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Omron CX-MOTION - 06-2008 Operation Manual

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Cat. No. W448-E1-04
CX-Motion-MCH
OPERATION MANUAL

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  • Page 1 Cat. No. W448-E1-04 CX-Motion-MCH OPERATION MANUAL...
  • Page 2 CXONE-AL@@C-V3/ CXONE-AL@@D-V3 CX-Motion-MCH Operation Manual Revised June 2008...
  • Page 4  OMRON, 2005 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 6: Table Of Contents

    Editing Data........
  • Page 7 Monitoring ........
  • Page 8 15-2 Error Codes ............. . Revision History ........115...
  • Page 9 TABLE OF CONTENTS...
  • Page 10 This manual provides information required to use the CX-Motion-MCH software, including specifica- tions and operating methods. The CX-Motion-MCH runs on Windows 2000, XP, or Vista and is used to set data used by CS1W-MCH71 and CJ1W-MCH71 Motion Control Units (also referred to as MC Units), create the required programs, and monitor the MC Unit’s operating status.
  • Page 11 Section 10 describes the data trace function. Section 11 describes the operations used to back up data from MC Units and restore data to MC Units. Section 12 describes the operations used to set and release protection on programs or cam data in MC Units, set and change primary and secondary passwords, and switch the user.
  • Page 12 Warranty and Limitations of Liability WARRANTY (1) The warranty period for the Software is one year from either the date of purchase or the date on which the Software is delivered to the specified location. (2) If the User discovers a defect in the Software (i.e., substantial non-conformity with the manual), and returns it to OMRON within the above warranty period, OMRON will replace the Software without charge by offering media or downloading services from the Internet.
  • Page 13 The license fee of the Software does not include service costs, such as dispatching technical staff. ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.
  • Page 14 Overview/Detail View. The CX-Motion-MCH can save results of com- paring programs. Note All new functions can be used with Motion Control Units with unit version 3.1 or later. Version Upgrade from Version 1.0 to Version 2.0 New functions are listed in the following table.
  • Page 15 Note All new functions can be used in Motion Control Units with unit version 3.0 or later.
  • Page 16 Application Precautions ........

  • Page 17: Intended Audience

    This manual provides information for programming and operating the Unit. Be sure to read this manual before attempting to use the Unit and keep this man- ual close at hand for reference during operation.

  • Page 18: Operating Environment Precautions

    Operating Environment Precautions !Caution Do not save data (i.e., do not write data to flash memory) while the motion program is being executed or the motor is operating. Unexpected operation may result. Operating Environment Precautions !Caution Do not operate the MC Unit in the following locations: •...
  • Page 19 Mode). • Force-setting/force-resetting any bit in memory. • Changing the present value of any word or any set value in memory. • Do not turn OFF the power to the personal computer while installing or uninstalling CX-Motion-MCH. Doing so may result in corrupted data in the...

  • Page 20: Overview Of The Cx-Motion Mch

    CX-Motion-MCH. Be sure to read this section before using the CX-Motion MCH. What is the CX-Motion-MCH?........

  • Page 21: What Is The Cx-Motion-Mch

    CAM data), transfer the data to and from the MC Unit, compare the data in the computer with the data in the MC Unit, and monitor the operating status of the MC Unit.

  • Page 22: System Configuration

    Section 1-2 System Configuration System Configuration The system configuration for Motion Control Units is shown below. Power CJ Series MC Unit Supply Unit CPU Unit (CJ1W-MCH71) Toolbus/ Host Link External inputs Forward rotation limit input signal Reverse rotation limit input signal...

  • Page 23: Function List

    Create project Used to create project files (*.mnh) page 30 Add/delete Motion Control Unit Used to add or delete MC Unit data in a project. page 31 Add/delete motion task Used to add or delete motion tasks in a project.
  • Page 24 Used to set/change passwords for read protection. page 83 Set/Release Protection Used to set/release protection on programs and cam page 85 data and select data items that can be read through the secondary password. Switch User Used to switch the user. page 86...

  • Page 25: Operation Procedure

    Section 1-4 Operation Procedure Operation Procedure The following flowchart shows the procedures required to install CX-Motion- MCH and CX-Server, create various data, transfer that data to MC Units, and use in actual operations. Installing CX-Motion-MCH Refer to page 8 Installing CX-Server...

  • Page 26: Setup

    Connecting to CP-series PLCs ......2-2-3 Connecting to CJ2 PLCs........

  • Page 27: Installing And Uninstalling The Software

    Section 2-1 Installing and Uninstalling the Software Installing and Uninstalling the Software Required Software The following software must be installed on the same computer to use the CX- Motion-MCH. 1. CX-Motion-MCH 2. CX-Server (the communications driver) Installing CX-Motion-MCH Refer to the CX-One Ver. 3.0 Setup Manual (Cat. No. W463) (supplied with the CX-One FA Integrated Tool Package) for information on how to install or uninstall the CX-Motion-MCH from the CX-One FA Integrated Tool Package.
  • Page 28 Section 2-2 Connecting to a PLC to the PLC. The characteristics of the network protocols are as shown be- low. Network type Characteristics Toolbus Faster communications. If possible, use this network type. • For CS/CJ Series, the baud rate on the peripherals can be detected automatically, and be connected.
  • Page 29 Section 2-2 Connecting to a PLC 2-2-2 Connecting to CP-series PLCs Connecting to USB Port on CPU Unit with Commercially Available US Cable Unit Port on Unit Computer Port on Serial communi- Model number Length Remarks computer cations mode (network type)
  • Page 30 9-pin connec- female Note A Host Link (SYSMAC WAY) connection to an RS-232C port on the CPU Unit or a Serial Communications Unit is not possible for CJ2 PLCs. RS-232C IBM PC/AT or IBM PC/AT or compatible...
  • Page 31 Connecting to a PLC Section 2-2...

  • Page 32: Basic Operations

    Operations Listed by Purpose ........

  • Page 33: Basic Operations

    Section 3-1 Basic Operations Starting the CX-Motion-MCH Starting the CX-Motion-MCH Using Start Special Application - Start with Settings Inherited from the I/O Table Window Opened from the CX-Programmer That Was Installed from the CX-One 1,2,3... 1. Right-click a Motion Control Unit in the I/O Table Window and select Start Special Application - Start with Settings Inherited from the pop-up menu.
  • Page 34 2. Click the Yes Button to save the changes made. Click the No Button if it is not necessary to save the changes. Click the Cancel Button to return to the Basic Window without quitting CX-Motion-MCH.
  • Page 35 Used to display help and version information. Alt+H Main Menu Items The names and functions for all of the menus are given in the table below. When an item is selected, the dialog box for that function is displayed. Follow the instructions in the dialog box.
  • Page 36 CAM data editing window. Delete Deletes an MC Unit, motion task, axis, motion program, or CAM table. Select All Selects all of the data displayed in the Ctrl+A parameter data, position data, motion program, or CAM data editing win- dow.
  • Page 37 Output Win- Displays/hides the Output Window. Alt+2 General Displays/hides the General Watch Alt+3 Watch Win- Window. Debug Displays/hides the Debug Watch Alt+4 Watch Win- Window. Status Displays/hides the Status Monitor Alt+5 Monitor Window. Test Run Displays/hides the Test Run Window. Alt+6...
  • Page 38 Properties Opens the Properties Window for a PLC, MC Unit, motion task, axis, motion program or CAM table. Servo All Con- Displays all of the parameters in the Parame- stants servo parameters editing window. ters Function Displays only the function selection...
  • Page 39 Transfers parameters and other data to the MC Unit. From MC Transfers parameters and other data from the MC Unit. From Servo Transfers servo parameters from the Servo Driver. Compare Compares parameters and data val- ues between the MC Unit and com- puter.
  • Page 40 About CX-Motion-MCH Displays the version information. Toolbars Functions can be executed directly by clicking on the appropriate icon on the toolbar. The functions that can be executed from the toolbars are given below. Standard Toolbar 9 10 11 12...
  • Page 41 Insert an axis. Insert a program. Insert a subprogram. Insert a CAM table. Online Toolbar 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Number Function Transfer to MC Unit. Transfer from MC Unit. Transfer from Servo Driver.
  • Page 42 Function Select the task number. Display/hide the Test Run Window. Debug the program. Stop debugging the program. Debug the program one step at a time. Debugging will stop one line before the cursor. Stop all axes. Servo Settings Toolbar Number...
  • Page 43 Indicates the keyboard Num Lock status. Help Displaying the Help Contents 1,2,3... 1. Select Help - Help Contents. The table of contents for help will be dis- played. 2. Click a topic to display information. The contents related to that topic will be displayed.

  • Page 44: Operations Listed By Purpose

    Adding a motion task Select Tasks and select Insert - Task or right-click and select Insert Task. Deleting a motion task Select Tasks and select Edit - Delete or right-click and select Delete. Adding an axis Select Axes and select Insert - Axis or right-click and select Insert Axis.
  • Page 45 Select CAM and select Insert - CAM or right-click and select Insert CAM. Deleting a CAM table Select the CAM table and select Edit - Delete or right-click and select Delete. Displaying a print pre- Select File - Print Preview.
  • Page 46 Initializing memory Select the MC Unit and select Online - Clear Memory. Writing to flash mem- Select the MC Unit and select Online - Write To Flash. Monitoring the MC Select the MC Unit and select View - Windows - Status Alt+5 Unit’s status or errors...
  • Page 47 Section 3-2 Operations Listed by Purpose...

  • Page 48: Creating Projects

    Adding and Deleting MC Units ........

  • Page 49: Creating A New Project

    Follow the procedure below to create a new project on the CX-Motion-MCH Basic Window. When a new CX-Motion-MCH project is being created, a dia- log box will be displayed for adding an MC Unit after setting the PLC model. 1,2,3...

  • Page 50: Adding And Deleting Mc Units

    Projects 1,2,3... 1. Select the PLC icon in the project tree and select Insert - MC or click in the toolbar. It is also possible to right-click the PLC icon in the project tree and select Insert MC from the pop-up menu.

  • Page 51: Adding And Deleting Tasks

    Up to 8 individual tasks can be added to one MC Unit. Each MC Unit must have at least one task. 1,2,3... 1. Select the MC Unit or Tasks Icon in the project tree and select Insert - Task or click in the toolbar. It is also possible to right-click the Tasks Icon in the project tree and select Insert Task from the pop-up menu.

  • Page 52: Adding And Deleting Axes

    Adding an Axis to an The following procedure adds an individual axis to a project’s MC Unit. MC Unit Up to 32 individual axes can be added to one MC Unit, of which 30 axes can be physical. 1,2,3... 1. Select the MC Unit, or the Parameter or Axes Icon in the project tree, and select Insert - Axis or click in the toolbar.

  • Page 53: Adding And Deleting Programs

    Delete from the pop-up menu. 2. A dialog box will be displayed to confirm the deletion. Click the Yes Button to delete the axis. The selected axis will be deleted from the axes regis- tered in the MC Unit.

  • Page 54: Adding And Deleting Subprograms

    2. The Insert Program Dialog Box will be displayed. Set the program name, program number, comment, and axis declaration. 3. Click the OK Button. The individual program will be added to the MC Unit. Deleting a Program The following procedure deletes a registered program from an MC Unit.
  • Page 55 Section 4-6 Adding and Deleting Subprograms 1,2,3... 1. Select the MC Unit or the Motion Programs or Sub Programs Icon in the project tree and select Insert - Sub Program or click in the toolbar. It is also possible to right-click the Motion Programs or Sub Programs Icon and select Insert Sub Program from the pop-up menu.

  • Page 56: Adding And Deleting Cams

    Up to 32 CAM tables can be added to one MC Unit. 1,2,3... 1. Select the MC Unit or the CAM Icon in the project tree and select Insert - CAM or click in the toolbar. It is also possible to right-click the CAM Icon and select Insert CAM from the pop-up menu.
  • Page 57 CAM table icon and select Delete from the pop-up menu. 2. A dialog box will be displayed to confirm the deletion. Click the Yes Button to delete the CAM table. The selected CAM table will be deleted from the...

  • Page 58: Editing Data

    Editing Data ........

  • Page 59: Editing Data

    Section 5-1 Editing Data Editing Data This section describes how to edit data only. For details on the MC Unit’s set- ting contents, Unit parameters, and Servo Parameters, refer to the CS1W- MCH71 Motion Control Unit Operation Manual (W419) or CJ1W-MCH71 Motion Control Unit Operation Manual (W435).
  • Page 60 Edit from the pop-up menu. A new variable can be added by right-clicking on the Variables Tab Page and selecting Insert from the pop-up menu. Select or input the name, variable type, data type, address, and comment in the displayed New Symbol Dialog Box, and then press the OK Button.
  • Page 61 With the project tree displayed, either double-click the desired MC Unit’s task or select the desired MC Unit’s task and press the Enter Key. All of the current motion task parameters will be displayed in the Edit Motion Task Parameters Window.

  • Page 62: Saving And Reading Projects

    Reading a Project ........

  • Page 63: Saving A Project

    1. Select File - Open. 2. From the Look in Drop-down List, select the drive and folder containing the file. 3. Enter the project name, or select one from the file list. Set the file type to *.mnh. 4. Click the Open Button.

  • Page 64: Importing Files

    This procedure imports a project file created as an MC Miel for MCH file (*.mil filename extension). 1,2,3... 1. Select the PLC icon in the project tree and either select File - Import or click in the toolbar. It is also possible to right-click the PLC icon and select Import from Miel from the pop-up menu.
  • Page 65 Section 6-3 Importing Files 2. Enter the destination folder, file name, and file type, and then click the Open Button. Program Files This procedure imports a program file (*.txt filename extension). 1,2,3... 1. Select the Programs Icon or an individual program icon in the project tree and either select File - Import or click in the toolbar.
  • Page 66 This procedure imports a CAM file (*.csv filename extension). 1,2,3... 1. Select the CAM Icon or an individual CAM table icon in the project tree and either select File - Import or click in the toolbar. It is also possible to right-click the CAM Icon or the individual CAM table icon and select Import CAM or Import from the pop-up menu.

  • Page 67: Exporting File

    This procedure exports a position data file (*.csv filename extension). 1,2,3... 1. Select the Position Data Icon in the project tree and either select File - Ex- port or click in the toolbar. It is also possible to right-click the Position Data Icon and select Export from the pop-up menu.
  • Page 68 Section 6-4 Exporting File 2. Enter the destination folder, file name, and file type, and then click the Save Button. Subprogram Files This procedure exports a subprogram file (*.txt filename extension). 1,2,3... 1. Select an individual subprogram icon in the project tree and either select File - Export or click in the toolbar.
  • Page 69 This procedure exports a CAM data file (*.csv filename extension). 1,2,3... 1. Select an CAM table icon in the project tree and either select File - Export or click in the toolbar. It is also possible to right-click the CAM table...
  • Page 70 Section 6-4 Exporting File 2. Enter the destination folder, file name, and file type, and then click the Save Button.
  • Page 71 Section 6-4 Exporting File...

  • Page 72: Transferring And Comparing Data

    Initial Settings for Online Connection ......Setting/Changing Communications Specifications.....

  • Page 73: Initial Settings For Online Connection

    Initial Settings for the CPU Unit and MC Unit 1,2,3... 1. Set the MC Unit’s unit number (using the rotary switch on the front panel) 2. Set the DIP switch on the CPU Unit or the Controller Section of the NSJ Controller. a. For Communications via Toolbus: •...
  • Page 74 Connecting to the Select Online - Work Online or click in the toolbar. It is also possible to right-click the PLC icon in the project tree and select Work Online from the pop-up menu. Note When transferring driver parameters, the transfer may be stopped with the fol- lowing message: “Error (36355) Communications to the device could not be...

  • Page 75: Transferring, Comparing, And Saving Data

    Transferring, Comparing, and Saving Data Transferring to the MC Unit 1,2,3... 1. Select the MC Unit icon in the project tree and either select Online - Trans- fer - To MC or click in the toolbar. It is also possible to right-click the MC Unit icon in the project tree and select Transfer - To MC from the pop- up menu.
  • Page 76 Transferring from the MC Unit 1,2,3... 1. Select the MC Unit icon in the project tree and either select Online - Trans- fer - From MC or click in the toolbar. It is also possible to right-click the MC Unit icon in the project tree and select Transfer - From MC from the pop-up menu.
  • Page 77 Comparing Data with the MC Unit 1,2,3... 1. Select the MC Unit icon in the project tree and either select Online - Trans- fer - Compare or click in the toolbar. It is also possible to right-click the MC Unit icon in the project tree and select Transfer - Compare from the pop-up menu.
  • Page 78 4. Double-click Position Data, Programs, Sub Programs, or Cam data. The following window will be displayed. 5. Click the Overview Button to display the Overview Window. 6. Select File - Save as to save the overview or detail view of the results of comparing programs.
  • Page 79 ON, which may cause unexpected operation. 1,2,3... 1. Select the MC Unit icon in the project tree and either select Online - Write To Flash or click in the toolbar. It is also possible to right-click the MC Unit icon in the project tree and select Write To Flash from the pop-up menu.
  • Page 80 Transferring, Comparing, and Saving Data Initializing Memory 1,2,3... 1. Select the MC Unit icon in the project tree and either select Online - Clear Memory or click in the toolbar. It is also possible to right-click the MC Unit icon in the project tree and select Clear Memory from the pop-up menu.
  • Page 81 1. Right-click in the Edit Parameters Window or Edit Position Data Window and select Range Transfer - To MC from the pop-up menu. 2. The data of the selected Value will be transferred to the MC Unit. Range Transfer (MC Unit to Computer) 1,2,3...

  • Page 82: Monitoring

    General Watch Window ........

  • Page 83: Status Monitor

    Section 8-1 Status Monitor Status Monitor Use the Status Monitor to monitor MC Unit errors, the present position of each axis, and the program number in progress. Starting the Status Click in the toolbar. Monitor If the CX-Motion-MCH is connected online, monitoring will start automatically;...

  • Page 84: Operation

    Executing a Test Run ........

  • Page 85: Switching To Monitor Mode

    9-1-1 Starting Monitor Mode 1,2,3... 1. Select a PLC icon in the project tree and select Online - Work Online, or right-click a PLC icon and select Work Online from the pop-up menu. It is also possible to click in the toolbar. The CX-Motion-MCH will be con- nected to the PLC.

  • Page 86: Test Run

    9-2-1 Executing a Test Run 1,2,3... 1. Select the axis for which to execute a test run in the Test Run Window. 2. Click to lock the selected axis. 3. To use an override, select the Axis Override Option and enter the override set value.
  • Page 87 Display the error code occurred in Task. Click the Reset Button to reset the error. Axis Error Displays any error code for any error that has occurred for the axis. Click the Reset Button to reset the error. Unit Error Displays any error code for any error that has occurred in the MC Unit.

  • Page 88: Debugging The Program

    The CX-Motion-MCH can be used to debug the motion program in an MC Unit. Before switching to Monitor Mode, click To MC or From MC to transfer the motion program between the MC Unit and CX-Motion-MCH so that both the MC Unit and CX-Motion-MCH have the same program.
  • Page 89 • The first break point is skipped using the IF function. When step 0004 is false, step 0007 would be executed next after step 0004. A break point is set for step 0007, so program execution would stop at the step that was executed immediately before step 0007.
  • Page 90 Debugging the Program Section 9-3 Note (1) Clicking any of the operation buttons will operate the motor at the desig- nated speed. Execute the operation only after confirming safety. (2) The operation on the personal computer may not stop the motor. Provide an emergency stop device externally to enable stopping the motor imme- diately at any time.
  • Page 91 Debugging the Program Section 9-3...

  • Page 92: Data Traces

    10-1 Data Traces ........... 10-1-1 Executing a Data Trace........

  • Page 93: Data Traces

    The CX-Motion-MCH will be connected to the PLC. 2. Select the MC Unit icon in the project tree, and then select Online - Data Trace or click in the toolbar. The Data Trace Window will be displayed.
  • Page 94 4. Set the trigger conditions, trace objects, and number of samplings. 5. Click the Transfer [PC to MC] Button to write the set values to the MC Unit. 6. Click the OK Button to close the Data Trace Configuration Dialog Box.
  • Page 95 Section 10-1 Data Traces...

  • Page 96: Backup And Restore

    11-2 Restoring to MC ..........11-3 Verifying Backup File with MC Unit .......

  • Page 97: Backup From Mc

    Use the following procedure to backup an MC Unit on the CX-Motion-MCH. 1,2,3... 1. Select Online - Backup and Restore - Backup from MC in online mode. The following window will be displayed. 2. After entering or selecting the destination folder, file name and file type, click the Save Button.

  • Page 98: Verifying Backup File With Mc Unit

    Section 11-3 Verifying Backup File with MC Unit 3. Enter or select the folder to be looked in, the file name, and the file type, and then click the Open Button. The following message will be displayed after restoring backup data is done.
  • Page 99 Section 11-3 Verifying Backup File with MC Unit...

  • Page 100: Read Protection

    12-1-3 Setting and Releasing Read Protection..... . . 12-2 Setting and Changing Passwords ........

  • Page 101: Read Protection

    Protection cannot be set for reading parameters. It also cannot be set for writ- ing parameters, programs or cam data. 12-1-2 User There are 3 types of user. Read protection can be set only by the primary user. What data can be read depends on the user. User...

  • Page 102: Setting And Changing Passwords

    Please make a copy of the password and keep it in a safe place. 4. A message to tell that the password has been set successfully will be dis- played. When it appears, click the OK Button. The following window will be...
  • Page 103 Setting and Changing Passwords 5. Click the Yes Button to display the following window. 6. Select Set Protection or Release Protection, and the data items that can be read through the secondary password, and then click the Transfer [PC to MC] Button.

  • Page 104: Setting And Releasing Protection

    1. Select Online - Read Protection- Set/Release Protection in online mode. The following window will be displayed. 2. Select Set Protection or Release Protection, and the data items that can be read through the secondary password, and then click the Transfer [PC...

  • Page 105: Switching The User

    Section 12-4 Switching the User 12-4 Switching the User A current user can be switched to a different user. Switching to the primary or secondary user requires the primary password or the secondary password. 1,2,3... 1. Select Online - Read Protection- Switch User in online mode. The fol- lowing window will be displayed to request entering the primary password in secondary/normal user status.

  • Page 106: Printing

    13-1 Printing ........

  • Page 107: Printing

    If this option is selected, the project tree is printed. MC Unit If this option is selected, the specified MC Unit parameters are printed. All Data or Specified Data These options specify the range of MC Unit parameters to print. All Data Print all of the data.
  • Page 108 Section 13-1 Printing Printing the Error Log The Error Log can be printed. To print the error log, display the Error Log Window and select File - Print from the Error Log Window’s menu bar.
  • Page 109 Section 13-1 Printing...

  • Page 110: Error Log

    14-2 Error Codes ........

  • Page 111: Error Codes

    Error Log 14-1 Error Log Overview The error log can record and display the up to 20 MC Unit errors. If more than 20 errors occur, the oldest error record will be deleted to make room for the new error record.

  • Page 112: Troubleshooting

    15-1 Troubleshooting ........

  • Page 113: Troubleshooting

    Error Processing of The following error message may be displayed when attempting to connect Online Errors online on the CX-Motion-MCH Basic Window. Use the following flow chart to help identify and correct the error. The "Failed to Connect to the PLC"...
  • Page 114 Section 15-1 Troubleshooting • A communications error may occur in the servo driver after the MC Unit is restarted. If this occurs, restore the power supply to the Servo driver and the MC Unit Error Messages and The following table shows the probable causes and remedies of messages Remedies that may be displayed during online operations.
  • Page 115 An attempt was made to read or write 1. Use the same PLC and MC series does not match with unit connected. data to or from an MC Unit from a dif- as those connected to computer. ferent MC series.
  • Page 116 2. The CAM data capacity has been exceeded. 2. Reduce the amount of CAM data and then transfer the data again. 3. Writing to flash memory is not pos- sible because a backup is being 3. Wait until the backup has been performed.
  • Page 117 Section 15-1 Troubleshooting The following table provides a description and detailed description of the com- pilation errors that may be displayed while compiling programs. Error code Description Detailed description Too Many Blocks Number of blocks of programming exceeded 800. No Description...
  • Page 118 Examples: @Operand 'C' for WORK, OFFPOS, Operand 'S' or 'E' for CAM, CAMBOX Specification Error in Number of Times An operand related to number of times and data numbers (operands 'L' or 'N') has exceeded the limit. Example: @PARALLEL N <Number of branches>, SFTR, SFTL N <Shift amount>...
  • Page 119 Something other than a variable or immediate value has been set for an axis parameter or operand. The first data in the INC or ABL was not operand data. Immediate Value Error Immediate value with a decimal point has been used at a com- mand for which decimal point setting is disabled.

  • Page 120: Error Codes

    PROG command's operand 'P' do not watch. 15-2 Error Codes For details on the probable causes of error codes and methods used to clear errors, refer to Troubleshooting in the CS1W-MCH71 Motion Control Units Operation Manual (W419) or CJ1W-MCH71 Motion Control Units Operation Manual (W435), or click Help - Help Contents in the CX-Motion-MCH.
  • Page 121 Check the applicable program and correct the position data area specified indirectly to PL0000 to PL27FF. Divide-by 2004h 2004h Zero division has occurred in an operation command. Check if the calcu- lation formula or the assigned values are correct. – zero alarm Operation overflow 2005h 2005h Operation result cannot be stored.
  • Page 122 Reserve all the axes to be used in the subprogram with PROG in the main program. • The axis that has not been declared was selected. Check if the axes to be used in the program are specified correctly. If the specification is correct, declare the axes with PROG.
  • Page 123 [Speed of each axis] = Travel distance of each axis/Positioning time This error occurs when the speed specified by the above formula exceeds the axis–speed parameter [P2AA01: Maximum rapid feed rate]. Check if the setting of the parameter is correct, and if so, correct the pro- gram. Number specifica-...
  • Page 124 (When specifying with variables, check if the substitution formula is cor- rect.) • In Center specification: The start or end point, and the center are at the same position. Check the program and correct it so that the start or end position are not...
  • Page 125 2017h 2017h --- Synchronous slave 2018h 2018h The axis that is specified as a slave axis has already been used as the axis specification master axis. When an axis is to be operated as a slave axis of an axis...
  • Page 126 Axis declaration error 201Ah 201Ah Axis other than servo/virtual axis is included in the axis declaration. Check the parameter [P1AA02: MECHATROLINK-II device classifica- tion] of the applicable axis. If the setting of the parameter is correct, cor- rect the program.
  • Page 127 (The error may occur when executing circular interpolation right on the software limit values.) If the setting value is incorrect, set a larger limit value. When the value is cor- rect, correct the program or travel distance of the axis.
  • Page 128 (The error may occur when executing circular interpolation right on the software limit values.) If the setting value is incorrect, set a larger limit value. When the value is cor- rect, correct the program or travel distance of the axis.
  • Page 129 Driver (NS115) or MC Unit may be broken. Replace the broken one with a new unit. Absolute encoder error 300Dh 300Dh Data from the ABS encoder could not be processed normally. • Initial multi-turn value exceeds the multi-turn limit. Set the same value in the driver parameter [Pn205: Multi-turn limit setting] and the motor parameter [900C: Multi-turn limit].
  • Page 130 NECT, SYNC, ADDAX), the speed of the slave axis exceeded the speed specified in [P2AA01: Maximum rapid feed rate]. Check if the setting value in the parameter is correct. If it is correct, correct the program. With CAMBOX, check also the displacement of the CAM data.
  • Page 131 • CAM Check if the speed set in [P2AA01: Maximum rapid feed rate] is correct. If it is not correct, set a higher speed. If it is correct, lower the feed rate of the program or lower the speed using override.
  • Page 132 Section 15-2 Error Codes MLK Device Alarm Codes Name Error log Cause and remedy Error code Detail code Depending on the device 037Ah 4000h Depending on the device. Follow the directions of the applicable manuals. 0399h Alarm code of each device...
  • Page 133 Error Codes Section 15-2...

  • Page 134: 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. W448-E1-04 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
  • Page 135 Revised content June 2007 Cover: Model numbers added and “SYSMAC” removed. Page ix: Middle row of table removed and “CS1W” added to bottom row (two loca- tions). Pages ix and 2: Windows XP and Vista added. Pages ix and 2: CX-One version changed to 2.1.

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Cx-motion-mchSysmac cxone-al**c-v3Sysmac cxone-al**d-v3

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