Wiring Check Troubleshooting; Wiring Errors; Wiring Check Principles - Omron CS1W-MC221 - 02-2008 Operation Manual

Wiring Check Troubleshooting

Input Limit Stop Function
Emergency Stop Function
2-5 Wiring Check Troubleshooting
2-5-1

Wiring Errors

2-5-2

Wiring Check Principles

If a clockwise or counterclockwise limit sensor is activated, a speed reference
voltage of 0 V will be output to the Servo Driver for 0.5 s and then the opera-
tion command output to the Servo Driver will be turned OFF. One of the Sys-
tem Parameters can also be set to stop using the pulses remaining in the
error counter (with the servo still locked). Refer to Emergency/Limit Input Stop
Method on page 176 for details.
An emergency stop input is also provided in addition to the clockwise or coun-
terclockwise limit sensors. If the emergency stop input is activated, a speed
reference voltage of 0 V will be output to the Servo Driver for 0.5 s and then
the operation command output to the Servo Driver will be turned OFF. One of
the System Parameters can also be set to stop using the pulses remaining in
the error counter (with the servo still locked). Refer to Emergency/Limit Input
Stop Method on page 176 for details.
There are often cases where a wiring error other than faulty or disconnected
wiring will be generated during the MC Unit wiring check. This section
explains the causes of other such errors, and suggests countermeasures to
deal with them.
The cable between the MC Unit and the servo driver must match the com-
bined devices. Mistakes in the wiring may cause servomotor runaway. More-
over, contact problems and disconnections may occur over time even in
systems that were originally wired correctly, and this may also cause servo-
motor runaway. In particular, wiring disconnections can easily occur in devices
such as robots with movable parts where cables are frequently bent. The wir-
ing check function helps to prevent servomotor runaway in these kinds of
cases. Any errors that are discovered during the wiring check are called "wir-
ing errors."
During a wiring check a movement is executed for a given number of pulses,
and it is checked whether a corresponding number of feedback pulses is
returned within a given period of time. The number and direction of pulses are
checked. If the feedback pulses are not returned before the specified period of
time has elapsed, a wiring error is generated. A wiring error (reversed wiring
error) will also be immediately generated if feedback pulses are returned in
the opposite direction from the direction of movement during the monitoring
period. Any Servomotor runaway that occurs during the check, caused by
errors such as reversed wiring, will immediately generate a wiring error even if
the specified time has not yet elapsed.
For details on the wiring check function, refer to Section 2-3-10 Wiring Check
Function.
The settings determining whether or not the wiring check will be executed, the
number of wiring check pulses, and the wiring check time, are all made in the
MC Unit machine parameters using CX-Motion.
Section 2-5
139