3 LED Error Indicators The status of the LED indicators on the front of the PCU can be used to diag- nose errors as shown in the following table. NC4 3 NC2 3 NC1 3 The status of the LED indicators on the front of the PCU can be used to diag- nose errors as shown in the following table.
Page 347 LED Error Indicators Section 11-3 Error Cause Remedy ❍ ● ❍ ● ● ● ● CPU error The CPU Unit has stopped Check that the CPU Unit and because the watchdog timer PCU are mounted securely, turned ON. and reset the power supply.
Page 348: Reading Error Codes
11-4 Reading Error Codes When an error has occurred, an error flag will be turned ON in the operating memory area and the error code will be input in the operating data area. Check this code before proceeding with error processing.
Page 349: Error Code Lists
Error code NC2@3 (A code of 0000 indicates normal operation.) NC1@3 11-5 Error Code Lists 11-5-1 Data Check at Startup The following table shows the errors checked when power is turned ON. Group Name Code Cause Remedy Data destruction Parameters 0001 •...
Page 350 The axis parameter designation In this condition, only the data save parameters error (m+2) is set to 01, and 1 is set for operations can be performed. All of an axis not controlled by the PCU. the axes’ parameters and all data will be returned to their default values.
Page 351 In this condition, only the data transfer proximity speed proximity speed setting exceeds (read or write) and data save opera- error the axis parameters’ maximum tions can be performed. All of the axis speed setting. parameters will be returned to their default values. Origin search 1603 The axis parameters’...
Page 352: Command Execution Check
(including Initial pulse des- 1001 The initial pulse designation is not set to the data with the ignation error 0000 or 0001. error) specified Maximum Maximum speed 1010 The axis parameters’ maximum speed...
Page 353 0, 1, or 2. correcting it. data (including the data with the Backlash com- Backlash com- 1700 The axis parameters’...
Page 354 The dwell time number is not in the range 00 to 19. One of the following errors occurred in the axis designation: The Y, Z, or U axis was specified for a 1- axis PCU. The Z or U axis was specified for a 2- axis PCU.
Page 355 Error Code Lists Section 11-5 Initial Operation Error Checks and Checks During Operation Group Name Code Cause Clearing method Operation after error Software lim- CW software 5030 If positioning were performed Start operation after The current START limit value within the software limit range in...
Page 356 RELEASE PROHIBIT/ERROR RESET. Origin search No origin proxim- 6200 The Unit is set for a proximity input Perform the origin Other operating ity input signal signal, but no origin proximity input search again after axes will not be...
Page 357 Code Cause Clearing method Operation after error Origin search No origin input 6201 There was no origin input signal Perform the origin Other operating signal received during the origin search. search again after axes will not be checking the origin affected.
Page 358 Code Cause Clearing method Operation after error Origin search Limit input 6205 There was already a limit signal in Perform the origin The current START already being the origin search direction during search again after command will not input an origin search in a single direc- checking the wiring be executed.
Page 359 ABSOLUTE MOVEMENT com- mand again after command will not command error mand is outside the settable range correcting the posi- be executed, but (–1,073,741,823 to 1,073,741,823 tion or speed desig- other operating pulses). nation to a value in axes will not be the settable range.
Page 360 (1 to 500,000 pps). Origin return 7301 The acceleration time designation acceleration time of origin return is outside the setta- error ble range (0 to 250 s). Origin return 7302 The deceleration time designation...
Page 361 A START or INDEPENDENT Correct the ladder START command was executed program so that for a different axis, but a busy axis busy axes are not was specified in the axis designa- specified for mem- tion. ory operation and execute the com- mand again.
Page 362 Code Cause Clearing method Operation after error Multiple axis Multiple axis 8000 One of the following commands Correct the ladder The command will start start was executed while the Data program so that not be executed. Transferring Flag was ON:...
Page 363 Execute the com- The current START address error but the teaching position number mand again after command will not was not in the range 00 to 99. correcting the be executed, but teaching position other operating number. axes will not be affected.
Page 364 Cause Clearing method Operation after error Data transfer Write transfer: 8310 The number of write words was set Execute the com- The current START number of words to 0 or exceeded the number of mand again after command will not error write data words.
Page 365: Releasing Pulse Output Prohibition And Resetting After Errors
11-6 Releasing Pulse Output Prohibition and Resetting After Errors 11-6-1 Outline Use the following procedure to clear error codes and to re-enable pulse output when the PCU is in the pulse output prohibited state. In the pulse output prohibited state, pulse output is interrupted and further pulses are not output.
Page 366: Beginning Words Of Memory Areas
CW/CCW limit in- put signal turns ON. 2. If the origin determination is set to be released, the No Origin Flag will turn ON when one of the above input signals is turned ON.
Page 367: Operating Memory Area Allocation
Only turn the RELEASE PROHIBIT/ERROR RESET Bit ON when the Busy Flag is OFF. If the RELEASE PROHIBIT/ERROR RESET Bit is turned ON while the Busy Flag is ON, a multiple axis start error (error code 8000) will be generated.
Page 368: Error Display At The Cpu
• I/O refresh between the CPU Unit and the PCU If an error is detected for one of the above items, one of the following flags in the Auxiliary Area will turn ON. (For details, refer to the relevant CPU Unit operation manual.)
Page 369 Reading Error Information with CX-Position Section 11-8...
Page 370: Maintenance And Inspection
12-4 Procedure for Replacing a PCU ........
Page 371: Inspection
Inspection Section 12-1 12-1 Inspection In order to use the functionality of the Position Control Unit (PCU) to its utmost, daily or routine inspection is recommended. 12-2 Routine Inspections In order for your PCU to continue operating at optimum condition, periodic inspections are necessary.
Page 372: Handling Precautions
12-3 Handling Precautions • Turn OFF the power before replacing the PCU. • If a PCU is found to be faulty and is replaced, check the new PCU again to ensure there are no errors. • When returning a faulty PCU for repair, make a detailed record of the PCU’s malfunction and take it together with the PCU to your nearest...
Page 373: Pcu Parameters And Operating Data Saved To Pcu's Flash Memory
DM Area to a floppy disk or hard disk using CX-Programmer. 3. Turn OFF the power supply. 4. Make a note of the way in which the PCU is wired. (It is recommended that the cables are labelled.) 5. Replace the PCU, and reconnect the wiring as before.
Page 374: Performance Characteristics
Note An additional error of ± 0.02% max. occurs in the actual speed. Power Up Time When the Position Control Unit is powered up or restarted, the time required for the Unit to complete its initial processing and be ready to recognize the START command is approximately 240 to 300 ms.
Page 375 Note The conditions under which the values in the above table hold are as follows: • During the time between the START command being made at the PLC (END refresh) and the time at which pulse output starts, no other commands are output (cycle time: 10 ms).
Page 376 When data is transferred using either the IORD and IOWR instructions, the execution time will hardly be affected by the number of words of data to be transferred, and will not be affected at all by the cycle time. The maximum data transfer execution times for transferring positioning sequences, with a PLC cycle time of 2 ms, are shown in the tables below.
Page 377 Appendix A Although the average data saving time is 300 ms, it may be as long as 33 s in some cases. If it is longer than 33 s, a flash memory error (error code 9300) will be generated, and the data saving operation will be inter- rupted.
Page 378 The target speed can be changed during direct operation by changing the speed data set in the operating data area. The time from when the speed is changed until the change is reflected in the pulse output is as follows:...
Page 379 There will be difference in the times required until pulse output starts for different axes when commands to start operation for more than one axis are made simultaneously from the CPU Unit to the PCU within the same cycle of the ladder program. These time differences are shown below.
Page 380: Estimating Times And Pulses For Acceleration/Deceleration
0, the time it takes to reach the target speed, the time from the target speed to the initial speed, as well as the number of pulses for each of them, can all be found by means of the formulas shown below.
Page 381 Estimating Times and Pulses for Acceleration/Deceleration Appendix B Using the above abbreviations, the number of pulses for the acceleration and deceleration time can be calcu- lated as follows: – V – V – V – V ) x T Acceleration pulses (P ) (V –...
Page 382 The deceleration starting limit position is the position where the speed must be changed to prevent exceeding the target position. If an attempt is made to change the speed past this point, the specified speed will not be achieved and the axis will decelerate to a stop.
Page 383 B) Calculate the time it takes to decelerate from 10,000 pps to 0 pps at this deceleration rate. Time (s) = 10,000 pps/800 pps = 12.5 s = 12,500 ms C) Calculate the amount of movement required to decelerate from 10,000 pps to 0 pps within this amount of time (12,500 ms). 12.5 s × 10,000 pps...
Page 384: Common Parameter Area
Appendix C Common Parameter Area Beginning word of common parameter area, m = D20000 + 100 × unit number Word Data NC1@3 NC2@3 NC4@3 Operating data area Operating data area designation designation EM bank designation (0 to C) 0 = Fixed DM Area...
Page 385 Common Parameter Area Appendix C...
Page 386: Error Code Lists
Appendix D Error Code Lists Data Check at Startup The following table shows the errors checked when power is turned ON. Group Name Code Data destruction Parameters destruction 0001 Data destruction 0002 F-ROM check data destruction 0003 Common parameters Operating data area designation error...
Page 387 Error Code Lists Appendix D Command Execution Check Data Checks for Data-writing Commands Item Name Code Initial speed Initial speed error 1000 Initial pulse designation error 1001 Maximum speed Maximum speed error 1010 Acceleration/ Acceleration time error 1310 Deceleration data...
Page 388 Error Code Lists Appendix D Initial Operation Error Checks and Checks During Operation Group Name Code Software limits CW software limit value 5030 CCW software limit value 5031 Origin Current position unknown 5040 Limit stop Stopped at CW limit 5060...
Page 389 Name Code Teaching Teaching address error 8200 Teaching range error 8201 Data transfer Write transfer: number of words error 8310 Write transfer: source word error 8311 Write transfer: destination address error 8312 Read transfer: number of words error 8320 Read transfer: source address error...
Page 390: Parameter Coding Sheets
Function EM bank designation (bits 08 to 11: 0 to C) Operating data area designation (bits 00 to 03: 0 = fixed DM, D = DM, E = EM) Beginning word of operating data area Axis designation (bits 08 to 11: X axis to U axis) Parameter designation (bits 00 to 03;...
Page 391 CCW software limit CW software limit 0 0 0 0 29 0 0 0 0 57 0 0 0 0 85 0 0 0 0 113 Reserved 0 0 0 0 30 0 0 0 0 58 0 0 0 0 86 0 0 0 0 114...
Page 392 0: Retain prior status. 1: Forcibly change to origin unde- fined status. 09 to 15 Reserved Set to 0. Note The following operations are performed using the combinations of output pulse selection. CW/CCW Output pulse selection pulse 0: CW/CCW outputs 1: Pulse/direction outputs...
Page 393 2: Takes origin input signal without using origin proximity input signal. 3: Takes origin input signal after limit input sig- nal turns ON (↑) and OFF (↓), or OFF (↓), with- out using origin proximity input signal. (Enabled only for single-direction mode.)
Page 394 Set the bits for active axes to "1." Axis designation Output code Completion code Position designation Bit 15: U axis; 14: Z axis; 13: Y axis; 12: X axis Output code: 00 to 0F Hex Dwell time number Accel. time number Decel.
Page 395 Parameter Coding Sheets Appendix E Designated Designated Designated Designated Z axis X axis Y axis U axis area area area area Function Speed No. Speed No. Speed No. Speed No. Speed No. Speed No. Speed No. Speed No. Speed No.
Page 396 Parameter Coding Sheets Appendix E U axis X axis Z axis Y axis Designated Designated Designated Designated Function area area area area Position No. Position No. Position No. Position No. Position No. Position No. Position No. Position No. Position No.
Page 397 Parameter Coding Sheets Appendix E U axis X axis Z axis Y axis Designated Designated Designated Designated Function area area area area Acceleration time No. Acceleration time No. Acceleration time No. Acceleration time No. Acceleration time No. Acceleration time No.
Page 398 Designated Designated Designated Function area area area area Dwell time No. 1 Dwell time No. 2 Dwell time No. 3 Dwell time No. 4 Dwell time No. 5 Dwell time No. 6 Dwell time No. 7 Dwell time No. 8 Dwell time No.
Page 399 Parameter Coding Sheets Appendix E...
Page 400: Index
IORD reading with the Read Data bit saving cables time required to read data changing present position time required to write data basic explanation...
Page 401 IORD during origin search specifications emergency stop input IOWR processing time specifications error counter reset wiring error counter reset output explanation JOG operation error counters explanation error indicators external interrupt processing time LED indicators error indicators limit input signal type...
Page 402 PRESENT POSITION PRESET setting explanation operation patterns program examples cancelling positioning origin adjustment command output changing speed during continuous output explanation checking positioning operations origin compensation inching and operation patterns origin search using limit input origin compensation value...
Page 403 JOG operation for memory operation for origin adjustment command output...
Page 404: Revision History
Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. W397-E1-07 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
Page 405 Page 104: Section reference at bottom of page changed. Pages 123 and 130: “The ER Flag will be turned ON” changed. Pages 139, 142, 149 to 151, and 185: “Reversal” changed to “reverse” to unify terminology. Page 268: “B” removed from addition instruction.
Page 406 Page 70: Added column to bit configuration table. Removed columns from axis table. Page 71: Added information on settings for unused axes. Page 74: Changed “01 to 03” in table to “02 to 03”. Added information on CW/CCW pulse output direction selection.

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Cj1w-c233 - rev 02-2008 Cj1w-c413 - rev 02-2008 Cj1w-c433 - rev 02-2008 Cj1w-c133 - rev 02-2008 Cj1w-c213 - rev 02-2008 Sysmac cj1w-nc113 ... Show all

Omron CJ1W-C113 - REV 02-2008 Operation Manual

Table of Contents

Precautions

Section 1 Introduction

Introduction

Basic Procedures

Section 3

Section 3 Installation and Wiring

Section 4 Data Areas

Data Areas

Section 5

Section 5 Transferring and Saving Data

Section 6 Defining the Origin

Section 7 Direct Operation

Section 8 Memory Operation

Section 9 Other Operations

Section 10 Program Examples

Section 11 Troubleshooting

Troubleshooting

Maintenance and Inspection

Index

Revision History

Quick Links

Chapters

Troubleshooting

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Summary of Contents for Omron CJ1W-C113 - REV 02-2008