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Omron C200H-MC221 Operation Manual

Motion control unit
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Cat. No. W315-E1-03
C200H-MC221
Motion Control Unit
OPERATION MANUAL

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Summary of Contents for Omron C200H-MC221

  • Page 1 Cat. No. W315-E1-03 C200H-MC221 Motion Control Unit OPERATION MANUAL...
  • Page 3 C200H-MC221 Motion Control Unit Operation Manual: Details Revised June 2010...
  • Page 5 OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.

  • Page 7: Table Of Contents

    TABLE OF CONTENTS PRECAUTIONS ....... . . xvii 1 Intended Audience .
  • Page 8 TABLE OF CONTENTS SECTION 6 PC Data Area Interface ......Introduction ............Allocation of the PC Data Area Interface .
  • Page 9 TABLE OF CONTENTS Appendices A Control Bit/Flag Timing Charts ..........B Additional Origin Search Patterns .
  • Page 11 This manual provides an introduction to the features and operation of the C200H-MC221 Motion Control Unit and includes the sections described below. Please read this manual and the other manuals related to the C200H-MC221 Motion Control Unit care- fully and be sure you understand the information provided before attempting to install and operate the Motion Control Units.
  • Page 13 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 14 Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products.
  • Page 15 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. Actual performance is subject to the OMRON Warranty and Limitations of Liability.
  • Page 17 PRECAUTIONS This section provides general precautions for using the Motion Control Units (MC Units) and related devices. The information contained in this section is important for the safe and reliable application of the Motion Control Unit. You must read this section and understand the information contained before attempting to set up or operate a Motion Control Unit.

  • Page 18: Intended Audience

    You must consult with your OMRON representative before applying Motion Control Units and related devices to the above mentioned applications. Safety Precautions WARNING Never attempt to disassemble any Units while power is being supplied.

  • Page 19: Application Precautions

    Application Precautions Caution Take appropriate and sufficient countermeasures when installing systems in the following locations: • Locations subject to static electricity or other forms of noise. • Locations subject to strong electromagnetic fields. • Locations subject to possible exposure to radioactivity. •...
  • Page 20 Application Precautions • Be sure that the terminal blocks, Memory Units, expansion cables, and other items with locking devices are properly locked into place. Improper locking may result in malfunction. • Double-check all the wiring before turning ON the power supply. Incorrect wir- ing may result in burning.

  • Page 21: Components And Switch Settings

    SECTION 1 Components and Switch Settings This section shows the main components of the Motion Control Unit, explains its indicators, unit number and DIP switch settings, and describes how to install the Unit. Components ............. Indicators .

  • Page 22: Components

    Components Section 1-1 Components The following diagram shows the main components of the MC Unit. Indicators Unit number setting selector DRV X-Y connector Peripheral device switch I/O connector Peripheral device connector Note Refer to Section 2 Wiring for details on wiring the MC Unit.

  • Page 23: Indicators

    Setting the Unit Number Section 1-3 Indicators The following table shows the meaning of the indicators on the front of the Unit. Indicator Color Status Meaning Green Initialization was completed normally and the connection of the MC Unit and the PC is normal. The MC Unit or PC has an error.

  • Page 24: Setting The Dip Switch

    Setting the DIP Switch Section 1-4 Setting the DIP Switch It may be necessary to set the DIP switch when using the Teaching Box. The DIP switch is on the rear panel of the MC Unit. DIP switch DIP Switch Settings Pin 2 of the DIP switch controls the language displayed on the Teaching Box, as shown in the following table.

  • Page 25: Installing The Mc Unit

    Installing the MC Unit Section 1-5 Installing the MC Unit This section explains how to mount the MC Unit to a CPU Backplane. Before mounting the Unit, make sure that the CPU Backplane’s Power Supply Unit is turned OFF. The mounting position of the Power Supply Unit and CPU are fixed. The MC Unit can be mounted in any one of the remaining slots (10/8/5/3).

  • Page 26: Changing The Task Configuration

    Section 1-6 Changing the Task Configuration Use the following procedure to change the C200H-MC221’s task configuration from task 1 to task 2 or from task 2 to task 1. The Unit is set for task 1 when shipped from OMRON.

  • Page 27: Wiring

    SECTION 2 Wiring This section describes how to connect to the I/O, DRV, and MPG connectors and shows the interface circuits for all of the connectors. I/O Connector ............2-1-1 Pin Allocation .

  • Page 28: I/O Connector

    I/O Connector Section 2-1 I/O Connector The I/O connector is used primarily for wiring to external I/O. There are connec- tions for each axis’s CW and CCW limit inputs, emergency stop inputs, and ori- gin proximity inputs, as well as general I/O connections. Dedicated cables and terminals can be connected to the I/O connector.

  • Page 29: Connection Example

    I/O Connector Section 2-1 2-1-3 Connection Example The following diagram shows an example connection for just the X-axis. Corre- sponding wiring is required for the Y-axis. I/O connector +24V XCWL YCWL XCCWL YCCWL CCW limit input Origin proximity CW limit input input XSTOP YSTOP...
  • Page 30 Label Normally closed Normally open Common Common Common Emergency CCW limit Origin CW limit stop input input proximity input Common input Common Common +24 V power supply Note OUT1 or OUT2 of the Terminals is not available for the C200H-MC221.

  • Page 31: Drv Connectors

    The DRV connectors are used primarily to connect servodrivers. The DRV X-Y connector is for the X and Y axes. Note Dedicated driver cables, which are sold separately, are available for OMRON U-, H-, and M-series Servodrivers. Refer to 2-2-3 Dedicated Driver Cables.
  • Page 32 DRV Connectors Section 2-2 DRV X-Y Pin Functions The following table explains the functions of the pins in the DRV X-Y connector. Symbol Name Function +24V 24 VDC input External power supply’s 24-VDC input (for the X-Y axes). DC GND 24 VDC input ground External power supply’s 24-VDC ground (for the X-Y axes).

  • Page 33: Dedicated Driver Cables (Optional)

    Section 2-2 2-2-3 Dedicated Driver Cables (Optional) When using OMRON’s U-, H-, or M-series Servodrivers, use Dedicated Driver Cables that are available as options to connect the MC Unit to Servodrivers. These Dedicated Driver Cables will eliminate the need for wiring.
  • Page 34 DRV Connectors Section 2-2 R88A-CPM001M2/002M2 (For M Series) Connect to +24 V Red: +24 V Black: 0 V In the case of Cables for single-axis models, only one connector is available for the MC Unit side and only the X-axis signal line is wired.

  • Page 35: Connection Examples

    DRV Connectors Section 2-2 2-2-4 Connection Examples Connection to the U-series (30 to 750 W) Models (Using an Absolute Encoder) Dedicated Driver Cable: R88A-CPU00jM2 MC Unit DC Power Supply DRV X-Y connector AC Servodriver R88D-UAjjj 24 VDC input +24 V 24 VDC input ground Black X-axis alarm input...
  • Page 36 DRV Connectors Section 2-2 Connection to the U-series (30 to 750 W) Models (Using an Incremental Encoder) Dedicated Driver Cable: R88A-CPU00jM2 MC Unit DC Power DRV X-Y connector Supply AC Servodriver 24 VDC input R88D-UAjjj +24 V 24 VDC input ground Black X-axis alarm input X-axis run output...
  • Page 37 DRV Connectors Section 2-2 Connection to the H Series Dedicated Driver Cable: R88A-CPH00jM2 MC Unit DC Power AC Servodriver Supply DRV X-Y connector (Analog Input Model) 24 VDC input R88D-HL/-HT/-HS +24 V 24 VDC input ground Black X-axis alarm input X-axis run output RESET X-axis alarm reset output...
  • Page 38 DRV Connectors Section 2-2 Connection to the M Series Dedicated Driver Cable: R88A-CPM00jM2 MC Unit DC Power Supply DRV X-Y connector AC Servodriver 24 VDC input +24 V R88D-M Series 24 VDC input ground Black X-axis alarm input X-axis run output X-axis alarm reset output RESET X-axis SEN signal ground...

  • Page 39: Mpg Connector

    MPG Connector Section 2-3 MPG Connector A manual pulse generator (MPG) can be connected to the Y-axis encoder input if a single axis of the MC Unit is used. Refer to the following wiring example. Use a line-driver type of MPG. (LFG-003-100 manufactured by SAMUTAKU is recom- mended.) 2-3-1 Wiring Example Refer to 2-2 DRV Connectors for dedicated driver cables.

  • Page 40: Interface Circuits

    Interface Circuits Section 2-4 Interface Circuits The following tables provide specifications and circuit diagrams for the interface circuits for the I/O and DRV connectors. 2-4-1 I/O and DRV Connector Circuits The circuit in the table below is used to interface the following inputs. NC inputs: CWL, CCWL, STOP, and ALM (X and Y) NO inputs:...
  • Page 41 Interface Circuits Section 2-4 The circuit in the table below is used to interface phase inputs A, A, B, B, Z, and Z (for the X and Y). Item Specification Circuit Configuration Signal level EIA RS-422-A Standards Phase A, B, or Z Input impedance 220 Ω...

  • Page 43: Connecting Peripheral Devices

    SECTION 3 Connecting Peripheral Devices This section explains how to connect a personal computer or a Teaching Box. Connecting a Personal Computer ..........3-1-1 Personal Computer and MC Unit .

  • Page 44: Connecting A Personal Computer

    Response monitor time: 10 s RS-422 The following connections are possible. Set the slide switch to HOST. 25-pin D-sub connector 20-pin half-pitch 25-pin D-sub connector connector (female) CV500-CIF01 IBM PC/AT or compatible (OMRON) Connect as shown below. Connector for the personal computer...

  • Page 45: Connecting The Teaching Box

    Connecting the Teaching Box Section 3-2 RS-232C Wire the following. MC Unit side (20 pins) Personal computer side (9 pins) Connector Connector hood hood Shielded wires (see note) Note Connect the shielded line to the FG (pin 1) at the computer, and to the connector hood at the MC Unit.
  • Page 46 Connecting the Teaching Box Section 3-2 2. Remove the connector cover. Attach the removed cover to the rear surface not to lose it. Cover attached Open the cover using a Cover small-size flat-blade screw. 3. Plug the Connecting Cable into the connector. Align the connector and push it in until you hear a click.
  • Page 47 Connecting the Teaching Box Section 3-2 Removing the Cable Using your fingers, press in and hold the clamps on both sides of the connector and pull out the connector. Unlocking clamps...

  • Page 49: Mc Unit Data

    SECTION 4 MC Unit Data This section describes the three kinds of data (system parameters, position data, and registers) used in MC Unit functions. MC Unit Data Configuration ..........System Parameters .

  • Page 50: Mc Unit Data Configuration

    System Parameters Section 4-2 MC Unit Data Configuration The MC Unit handles three types of data: system parameters, position data, and registers. Programs written in G language aren’t treated as data. Data type Function System parameters These parameters contain system information used in the MC Unit, such as the number of axes used, number of tasks, feed rate, and operating range.

  • Page 51: Setting Parameters

    System Parameters Section 4-2 4-2-1 Setting Parameters Set the parameters with the MC Support Software and then transfer them to the MC Unit. Note Be sure to turn the MC Unit OFF and ON again after parameters have been transferred. The Unit parameters and mechanical parameters won’t be changed unless the MC Unit is turned OFF and ON again.
  • Page 52 System Parameters Section 4-2 Parameter name Function Stroke limit (–) Sets the negative and positive stroke limits. Stroke limit (+) Origin search method Specifies one of the 3 origin search methods. Origin search direction Specifies whether to move in the positive or negative direction when performing an origin search.

  • Page 53: Data Transmission And Reception

    Data Transmission and Reception Section 4-3 Data Transmission and Reception This section provides outlines of data transfer between a ladder program and the MC Unit. 4-3-1 Types of Data Four types of data can be transferred. • Position data • System parameters •...

  • Page 54: Summary Of I/O Transfer

    Data Transmission and Reception Section 4-3 4-3-3 Summary of I/O Transfer In the following example, position data is transferred from the C200HS to the MC Unit. C200HS MC Unit [I/O refresh data area] Writing data Address Position data [Initial setting area] 0000 A0000 DM area used as...

  • Page 55: Summary Of Intelligent Transfer

    Data Transmission and Reception Section 4-3 4-3-4 Summary of Intelligent Transfer In the following example, position data is transferred from the C200HG to the MC Unit. C200HG MC Unit [Ladder program] Transmission IOWR Address Position data 0000 A0000 0001 A0001 [DM] Position data (3 words/data item)

  • Page 56: Details Of Data Transmission And Reception Units

    Details of Data Transmission and Reception Units Section 4-4 Details of Data Transmission and Reception Units 4-4-1 Data Transmission and Reception Units This section explains units used for data transmission and reception. Data Description Position data Three words are used to transmit or receive a position data item. The following is the configuration of a BCD position data item.

  • Page 57: Details Of Data

    Details of Data Transmission and Reception Units Section 4-4 4-4-2 Details of Data Refer to the following for details of system parameters, monitor data, and special data. Data First address System Unit parameter 4000 parameter Memory management parameter 4100 Mechanical parameter X-axis 4200 Y-axis...
  • Page 58 Details of Data Transmission and Reception Units Section 4-4 Memory Management Parameters Axis Address Name Description Common 4100 First position First position data item no. task 1 data item no. Last position data item no. 4101 Last position data item no. Specifies the first and last numbers of position data items for task 1 within a range of 0 to 1,999.
  • Page 59 Details of Data Transmission and Reception Units Section 4-4 Axis Address Name Description 4205 Encoder resolution Specifies the resolution of the encoder within a range of 1 to 65,535 ppr. 4207 Encoder polarity Specifies the polarity of the encoder. X = 0: CW with increments. X = 1: CCW with decrements.
  • Page 60 Details of Data Transmission and Reception Units Section 4-4 Axis Address Name Description 4215 Origin search method Specifies the method to search the origin. X = 0: Origin mode when power is turned ON. X = 1: Limit reverse mode X = 2: Single direction mode 4216 Origin search direction...
  • Page 61 Details of Data Transmission and Reception Units Section 4-4 Axis Address Name Description 4225 Minimum unit setting Refer to the corresponding X-axis parameters. 4226 Display unit 4227 Rotation direction 4228 Emergency stop method 4229 Encoder ABS/INC 4230 Encoder resolution 4232 Encoder polarity 4233 Numerator pulse rate...
  • Page 62 Details of Data Transmission and Reception Units Section 4-4 Feed-rate Parameters Axis Address Name Description 4400 Maximum feed rate 3 2 1 0 bit Sign bit 0: Positive 1: Negative Specifies the upper limit of the feed rate with the fol- lowing units used.
  • Page 63 Details of Data Transmission and Reception Units Section 4-4 Axis Address Name Description 4409 Interpolation decelera- Sets the deceleration time to reduce the interpolation tion time feed rate to zero from the maximum interpolation feed rate. There is no difference in data configuration, range, or unit between the interpolation deceleration time and deceleration time.
  • Page 64 Details of Data Transmission and Reception Units Section 4-4 Zone Parameters When the zone parameter is changed, the changed value will become valid in real time. Axis Address Name Description 4500 Zone specification 0 Bit Zone 1 Zone 2 Zone 7 Zone 8 Validates or invalidates the settings of zones 1 to 8.
  • Page 65 Details of Data Transmission and Reception Units Section 4-4 Axis Address Name Description 4503 Zone 2 Negative Sets the negative or positive direction range of zone direction set value There is no difference in data configuration, range, or unit between the negative or positive direction set it b t 4504 Positive...
  • Page 66 Details of Data Transmission and Reception Units Section 4-4 Axis Address Name Description 4525 Zone specification Refer to the corresponding X-axis parameters. 4526 Zone 1 Negative direction set value 4527 Positive direction set value 4528 Zone 2 Negative direction set value 4529 Positive direction...
  • Page 67 Details of Data Transmission and Reception Units Section 4-4 Servo Parameters When the servo parameter is changed, the changed value will become valid in real time. Axis Address Name Description 4600 Accumulated pulses warning value Sets the accumulated pulses warning value within a range of 0 to 65,000 pulses.

  • Page 68: Details Of Monitoring Data

    Details of Data Transmission and Reception Units Section 4-4 4-4-4 Details of Monitoring Data Axis Address Name Description Error 6000 System error code Outputs system error codes. An error code will be set if a system error results. The address is set to 0 when the system is normal. 6001 Task 1 error code Outputs task 1 error codes.
  • Page 69 Details of Data Transmission and Reception Units Section 4-4 Axis Address Name Description Task 1 6020 Executing program no. status 0 x10 If a program is being executed, the number of the program will be output and if no program is being executed, the number of the last program executed will be output within a range of 0 to 999.
  • Page 70 Details of Data Transmission and Reception Units Section 4-4 Axis Address Name Description Current 6058 Reference Outputs pulses for the workpiece coordinate system position coordinate system current position. current position current position There is no difference in data configuration or range There is no difference in data configuration or range with pulses between the reference coordinate system current...

  • Page 71: Details Of I/O Transfer And Necessary Information

    Details of I/O Transfer and Necessary Information Section 4-5 4-4-5 Details of Special Data Only intelligent transfer can be used to transmit or receive special data. Axis Address Name Description Common 6100 Writing position data to the flash memory Writes position data to the flash memory. X = 0: No data has been written or data has been written.

  • Page 72: Data Transfer Examples

    Data Transfer Examples Section 4-6 The data writing source word and data reading destination word can be desig- nated within the ranges shown in the following table. PC model Expansion data area C200H DM 0000 to DM 0899 C200HS DM 0000 to DM 0999 DM 2000 to DM 5999 C200HX, EM area (if the EM area is unavailable)
  • Page 73 Data Transfer Examples Section 4-6 2. Turn the PC OFF and ON. 3. Write and execute the following diagram to transfer the position data. Ladder Diagram Example Execution condition Work bit DIFU Transmission Completed Flag Set in the expansion DM area the information Transmission...

  • Page 74: Data Reception

    Data Transfer Examples Section 4-6 3. Write and execute the following diagram to change the acceleration time. Ladder Diagram Example Execution condition Work bit DIFU Transmission Completed Flag Set in the expansion DM area the information Transmission described in the following. Control Bit Set in the DM area the position...
  • Page 75 Data Transfer Examples Section 4-6 3. Write and execute the following diagram to receive the position data. Ladder Diagram Example Execution condition Work bit DIFU Reception Completed Flag Set in the expansion DM area the information Reception described in the Control Bit following.

  • Page 76: I/O Transfer Timing

    I/O Transfer Timing Section 4-7 Ladder Diagram Example Execution condition Work bit DIFU Reception Completed Flag Set in the expansion DM area the information Reception described in the Control Bit following. (Reception Control Bit) Settings Initial setting area Set an expansion DM area in the DM area. D0100 000D D0101...
  • Page 77 I/O Transfer Timing Section 4-7 Set the number of transfer words, data source word, and data destination address in the expansion data area and turn the transmission control bit (word n+1, bit 11) ON for I/O transfer. The MC Unit performs the following and turns the Transmission Completed Flag (word n+8, bit 6) ON.

  • Page 78: Details Of Intelligent Transfer

    Details of Intelligent Transfer Section 4-8 Details of Intelligent Transfer Intelligent transfer is available to the MC Unit if the MC Unit is mounted to the C200HX, C200HG, or C200HE. Intelligent transfer makes it possible to transmit or receive data of 128 words max. or a maximum of 42 position data items with one instruction.

  • Page 79: Iowr Instruction

    IOWR Instruction Section 4-9 IOWR Instruction Use the IOWR instruction to transmit data from the PC to the MC Unit. Refer to the following for the format of the IOWR instruction. 4-9-1 Designation IOWR @IOWR Operand Description MC Unit address (BCD) Designates the address of the MC Unit that will receive the data.

  • Page 80: Flags

    IOWR Instruction Section 4-9 4-9-2 Flags Value The number of data transfer words None of the conditions on the left (25503) is 0, 128 or over, or not BCD. exists. The indirect DM is set to 6656 or over or not BCD. The destination unit number is other than 0 to F or in the SYSMAC BUS.
  • Page 81 IOWR Instruction Section 4-9 Example 1 The following data items are transmitted to position data address A0456 to A0460. Position data Position data address 345678.90 ... A0456 123456.78 ... A0457 –387654.32 .

  • Page 82: Execution Timing Of Iowr Instruction

    IOWR Instruction Section 4-9 Example 2 The acceleration time of the X axis is changed to 500 ms. Execution condition Work bit DIFU(13) Set in the Set in the expansion DM expansion DM area the area the positioning data positioning data described in the described below.

  • Page 83: Transfer Time

    IOWR Instruction Section 4-9 Note The programmed run instruction will be executed after the data is processed if the programmed run instruction is given while the data is being processed in the previous step 3. Refer to the following example. Example The program run instruction is executed after position data is transferred.

  • Page 84: Iord Instruction

    IORD Instruction Section 4-10 4-10 IORD Instruction Use the IORD instruction for the PC to receive data from the MC Unit. Refer to the following for the format of the IORD instruction. 4-10-1 Designation IORD @IORD Operand Description MC Unit address (BCD) Designates the address of the MC Unit that will receive the data.

  • Page 85: Flags

    IORD Instruction Section 4-10 4-10-2 Flags Value The number of data transfer words None of the conditions on the left (25503) is 0, 128 or over, or not BCD. exists. The indirect DM is set to 6656 or over or not BCD. The source unit number is other than 0 to F or in the SYSMAC BUS.
  • Page 86 IORD Instruction Section 4-10 Example 1 Data items A0456 to A0460 are received at DM 0100 to DM 0114. Position data Position data address A0456 = 45678.90 ..DM 0100 to DM 0102 A0457 = 123456.78 .

  • Page 87: Execution Timing Of Iord Instruction

    IORD Instruction Section 4-10 Example 2 The acceleration time (500 ms) of the X axis is received at DM 0100 to DM 0101. Execution condition Work bit DIFU(13) Set the address of the acceleration time of the X IORD axis. #4406 Set the source unit number (0) and a total of two #0002...

  • Page 88: Transfer Time

    IORD Instruction Section 4-10 4-10-5 Transfer Time The calculation of transmission time with the IORD instruction is complicated and varies with the PC model, ladder program, and the status of the MC Unit. Refer to the following example of transmission time with the C200HX as a refer- ence value.

  • Page 89: G Language

    SECTION 5 G Language This section describes the functions in the G language. The functions are listed in order by G code. List of G Functions ............G Function Formats .

  • Page 90: List Of G Functions

    List of G Functions Section 5-1 List of G Functions The following table provides summary and brief description of the G-language functions. Refer to the page number in the last column for more details. Code Name Function Page POSITIONING Positions up to 2 axes simultaneously with PTP control at the maximum speed.

  • Page 91: G Function Formats

    G Function Formats Section 5-2 Code Name Function Page ABSOLUTE SPECIFICATION Specifies the use of absolute coordinates in axis operations. INCREMENTAL SPECIFICATION Specifies the use of relative coordinates in axis operations. G Function Formats The following table shows the format used for the G-language functions. Name Code Operands...

  • Page 92: List Of G Symbols

    List of G Symbols Section 5-3 Name Code Operands SUBPROGRAM END OPTIONAL END j<Optional number> OPTIONAL SKIP j<Optional number> OPTIONAL PROGRAM STOP j<Optional number> PROGRAM END ABSOLUTE SPECIFICATION INCREMENTAL SPECIFICATION Note Operand punctuation: a) < > Content to be input. b) [ ] Option c) ...

  • Page 93: Specifying Position Data Addresses (A0000 To A1999)

    List of G Symbols Section 5-3 5-3-1 Specifying Position Data Addresses (A0000 to A1999) It is possible to use the contents of a position data address for position data or an M code by specifying that address in an argument in an axis movement com- mand or M code.

  • Page 94: Program Number And Axis Declaration

    Program Number and Axis Declaration Section 5-4 Direct Addressing of If the register name isn’t in parentheses, i.e. E00, the function will operate Registers directly on the content that register. In the following example, the content of E00 and E01 are added and the result is placed in E02. Program block Register 1000...

  • Page 95: G Functions

    G Functions Section 5-5 G Functions This section provides detailed descriptions of the G functions. The descriptions detail each function’s format, parameters, usage, and provide an example pro- gram. The function format shows the operands which can be used with the func- tion and indicates the correct syntax using the following punctuation marks.
  • Page 96 G Functions Section 5-5 Example Programs The following program is for absolute operation. ABSOLUTE SPECIFICATION N010 N011 X100 Y50 M001 The following program is for incremental operation. INCREMENTAL SPECIFICATION N010 N011 X100 Y50 M001 Note The X and Y axes are operated at the same speed in the above examples.

  • Page 97: G01: Linear Interpolation

    G Functions Section 5-5 5-5-2 G01: LINEAR INTERPOLATION Performs linear interpolation on up to 2 axes simultaneously at the specified interpolation speed. Format G01_<Axis movement command ... >_[F<speed command>] _[M<M code>] _[#<optional number>] Parameters The following table shows the possible settings for the parameters. Parameter Possible settings Axis movement...

  • Page 98: G02 And G03: Circular Interpolation

    G Functions Section 5-5 Example Programs The following program is for absolute operation. ABSOLUTE SPECIFICATION N010 N011 X100 Y50 F300 Present value The following program is for incremental operation. INCREMENTAL SPECIFICATION N010 N011 X100 Y50 F300 Present value 5-5-3 G02 and G03: CIRCULAR INTERPOLATION Performs two-axis circular interpolation in the clockwise (G02) or counterclock- wise (G03) direction at the specified interpolation speed.
  • Page 99 G Functions Section 5-5 Parameters The following table shows the possible settings for the parameters. Parameter Possible settings Axis movement Axis X and Y command Coordinate data –39,999,999 to +39,999,999 (E00 to E31) A0000 to A1999 Center Axis I or J coordinate Radius Coordinate and...
  • Page 100 G Functions Section 5-5 When the product of the specified interpolation speed and override value exceeds the maximum interpolation feed rate for the axis being moved by circu- lar interpolation (set in the system parameters), circular interpolation will be per- formed at the lowest maximum feed rate among the axes being moved.
  • Page 101 G Functions Section 5-5 The following program shows circular interpolation with radius specification (R<0). An arc greater than a semicircle will be drawn when R<0. ABSOLUTE SPECIFICATION N010 Makes X-Y the circular plane. N011 (This need not be described.) N012 X140 R–40 F300...

  • Page 102: G04: Dwell Timer

    G Functions Section 5-5 The following program shows circular interpolation of a complete circle. ABSOLUTE SPECIFICATION N010 Makes X-Y the circular plane. N011 (This need not be described.) N012 X100 F500 Center Starting point and end point 5-5-4 G04: DWELL TIMER Waits for the specified length of time.

  • Page 103: G10: Pass Mode

    G Functions Section 5-5 5-5-5 G10: PASS MODE Switches the operating mode to pass mode. Format Parameters None Description This function switches the operating mode to pass mode. If this function is executed, any subsequent interpolation (linear or circular) function will move on to the next positioning operation without decelerating to a stop.

  • Page 104: G11: Stop Mode

    G Functions Section 5-5 Example Program N010 N011 N012 N013 N014 X120 N015 N016 X150 The next operation is performed without decelerating to a stop. End point Starting point 5-5-6 G11: STOP MODE Switches the operating mode to stop mode. Format Parameters None...

  • Page 105: G17: Circular Plane Specification Functions

    G Functions Section 5-5 Example Program The following program demonstrates positioning in STOP MODE. The Unit moves to the next operation after completion of the previous operation is veri- fied. N010 N011 X100 N012 X200 N013 X300 Speed Time 5-5-7 G17: CIRCULAR PLANE SPECIFICATION FUNCTIONS Specifies the plane in which circular interpolation is performed.

  • Page 106: G27: Workpiece Origin Return

    G Functions Section 5-5 2. The coordinate specification is set to absolute specification. 3. The operating mode is set to pass mode. The settings won’t be switched to the ones above if function G26 is terminated while in progress by the OPTIONAL END function (G74), FORCED BLOCK END, or other function.

  • Page 107: G28: Origin Search

    G Functions Section 5-5 Example Program N010 M500 Workpiece coordinate system Workpiece origin Reference coordinate system Reference origin 5-5-10 G28: ORIGIN SEARCH Performs an origin search in the specified axes. Format G28_<Axis name ... >_[M<M code>] Parameters The following table shows the possible settings for the parameters. Parameter Possible settings Axis name...

  • Page 108: G29: Origin Undefined

    G Functions Section 5-5 5-5-11 G29: ORIGIN UNDEFINED Makes the origins of axes undefined. Format G29_<Axis name ... > Parameters Axis: X and Y Description Makes the origins of specified axes undefined. This function is usually used for the following applications. To define the origins of axes when the system is turned on and make the origins undefined for continuous axis feeding.

  • Page 109: G31: Interrupt Inching

    G Functions Section 5-5 Example Program N010 X-axis speed Turn OFF the cycle start or turn ON the Stop Bit to stop the movement. Override changes Time Note The previous G01, G02, and G03 functions will operate in stop mode instead of pass mode if this function is executed.
  • Page 110 G Functions Section 5-5 Example 2: Speed command 2 is specified with the following format. G31 X100 F200 F100 (mm) General input 1 X-axis speed Speed control Position control (for 100 mm) Time The speed control of the X axis is performed and the X axis moves at 200 mm/s until general input 1 is turned ON.
  • Page 111 G Functions Section 5-5 2. A general input is turned ON while the axis is being accelerated. (1) General input ON Specified speed 3. A general input is turned ON while the axis is being accelerated. (2) General input ON Specified speed 4.
  • Page 112 G Functions Section 5-5 3. A general input is turned ON while the axis is being accelerated. (2) General input ON Specified speed 1 Specified speed 2 4. A general input is turned ON while the axis is being accelerated. (3) General input ON Specified speed 1...

  • Page 113: G50: Select Reference Coordinate System

    G Functions Section 5-5 • The status of this external sensor is taken in as the general input. There is a maximum delay of 1 ms in this general input circuit. Therefore, the MC Unit starts positioning control 1 ms max. after the external sensor becomes valid. •...

  • Page 114: G53: Change Workpiece Origin Offset

    G Functions Section 5-5 Description This function sets the coordinate system to the workpiece coordinate system. After this function is executed, the coordinate data in all axis operations is pro- cessed as workpiece coordinate data. If G51 is executed at the beginning of the program, the origin of workpiece coordinate system is determined by the work- piece origin offset value (the offset from the reference origin) set in the system parameters.

  • Page 115: G54: Change Reference Coordinate System Pv

    G Functions Section 5-5 Unless G53 is executed, the origin of the workpiece coordinate system is deter- mined by the system parameter (“workpiece origin offset” of the coordinate parameter) when executed from the top of the program. Sets pass mode. N020 N021 X100...

  • Page 116: G60: Arithmetic Operations

    G Functions Section 5-5 Caution If this function is executed just after a G01, G02, or G03 function, the interpola- tion will be performed in stop mode, not pass mode, even if pass mode has been selected. The following example shows this effect. Sets pass mode.

  • Page 117: G63: Substitution

    G Functions Section 5-5 Description This function performs arithmetic operations on numerical values, position data, or the contents of registers. When the first term is a register, the second and third terms will be integers. (Non-integer values are rounded to the nearest integer.) When the first term is a position data address, the second and third terms will be real numbers and values below the fourth decimal place will be rounded off.

  • Page 118: G69: Change Parameter

    G Functions Section 5-5 5-5-20 G69: CHANGE PARAMETER Changes the setting of the specified parameter. Format G69_<#parameter type/new setting ... > Parameters The following table shows the possible settings for the parameters. Parameter Possible settings Parameter type 1, 2, 3, or 4 New setting Axis name X and Y...

  • Page 119: G70: Unconditional Jump

    G Functions Section 5-5 Example Program The following program shows the effect of changing the interpolation accelera- tion time during interpolation. N009 X200 Y300 N010 #3/X100 N011 X300 Y500 N012 X500 Y800 The new interpolation acceleration time is effective between the next two G01 functions after the G69 function.

  • Page 120: G71: Conditional Jump

    G Functions Section 5-5 When the number of loops is set indirectly from position data with register speci- fication or position data number specification, the number of loops will be 0 if the value of the position data is 0. Non-integer position data values will be rounded off to the nearest integer value.

  • Page 121: G72: Subprogram Jump

    G Functions Section 5-5 5-5-23 G72: SUBPROGRAM JUMP Calls the specified subprogram. Format G72_<subprogram number> Parameters The following table shows the possible settings for the parameters. Parameter Possible settings Subprogram number P500 to P999 A0000 to A1999 Description This function calls and executes the specified subprogram. Subprograms can be nested 5 times.

  • Page 122: G74: Optional End

    G Functions Section 5-5 5-5-25 G74: OPTIONAL END Ends the block currently being executed when the specified optional input goes Format G74j<optional number> Parameters The following table shows the possible settings for the parameters. Parameter Possible settings Optional number 00 to 06 Description If the specified input is received while the block after the one with this function is being executed, execution of that block will be interrupted and the program will...

  • Page 123: G75: Optional Skip

    G Functions Section 5-5 5-5-26 G75: OPTIONAL SKIP Skips the next block when the specified optional input is ON. Format G75j<optional number> Parameters The following table shows the possible settings for the parameters. Parameter Possible settings Optional number 00 to 06 Description If the specified input is ON when this function is executed, the next block will be skipped.

  • Page 124: G76: Optional Program Pause

    G Functions Section 5-5 To ensure that block N012 will be skipped, make sure that optional input 3 is ON before block N010 is executed. Speed Speed Time Time Optional Optional input 3 input 3 Block N012 isn’t skipped because In this case, block N012 is skipped optional input 3 isn’t ON when block because optional input 3 is ON when...

  • Page 125: G79: Program End

    G Functions Section 5-5 When block N008 contains the PASS MODE function (G10), blocks N011 and N012 are pre-executed while N010 is being executed, so the program won’t be paused if optional input 3 is turned ON after execution of block N010. To ensure that the program will be paused, make sure that optional input 3 is ON before block N010 is executed.

  • Page 126: G91: Incremental Specification

    G Functions Section 5-5 In addition to G90, the absolute coordinate system is put into effect when a REF- ERENCE ORIGIN RETURN (G26), WORKPIECE ORIGIN RETURN (G27), or ORIGIN SEARCH (G28) function is executed. Example Program The following example shows the different axis operations with absolute and incremental specifications.

  • Page 127: M-Code Outputs

    M-code Outputs Section 5-6 If positioning with incremental specification is interrupted by a pause command, the axes will be moved to the original end position after the operation is restarted. Also, if the axes have been moved or an origin search was performed after the operation was interrupted, the axes will still be moved to the original end position.

  • Page 128: M-Code Data

    M-code Outputs Section 5-6 3. In the PC, the processes corresponding to M code 100 are performed when the M strobe goes ON. The PC turns ON the M code reset when these pro- cesses are completed. 4. In the MC Unit, the M code is cleared to 0 and the M strobe is turned OFF when the PC turns ON the M code reset.

  • Page 129: M Code Resets

    M-code Outputs Section 5-6 Example 2 The following program just outputs M code 600. (M codes over 499 don’t inter- lock.) N000 P000 N001 X100 F100 M600 N002 X200 F100 N003 Block N002 is executed immedi- ately, without waiting for the M code reset input.
  • Page 130 M-code Outputs Section 5-6 Example 1 The M strobe and M code won’t be output if a Forced Block End signal is received before they are output. X500 M100 Forced Block End X-axis operation M strobe M code Example 2 The M strobe and M code won’t be output if the OPTIONAL END function’s optional input is received before they are output.

  • Page 131: Clearing M500 To M999 With Forced Block End Or G74

    M-code Outputs Section 5-6 Example 4 The M strobe and M code will be cleared if the OPTIONAL END function’s optional input is received while they are being output. X500 M100 X1000 Optional input 3 X-axis operation M strobe M code 5-6-7 Clearing M500 to M999 with Forced Block End or G74 The M strobe and M code outputs for M codes 500 to 999 won’t be output cleared if the program block that outputs the M code is cleared with the Forced Block End...

  • Page 132: Mode Transitions Caused By G Functions

    Mode Transitions Caused by G Functions Section 5-7 Example 6 The M strobe and M code won’t be output if the Optional End function’s optional input is received before they are output, but a previous M code and M strobe won’t be cleared.
  • Page 133 SECTION 6 PC Data Area Interface This section describes the interface area used to exchange information between the PC and MC Unit, such as commands from the PC and status information from the MC Unit. Introduction ............. Allocation of the PC Data Area Interface .
  • Page 134 6-5-34 Word n+8 Bit 09: Data Reception Error Flag ......6-5-35 Word n+8 Bit 10: Flash Memory Write Completion Flag .

  • Page 135: Introduction

    Introduction Section 6-1 Introduction The area used to exchange data (such as commands from the PC, tasks from the MC Unit, and axis status information) between the PC and MC Unit is known as the PC data area interface. MC Unit Execute, Pause, and Continue Programs Internal processing...

  • Page 136: Allocation Of The Pc Data Area Interface

    Allocation of the PC Data Area Interface Section 6-2 Allocation of the PC Data Area Interface 6-2-1 C200H/C200HS PC Interface SYSMAC C200H/C200HS C200H-MC221 IR Area I/O Refresh Data Area IR 100 to IR 119 Unit #0 Wd n Output refresh...

  • Page 137: C200Hx/C200Hg/C200He Pc Interface

    Allocation of the PC Data Area Interface Section 6-2 6-2-2 C200HX/C200HG/C200HE PC Interface SYSMAC C200HX/C200HG/C200HE C200H-MC221 IR Area I/O Refresh Data Area IR 100 to IR 119 Unit #0 Wd n Output refresh IR 110 to IR 129 Unit #1...

  • Page 138: Controlling The Mc Unit From The Pc

    Controlling the MC Unit from the PC Section 6-3 Each MC Unit uses two words as a Fixed DM Area (i.e., an initial setting area) between DM 1000 and DM 2599. If an expansion DM area is effective, the area occupies 23 words except from DM 1000 to DM 2599.

  • Page 139: Automatic Mode

    Controlling the MC Unit from the PC Section 6-3 Command Priority When more than one command is executed at the same time, the commands will be processed in the following order. 1, 2, 3... 1. Deceleration Stop 2. Origin Search 3.

  • Page 140: Sample Ladder Program

    Controlling the MC Unit from the PC Section 6-3 6-3-3 Sample Ladder Program The following sample program incorporates the procedure to execute the MC program. This program is the minimum required to execute the MC program. Add the program elements needed for your actual application. (Specifies automatic mode.)

  • Page 141: Interface Bits

    Interface Bits Section 6-4 Memory Run Completed Flag The Memory Run Completed Flag goes ON when the MC program is completed. The Memory Run Flag will go OFF when this bit is turned ON, even if the Cycle Start Bit remains ON. Cycle Start Bit Memory Run Flag Memory Run Completed Flag...
  • Page 142 Interface Bits Section 6-4 Output Word Description 00 to 15 Specification of expansion data area (16-bit binary) Meaning 0000 The expansion data area is not used. 000D Sets the expansion data area in the DM area. 000E Sets the expansion data area in the EM area.

  • Page 143: I/O Refresh Area

    Interface Bits Section 6-4 6-4-2 I/O Refresh Area Refer to the following table for the I/O refresh area. IR Bits Output Word Description Page 00 to 15 Task 1 program numbers 0000 to 0999 (4-digit BCD) Specifies program numbers executed in automatic mode. If the Control Reception Bit is turned ON, a program number is read at the rising edge of the cycle start to execute the program.
  • Page 144 Interface Bits Section 6-4 Word Description Page Control Bits Not used for Task 2 T k 2 Automatic/Manual Mode ↑ Any axes operating in manual mode will decelerate to a stop. Automatic mode ↑ When the MC program is being executed, it will be stopped and any operating axes will decelerate to a stop.
  • Page 145 Interface Bits Section 6-4 Word Description Page X-axis Deceleration Stop ↑ Deceleration Stop Control Bits l Bi Prevents other manual commands. Origin Search ↑ Starts the origin search. Continues the origin search. Stops the origin search. ↓ Reference Origin Return ↑...
  • Page 146 Interface Bits Section 6-4 Word Description Page Y-axis Deceleration Stop ↑ Deceleration Stop Control Bits l Bi Prevents other manual commands. Origin Search ↑ Starts the origin search. Continues the origin search. Stops the origin search. ↓ Reference Origin Return ↑...
  • Page 147 Interface Bits Section 6-4 Input Word Description Page 00 to 04 Error Type Data When an error results, an error output indicating the error type will be turned ON and will remain valid until the error is corrected. Bits Error Remarks Normal OFF while an error is resulting.
  • Page 148 Interface Bits Section 6-4 Word Description Page n+11 Task 1 Task Error Flag A task error occurred. Status Normal Flags Flags Not used Automatic Mode Flag The Unit is in automatic mode. Mode other than the above. Manual Mode Flag The Unit is in manual mode.
  • Page 149 Interface Bits Section 6-4 Word Description Page n+13 Task 2 Task Error Flag A task error occurred. Status Normal Flags Flags Not used Automatic Mode Flag The Unit is in automatic mode. Mode other than the above. Manual Mode Flag The Unit is in manual mode.
  • Page 150 Interface Bits Section 6-4 Word Description Page n+16 X-axis Reference Origin Within the in-position range of the Status S a s reference origin. Flags Outside the in-position range of the reference origin. Busy Flag A manual command is being executed. Other than the above.
  • Page 151 Interface Bits Section 6-4 Word Description Page n+19 Y-axis Reference Origin Within the in-position range of the Status S a s reference origin. Flags Outside the in-position range of the reference origin. Busy Flag A manual command is being executed. Other than the above.

  • Page 152: Expansion Data Area

    Interface Bits Section 6-4 6-4-3 Expansion Data Area Refer to the following for the expansion data area. Expansion Data Area Allocation Output Word Description Page 00 to 15 No. of data transmission words (4-digit BCD) 00 to 15 Transmission data source word (4-digit BCD) 00 to 15 Transmission data destination address (4-digit BCD) 00 to 15...
  • Page 153 Interface Bits Section 6-4 Word Description Page I+10 00 to 15 Task 1 teaching start address 0000 to 1999 (4-digit BCD) When using the teaching address set function at bit 08 of word n+1, specify the teaching start address in this area.

  • Page 154: Interface Bit Specifics

    Interface Bit Specifics Section 6-5 Word Description Page I+19 00 to 15 Task 1 teaching execution address 0000 to 1999 (4-digit BCD) When the teaching address function at bit 09 of word n+1 is executed with task 1, the first address of the position data will be output.

  • Page 155: Word N+1 Bit 02: Cycle Start Bit (Task 1)

    Interface Bit Specifics Section 6-5 Signal The automatic/manual mode bit settings have the following functions. Signal Function ↑ (OFF-to-ON) If any axes are operating in manual mode, they will be decelerated to a stop. Automatic mode ↓ (ON-to-OFF) If the MC program is being executed, it will be stopped and any operating axes will be decelerated to a stop.
  • Page 156 Interface Bit Specifics Section 6-5 Timing Chart Normal Operation: ON: Continue OFF: Stop Cycle Start BIt (n+1 bit 02) Program number (n) Program Number Read Bit (n+1 bit 07) P001 execution P002 execution Program execution Pass Operation: The Cycle Start Bit is OFF, so execution is stopped after N005 is completed.

  • Page 157: Word N+1 Bit 03: Single Block Bit (Task 1)

    Interface Bit Specifics Section 6-5 2. Programs can be continued even after the following operations. Before continuing the program operation, be sure to confirm that existing conditions will not cause any problem. If continuous program operation causes a problem, do not continue running the program; instead create a ladder program will execute the program from the beginning.

  • Page 158: Word N+1 Bit 04: Forced Block End Bit (Task 1)

    Interface Bit Specifics Section 6-5 Program Example Single Block (Single condition Block.) n+11 09 Auxiliary Area Bit DIFU(13) Cycle Start Received Flag n+1 03 Auxiliary Area Bit DIFU(13) Single Block Bit Auxiliary Area Bit DIFU(13) Start condition n+16 02 n+19 02 (Auxiliary Area Bit) X-axis Servo Y-axis Servo...

  • Page 159: Word N+1 Bit 05: Pause Bit (Task 1)

    Interface Bit Specifics Section 6-5 Timing Chart Forced Block End BIt (n+1 bit 04) Cycle Start BIt (n+1 bit 02) Program execution Program Example Auxiliary Area Bit DIFU(13) Forced Block End condition n+11 04 (Ends the block) Memory Run Flag n+1 04 Forced Block End Bit...

  • Page 160: Word N+1 Bit 06: M Code Reset Bit (Task 1)

    Interface Bit Specifics Section 6-5 Timing Chart Cycle Start BIt (n+1 bit 02) Pause BIt (n+1 bit 05) Program execution The Cycle Start Bit has no effect because the Pause Bit is ON. Program Example DIFU(13) Auxiliary Area Bit Reset condition n+11 04 (Resets the M code.
  • Page 161 Interface Bit Specifics Section 6-5 Timing Chart 1 M Code Reset Bit (n+1 bit 06) 20 ms min. Program execution N003 G00 X00 M Code (n+10) M Strobe (n+11 bit 08) Program Example 1 DIFU(13) Auxiliary Area Bit Reset condition n+11 08 M Strobe (Resets the M code.

  • Page 162: Word N+1 Bit 07: Program Number Read Bit (Task 1)

    Interface Bit Specifics Section 6-5 6-5-7 Word n+1 Bit 07: Program Number Read Bit (Task 1) This bit specifies the number of the MC program that will be executed; it is valid only when the mode is set to automatic mode. The status of this bit is referenced when the Cycle Start Bit goes ON.

  • Page 163: Word N+1 Bit 10: Teaching Type Bit (Task 1)

    Interface Bit Specifics Section 6-5 When this bit is turned ON, the current position is read in order as position data then the axes that are being managed in the task and the teaching addresses that are output to DM are incremented. Keep this bit ON until the Teaching Com- pleted Flag goes ON.

  • Page 164: Word N+1 Bit 11: Transmission Control Bit (All Tasks)

    Interface Bit Specifics Section 6-5 Example Operation In this example, the X-axis is moved to X100, so the X target position (the com- mand’s current position) is 100. Actually, a servo is used and a varying deviation from 100 develops. The actual current position from the encoder reflects this deviation.

  • Page 165: Word N+1 Bit 12: Reception Control Bit (All Tasks)

    Interface Bit Specifics Section 6-5 6-5-12 Word n+1 Bit 12: Reception Control Bit (All Tasks) This bit is used to read data from the MC Unit. The completion of data reading from the MC Unit can be confirmed with the Reception Completed Flag.

  • Page 166: Word N+1 Bit 14: Error Reset Bit (All Tasks)

    Interface Bit Specifics Section 6-5 Timing Chart Flash Memory Write Bit (n+1 bit 13) 2 s min. 20 ms min. Flash Memory Write Completed Flag (n+8 bit 10) Program Example Work bit DIFU(13) Execution condition n+8 10 (Flash Flash Memory Write Memory Completed Flag Write Bit)

  • Page 167: Word N+1 Bit 15: Expansion Data Read Bit (All Tasks)

    Interface Bit Specifics Section 6-5 Program Example AR area bit DIFU(13) Execution condition n+8 14 (Error reset) Error Flag n+1 14 Error reset 6-5-15 Word n+1 Bit 15: Expansion Data Read Bit (All Tasks) The IN refresh of the expansion data area will be refreshed when this bit and Expansion Data Read Completed Flag are ON.

  • Page 168: Word N+5 Bit 00: Deceleration Stop Bit (X-Axis)

    Interface Bit Specifics Section 6-5 Program Example Output condition (Optional input+3 bit 11 to bit 15) 6-5-17 Word n+5 Bit 00: Deceleration Stop Bit (X-axis) This bit is used to stop the X-axis’ operation when one of the following manual commands is being executed: Origin Search, Origin Return, Jogging, or MPG Operation.

  • Page 169: Word N+5 Bit 01: Origin Search Bit (X-Axis)

    Interface Bit Specifics Section 6-5 6-5-18 Word n+5 Bit 01: Origin Search Bit (X-axis) This bit is used to perform a manual origin search. The origin search begins when the Origin Search Bit goes from OFF to ON (up-differentiation). Overrides are ignored in manual origin searches.

  • Page 170: Word N+5 Bit 02: Reference Origin Return Bit (X-Axis)

    Interface Bit Specifics Section 6-5 Program Example 2 The following example is for absolute operation. Auxiliary DIFU(13) Area Bit Origin Search condition n+11 03 n+16 02 n+11 00 n+16 00 (Starts the Reference Manual Servo Lock Task origin origin Mode Flag ON Flag Error Flag...

  • Page 171: Word N+5 Bit 03: Jogging Bit (X-Axis)

    Interface Bit Specifics Section 6-5 Program Example Auxiliary DIFU(13) Area Bit Reference Origin Return condition n+16 00 n+11 03 n+16 02 n+11 00 (Starts the ori- gin return.) Reference Manual Servo Lock Task Origin Flag Mode Flag ON Flag Error Flag n+5 02 Reference Origin...

  • Page 172: Word N+5 Bit 13: Jog Direction Bit (X-Axis)

    Interface Bit Specifics Section 6-5 6-5-21 Word n+5 Bit 13: Jog Direction Bit (X-axis) This bit determines which direction the axis will be moved in jog operation; it is used together with the Jogging Bit. The status of the Jog Direction Bit is read when the Jogging Bit is turned ON and has the following meaning.

  • Page 173: Word N+5 Bit 06: Abs Initialization Bit (X-Axis)

    Interface Bit Specifics Section 6-5 Program Example Auxiliary DIFU(13) Area Bit Preset condition n+16 01 n+11 03 n+11 00 Preset the current Busy Flag Manual Task position in the Mode Error expansion data Flag Flag area (I+6 and I+7). n+5 05 Current Position Preset Bit (Preset the...

  • Page 174: Word N+5 Bit 07: Abs Soft Reset Bit (X-Axis)

    Interface Bit Specifics Section 6-5 Program Example Auxiliary DIFU(13) Area Bit ABS initialization condition n+16 02 n+16 01 n+11 03 n+11 00 (ABS Busy Flag Manual Servo Task initialization) Mode Lock Error Flag Flag Flag n+5 06 ABS Initialization Bit 6-5-24 Word n+5 Bit 07: ABS Soft Reset Bit (X-axis) This bit corrects absolute data through software and sets the current value to zero.

  • Page 175: Word N+5 Bit 08: Enable Mpg Bit (X-Axis)

    Interface Bit Specifics Section 6-5 6-5-25 Word n+5 Bit 08: Enable MPG Bit (X-axis) This bit is used to start MPG operation; it is valid only when the mode is set to manual mode. As long as this bit is ON, the command will reference the MPG Ratio Specifiers (n+5 bits 14 and 15), read the input pulses from the MPG, multi- ply them by the MPG ratio, and perform MPG operation.

  • Page 176: Word N+5 Bits 14 And 15: Mpg Ratio Specifiers 1 And 2 (X-Axis)

    Interface Bit Specifics Section 6-5 6-5-26 Word n+5 Bits 14 and 15: MPG Ratio Specifiers 1 and 2 (X-axis) These bits are used to specify which MPG ratio used in MPG operation; they are valid only when the mode is set to manual mode. The status of these bits is checked continuously during MPG operation.

  • Page 177: Word N+5 Bit 10: Servo Free Bit (X-Axis)

    Interface Bit Specifics Section 6-5 Program Example Auxiliary DIFU(13) Area Bit Servo lock condition n+16 01 n+11 03 n+11 00 (Applies the servo lock.) Busy Flag Manual Task Mode Flag Error Flag n+5 09 Servo Lock Bit 6-5-28 Word n+5 Bit 10: Servo Free Bit (X-axis) When this bit is turned ON, the Run Command Output to the servodriver is cleared and the position loop is cleared.

  • Page 178: Word N+5 Bit 12: Override Setting Bit (X-Axis)

    Interface Bit Specifics Section 6-5 The Driver Alarm Reset Bits for the Y axes (bit 11 in word n+7) operate in the same way. Signal The Driver Alarm Reset Bit settings have the following functions. Signal Function 1 (ON) Turns ON the Driver Alarm Reset Output. 0 (OFF) Turns OFF the Driver Alarm Reset Output.

  • Page 179: Word N+8 Bit 06: Transmission Completion Flag

    Interface Bit Specifics Section 6-5 Signal The Driver Alarm Reset Bit settings have the following functions. Signal Function 1 (ON) The override data is valid. 0 (OFF) The override data is invalid. Timing Chart Jogging Bit (n+5 bit 03) Jog Direction Bit (n+5 bit 13) Override Setting Bit (n+5 bit 12)

  • Page 180: Word N+8 Bit 08: Reception Completion Flag

    Interface Bit Specifics Section 6-5 • The source word exceeds the upper limit of the data memory. • The destination address is not in the acceptable range. • The number of transfer words is not within 3 to 6,000 in three-word blocks for position data and two-word blocks for other data.

  • Page 181: Word N+8 Bit 09: Data Reception Error Flag

    Interface Bit Specifics Section 6-5 No data can be received when this flag is ON. Signal The Reception Completion Flag settings have the following meanings. Signal Function ↑ Data has been received. ↓ No data is being received. Note Refer to 6-5-12 Word n+1 Bit 12: Reception Control Bit. 6-5-34 Word n+8 Bit 09: Data Reception Error Flag This flag will be turned ON when one of the following errors results during data reception.

  • Page 182: Word N+8 Bit 10: Flash Memory Write Completion Flag

    Interface Bit Specifics Section 6-5 6-5-35 Word n+8 Bit 10: Flash Memory Write Completion Flag This flag is turned ON when data is written to the flash memory normally. This flag is used for the timing to turn the Flash Memory Write Bit ON. This bit will not turn OFF until the Flash Memory Write Bit is turned OFF.

  • Page 183: Word N+8 Bit 14: Error Flag

    Interface Bit Specifics Section 6-5 • The expansion data area is not set to 0, D, or E. • The first word of the expansion data area is not BCD or exceeds the upper limit of the data memory. The MC Unit can, however, operate without using the expansion data area even if this flag is ON.

  • Page 184: Word N+11 Bit 00: Task Error Flag (Task 1)

    Interface Bit Specifics Section 6-5 Signal The Expansion Data Read Completion Flag settings have the following mean- ings. Signal Meaning The expansion data is not refreshed. The expansion data is refreshed. Note Refer to 6-5-15 Word n+1 Bit 15: Expansion Data Read Bit. 6-5-41 Word n+11 Bit 00: Task Error Flag (Task 1) This bit is turned ON when one of the following error results.

  • Page 185: Word N+11 Bit 03: Manual Mode Flag (Task 1)

    Interface Bit Specifics Section 6-5 6-5-43 Word n+11 Bit 03: Manual Mode Flag (Task 1) This flag indicates that the task is in manual mode. Always make sure that this flag is ON when executing commands that are valid only in manual mode. Those commands will be ignored if this flag is OFF.

  • Page 186: Word N+11 Bit 06: Optional Input Standby Flag (Task 1)

    Interface Bit Specifics Section 6-5 Timing Chart Block execution Memory Run Flag (n+11 bit 04) Memory Run Completed Flag (n+11 bit 05) Cycle Start Bit (n+1 bit 02) 6-5-46 Word n+11 Bit 06: Optional Input Standby Flag (Task 1) This flag indicates whether a G-code function that waits for an optional input is being executed.

  • Page 187: Word N+11 Bit 08: M Strobe Flag (Task 1)

    Interface Bit Specifics Section 6-5 6-5-48 Word n+11 Bit 08: M Strobe Flag (Task 1) This flag indicates whether an M code is being output. The M Strobe Flags for task 2 (bit 08 in word n+13) operate in the same way. Signal The M Strobe Flag settings have the following meanings.

  • Page 188: Word N+11 Bit 12: Teaching Address Setting Completed (Task 1)

    Interface Bit Specifics Section 6-5 Timing Chart Cycle Start Bit (n+1 bit 02) 20 ms min. 20 ms min. Cycle Start Received Flag (n+11 bit 09) Single Block Bit (n+1 bit 03) Program execution 6-5-50 Word n+11 Bit 12: Teaching Address Setting Completed (Task 1) This flag is turned ON when the Teaching Address Set Bit’s processing has been completed.

  • Page 189: Word N+11 Bit 14: Teaching Error Flag (Task 1)

    Interface Bit Specifics Section 6-5 Timing Chart Teaching Bit (n+1 bit 09) Teaching Completed Flag At this point the present values (n+11 bit 13) are read into the MC Unit’s position data memory in order. Teaching Type Bit (n+1 bit 10) Fixed 6-5-52 Word n+11 Bit 14: Teaching Error Flag (Task 1) This flag is turned ON when a teaching error occurs.

  • Page 190: Word N+16 Bit 00: Reference Origin Flag (X-Axis)

    Interface Bit Specifics Section 6-5 Signal The Teaching Address Over Flag settings have the following meanings. Signal Meaning ↑ (OFF-to-ON) Goes ON when the position data address exceeds the range. ↓ (ON-to-OFF) Goes OFF when teaching address setting is completed normally or teaching is completed normally.

  • Page 191: Word N+16 Bit 02: Servo Lock On Flag (X-Axis)

    Interface Bit Specifics Section 6-5 Signal The Busy Flag settings have the following meanings. Signal Meaning ↑ (OFF-to-ON) Goes ON when a command is executed in manual mode. Stays ON while the manual mode command is being processed. ↓ (ON-to-OFF) Goes OFF when the command’s control bit is turned OFF.

  • Page 192: Word N+16 Bit 04: Axis Operating Flag (X-Axis)

    Interface Bit Specifics Section 6-5 The No Origin Flag will be turned ON in the following cases: • The power is turned ON and the machine parameter’s origin search method isn’t set to “set origin at power on.” • Data from the absolute encoder was not read properly for the absolute specifi- cation axis.

  • Page 193: Word N+16 Bit 05: Positioning Completed Flag (X-Axis)

    Interface Bit Specifics Section 6-5 Timing Chart The following example shows a trapezoidal speed output to the motor. Speed command to the motor Speed command Axis Operating Flag (n+16 bit 04) 6-5-59 Word n+16 Bit 05: Positioning Completed Flag (X-axis) This flag is turned ON when the axis reaches its target position in a positioning operation and the axis is within the in position range specified in the system parameters.

  • Page 194: Word N+16 Bit 07: Alarm Input (X-Axis)

    Interface Bit Specifics Section 6-5 Signal The Error Counter Alarm Flag settings have the following meanings. Signal Meaning ON when the error counter exceeds the error warn count. OFF when the error counter is less than the error warn count. 6-5-61 Word n+16 Bit 07: Alarm Input (X-axis) This flag is turned ON when the driver alarm input is ON;...
  • Page 195 Interface Bit Specifics Section 6-5 Timing Chart Enable MPG Bit (n+5 bit 08) 20 ms min. 20 ms min. Busy Flag (n+16 bit 01) MPG pulse input Axis Operating Flag (n+16 bit 04) Positioning Completed Flag (n+16 bit 05) MPG Operation Flag (n+19 bit 15)

  • Page 197: Fixing The Origin

    SECTION 7 Fixing the Origin This section describes how to fix the location of the origin used as a reference point in positioning operations. Introduction ............. Sensors Required for an Origin Search .

  • Page 198: Introduction

    Sensors Required for an Origin Search Section 7-2 Introduction This section will describe methods of origin search for motion control systems using either incremental encoders or absolute encoders. Using Incremental Encoders In motion control systems using incremental encoders, the location of the origin must be fixed after the power is turned ON.

  • Page 199: Origin Search Parameters

    Origin Search Parameters Section 7-3 CW and CCW Limit Switches These switches indicate that the workpiece’s maximum range has been reached when the motor rotates clockwise (CW) or counterclockwise (CCW). Origin Proximity Switch This switch indicates that the axis is near the origin. Encoder’s Z-phase Signal This signal is output when the encoder has rotated one revolution.

  • Page 200: Origin Search Patterns

    Origin Search Patterns Section 7-4 Origin Search Patterns This section provides basic examples of origin search patterns with the Origin Search Method set to Reverse mode or One Direction mode. Operation will vary depending on the position of the workpiece when the origin search is executed. 7-4-1 Basic Origin Search Pattern These origin searches are performed with an origin proximity switch and the ini- tial search direction set to CW.

  • Page 201: Reverse-Mode Origin Searches 1

    Origin Search Patterns Section 7-4 7-4-2 Reverse-mode Origin Searches 1 These origin searches are performed with an origin proximity switch and the ini- tial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Speed (See note) Note When the direction is reversed by a CCW limit switch or CW limit switch during the origin search operation, reverse operation will start after the movement is stopped by the counter pulse.

  • Page 202: Reverse-Mode Origin Searches 2

    Origin Search Patterns Section 7-4 7-4-3 Reverse-mode Origin Searches 2 These origin searches are performed with an origin proximity switch and the ini- tial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Speed...

  • Page 203: Reverse-Mode Origin Searches 3

    Origin Search Patterns Section 7-4 7-4-4 Reverse-mode Origin Searches 3 These origin searches are performed with an origin proximity switch and the ini- tial search direction set to CW. There is no Z-phase input, so all of these searches result in errors. Limit switches Origin proximity switch...

  • Page 204: Reverse-Mode Origin Searches 4

    Origin Search Patterns Section 7-4 7-4-5 Reverse-mode Origin Searches 4 These origin searches are performed without an origin proximity switch and the initial search direction set to CW. Limit switches Z-phase signal Speed...

  • Page 205: One Direction-Mode Origin Searches 1

    Origin Search Patterns Section 7-4 7-4-6 One Direction-mode Origin Searches 1 These origin searches are performed with an origin proximity switch and the ini- tial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Speed Error (No origin proximity signal) Error (Overtravel always ON.) 7-4-7 One Direction-mode Origin Searches 2...

  • Page 206: Overview Of Absolute Encoders

    ON when the Run Command Output to the Servodriver is changed from OFF to ON. Applicable Absolute The following Servomotors are provided with absolute encoders that can be Encoders connected to the MC Unit. OMRON U Series: R88M-UjjjjjS R88M-UjjjjjT...

  • Page 207: Setting Up The Absolute Encoder

    (for two days or more for OMRON U-series Absolute Encoders). At the same time, the MC Unit must be initialized.

  • Page 208: Abs Soft Reset

    ABS Soft Reset Section 7-7 3. Execute initialization. Initialization can be executed either from the data area interface using a lad- der program or by using the Teaching Box. Using a Ladder Program Turn ON the ABS Initialization Bit in manual mode when the Busy Flag is OFF. Leave this bit ON until the Busy Flag turns ON.

  • Page 209: Absolute Encoder Interface Specifications

    Otherwise, the Absolute Encoder Software Reset values will not be stored properly. Absolute Encoder Interface Specifications This section describes the interface specifications used for OMRON U-series Servodrivers with absolute encoder specifications. 12-bit Absolute Encoder A 12-bit absolute encoder outputs data from phase A, phase B, phase Z, and Output Specifications ABS.
  • Page 210 Absolute Encoder Interface Specifications Section 7-8 SEN signal Undefined Phase A Phase B Undefined Initial Serial incremen- Normal incremental pulse data tal pulse Absolute data Undefined Serial data for revolution count Contents of Absolute Data • Serial Data: Indicates how many revolutions the motor shaft has rotated from the reference position (specified at setup).
  • Page 211 Absolute Encoder Interface Specifications Section 7-8 Absolute Data Reception Absolute data is processed in the following sequence. Procedure SEN signal Serial data Initial incremental Incremental pulses pulses Phase A Undefined Undefined Phase B 100 ms max. 120 to 300 ms 10 to 25 ms 25 ms max.

  • Page 213: Teaching

    SECTION 8 Teaching This section describes teaching, which reads each axis’ current position as position data. Introduction ............. The Teaching Function .

  • Page 214: Introduction

    The Teaching Function Section 8-2 Introduction After moving the axes to a desired position, that position can be read to position data addresses as position data. This process is known as teaching. Position Data Area Current position Move Teaching Teaching is performed separately in each task. When the teaching command is executed, the current position data for all of the axes in the task (the axes declared in the Unit Parameter Edit menu) will be read and stored in the speci- fied data addresses in order (X and Y).

  • Page 215: Setting The Teaching Address

    Setting the Teaching Address Section 8-3 Setting the Teaching Address In order to perform teaching with the desired position data address, the teaching address must be set to the corresponding value. This example shows how to set the teaching address from the ladder program. The teaching address is set in the expansion data area.

  • Page 216: Performing Teaching

    Performing Teaching Section 8-4 Performing Teaching Teaching can be performed once the teaching address has been set. When teaching is performed, the X-axis’ current position of 30 is stored in position data address A0100 and the Y-axis’ current position of 40 is stored in position data address A0101.

  • Page 217: Errors

    Errors Section 8-5 Using the Teaching Box After pressing “TEACH” to set the position data address, press “WRITE” and “YES.” Refer to the Teaching Box Operation Manual for details. Errors 8-5-1 Teaching Errors An error will occur and the Teaching Error Flag (n+11 bit 14) will be turned ON in the following cases when performing teaching.
  • Page 218 Errors Section 8-5 Example 2 In this example, the teaching address isn’t greater than 180 when teaching is performed, but it is greater than 180 when the data is to be stored. Data isn’t stored in A0180, either. Teaching address Current position incremented No current position...

  • Page 219: Sample Programs

    SECTION 9 Sample Programs This section provides sample motion control programs written in G language. Refer to 9-10 Executing MC Programs from the Ladder Program for details on executing these programs from the PC’s ladder program. Positioning with PTP Control .

  • Page 220: Positioning With Ptp Control

    Positioning with PTP Control Section 9-1 Positioning with PTP Control This program performs the following 3 positioning operations and then returns to the reference origin. An M code is output when positioning is completed. 1, 2, 3... 1. X100 (Output M code 20.) 2.

  • Page 221: Positioning With Linear Interpolation

    Positioning with Linear Interpolation Section 9-2 Positioning with Linear Interpolation When the optional input goes ON, this program uses linear interpolation to move the X-axis by 300 and the Y-axis by 400 from the current position. This position- ing operation will be repeated (up to 21 times) until position data address A1000 contains 1.

  • Page 222: Positioning With Linear And Circular Interpolation

    Positioning with Linear and Circular Interpolation Section 9-3 Timing Chart Block execution General input 1 Axis movement Positioning with Linear and Circular Interpolation This program uses linear and circular interpolation to move the X and Y axes in the pattern shown in the following diagram. Sample Program N000 P003...

  • Page 223: Indirect Addressing With Registers

    Indirect Addressing with Registers Section 9-4 N005 Moves the axes to (X400, Y400) by circular interpolation in the clockwise direc- tion with a radius of 100. A negative value is specified for the radius, so an arc greater than a semicircle (3/4 circle) is drawn. N006 Ends the program.

  • Page 224: Using The Workpiece Origin Offset

    Using the Workpiece Origin Offset Section 9-5 Using the Workpiece Origin Offset Positioning for the same pattern can be performed any number of times by repeatedly changing the workpiece origin offset and calling the subprogram. Using the coordinate system is useful particularly for the absolute operation. Workpiece coordinates From the reference origin Workpiece coordinates...

  • Page 225: Changing The Interpolation Acceleration Time

    Changing the Interpolation Acceleration Time Section 9-6 P006: N002 Calls subprogram P800. P800: N001 Returns to the workpiece origin. The workpiece coordinate system is selected at this time. M code M10 is output and the Unit waits for the M code reset. P800: N002 through N006 The subprogram’s series of absolute positioning operations is performed by lin- ear interpolation in Pass mode.

  • Page 226: Calculating Position Data

    Calculating Position Data Section 9-7 N008 Ends the program. Timing Charts Speed X-axis Time speed Speed Y-axis Time speed X-axis interpolation acceleration X-axis interpolation acceleration time = 500 ms time = 100 ms Calculating Position Data After initializing the position data, this program moves the axes 10 times while incrementing the X-axis’...
  • Page 227 Calculating Position Data Section 9-7 Sample Program 1 N000 P008 N001 N002 E00=0 N003 A1000=100 N004 A1001=100 N005 XA1000 YA1001 F20 M10 N006 N007 A1000=A1000+20 N008 N005/L9 N009 A1000=100 N010 A1001=A1001+30 N011 E00=E00+1 N012 N005/E0 ! 5 N013 Explanation Block N000 declares the program number and axes being used. N001 Specifies Stop mode.

  • Page 228: Stopping A Program With A General Input

    Stopping a Program with a General Input Section 9-8 Note Register E0 is used as a loop counter in block N012 because loops can’t be nested as shown below. N005 XA1000 YA1001 F20 M10 N008 N004/L10 N012 N004/L5 The loops in the example above won’t operate properly. A subprogram can also be used for nesting, as shown in the following sample program.

  • Page 229: Stopping The Program And Substituting Position Data

    Stopping the Program and Substituting Position Data Section 9-9 Sample Program N000 P009 N001 N002 N003 N004 X200 F100 N005 N001 N006 Explanation Block N000 declares the program number and axes being used. N001 Specifies Stop mode. N002 Stops execution when general input 1 goes ON. (Proceeds to the next block when general input 1 is OFF.) N003 Presets the X-axis’...

  • Page 230: Executing Mc Programs From The Ladder Program

    Executing MC Programs from the Ladder Program Section 9-10 Sample Program N000 P010 N001 N002 N003 X1000 F100 N004 A500=X N005 N006 XA500 N007 N005 N008 Explanation Block N000 declares the program number and axes being used. N001 Specifies Stop mode. N002 Execution of the next block is stopped when general input 2 goes ON.
  • Page 231 Executing MC Programs from the Ladder Program Section 9-10 Sample Ladder Program The following ladder program executes an MC program. (Task 1) (Sets automatic or Automatic/manual manual mode) mode selector Auxiliary DIFU(13) Area Bit Pause button n+11 04 Auxiliary DIFU(13) Area Bit Program Memory...
  • Page 232 Executing MC Programs from the Ladder Program Section 9-10 Timing Chart Automatic/Manual Mode Bit R1 (Pause condition) R2 (Program start condition) R3 (MC program completed) Pause Bit (n+1 bit 05) Execution condition Cycle Start Bit (n+1 bit 02) Memory Run Completed Flag (n+11 bit 05) Memory Run Flag...

  • Page 233: Troubleshooting

    SECTION 10 Troubleshooting This section describes the errors that might occur during operation, their probable causes, and possible remedies. 10-1 Error Indicators ............10-2 System Errors: Error Codes 0001 to 0017 .

  • Page 234: Error Indicators

    Error Indicators Section 10-1 10-1 Error Indicators The error indicators are located on the front of MC Unit, as shown in the following diagram. MC221 X CCW X CW Y CCW Y CW XCCW XCW YCCW YCW Error Error Processing Watchdog timer The MC Unit’s watchdog timer has timed out.

  • Page 235: System Errors: Error Codes 0001 To 0017

    System Errors: Error Codes 0001 to 0017 Section 10-2 10-2 System Errors: Error Codes 0001 to 0017 An error code will be output to word I+12 of the expansion data area when a sys- tem error results. When a system error occurs, the Error Flag of the interface bit (word n+8 bit 14) will be turned ON and an error code will be output in 4-digit BCD to word I+12.

  • Page 236: Task Errors: Error Codes 0020 To 0045

    Task Errors: Error Codes 0020 to 0045 Section 10-3 Code Error Error Processing 0014 IORD syntax error One of the following errors occurred when the IORD instruction was executed (IORD SYNTAX ERR) with the C200HX, C200HG, or C200HE. The MC address is not within the acceptable range. The MC address is not BCD.
  • Page 237 Task Errors: Error Codes 0020 to 0045 Section 10-3 Code Error Error Processing 0024 Program out of range Attempted to execute the next block of the program, but no block existed. (PROG RANGE OVER) Somehow the program has been destroyed. Download the program again and write it to the flash memory, and then turn the power OFF and ON.
  • Page 238 Task Errors: Error Codes 0020 to 0045 Section 10-3 Code Error Error Processing 0037 Number out of range A numerical value exceeded the acceptable range during execution of G04 (NUM RANGE OVER) (time value), G53 (offset value), G54 (preset value), G69 (parameter value), or G70 (number of loops) function.

  • Page 239: Axis Errors: Error Codes 0060 To 0088

    Axis Errors: Error Codes 0060 to 0088 Section 10-4 10-4 Axis Errors: Error Codes 0060 to 0088 An error code will be output to words I+15 to I+16 of the expansion data area when an X or Y-axis error results. When a error occurs in the X or Y axis, the error code will be output to word I+15 or I+16 respectively.
  • Page 240 Axis Errors: Error Codes 0060 to 0088 Section 10-4 Code Error Error Processing 0069 Origin point not confirmed Attempted to execute an axis movement command even though the location of (ORIG NOT ESTABLI) the origin hadn’t been fixed. When using an incremental encoder, perform an origin search. When using an absolute encoder, perform a servo lock and fix the origin.
  • Page 241 Axis Errors: Error Codes 0060 to 0088 Section 10-4 Code Error Error Processing 0081 ABS soft reset range over The current position data exceeded the range from –32767 to +32767 pulses. (ABS SFT RSET OVR) Shift the current position to a position within ±32767 pulses and try again. 0082 Origin proximity &...

  • Page 243: Maintenance And Inspection

    SECTION 11 Maintenance and Inspection This section describes the maintenance and inspection necessary to ensure proper operation of the MC Unit. Routine Inspections ............

  • Page 244: Routine Inspections

    Routine Inspections Section 11 Routine Inspections In order for your MC Unit to continue operating at optimum condition, periodic inspections are necessary. The main components of the Unit are semiconduc- tors and have a long service life, but depending on the operating environment, there may be more or less deterioration of these and other parts.

  • Page 245: A Control Bit/Flag Timing Charts

    Appendix A Control Bit/Flag Timing Charts This appendix provides timing charts that show the operation of control bits and flags when the MC Unit is operated in manual or automatic mode. The following table lists the timing charts. Timing Chart(s) Control Bit(s) and Flag(s) Page Automatic/Manual Mode Bit, Cycle Start Bit, and Jogging Bit...
  • Page 246 Control Bit/Flag Timing Charts Appendix A 2. Cycle Start Bit and Pause Bit Cycle Start Bit Pause Bit Operation Even though the Cycle Start Bit is turned ON, MC program execution isn’t started because the Pause Bit is ON. Program execution will begin if the Pause Bit is turned OFF and the Cycle Start Bit is turned OFF and then ON again.
  • Page 247 Control Bit/Flag Timing Charts Appendix A 6. Cycle Start Bit and Forced Block End Bit Cycle Start Bit Forced Block End Bit Operation The Forced Block End Bit is turned ON at the end of block N002, but the down-differentiation of the Cycle Start Bit takes precedence, so the Forced Block End Bit is ignored.
  • Page 248 Control Bit/Flag Timing Charts Appendix A 10. Cycle Start Bit, Forced Block End Bit, and Pause Bit Cycle Start Bit Forced Block End Bit Pause Bit Operation The Pause Bit is ON before the Cycle Start Bit is turned ON, so MC program execution isn’t started. The Forced Block End Bit is turned ON at the same time as the Cycle Start Bit, but the Pause Bit is already ON and the Forced Block End Bit has no effect.
  • Page 249 Control Bit/Flag Timing Charts Appendix A 13. Automatic/Manual Mode Bit, Cycle Start Bit, and Pause Bit Automatic/Manual Mode Bit Cycle Start Bit Pause Bit Operation Program execution is stopped when the Automatic/Manual Mode Bit is turned OFF. The Unit is in manual mode, so the Pause Bit is ignored.
  • Page 250 Control Bit/Flag Timing Charts Appendix A 16. Automatic/Manual Mode Bit, Cycle Start Bit, and Forced Block End Bit Automatic/Manual Mode Bit Cycle Start Bit Forced Block End Bit Operation Program execution is stopped by the Forced Block End Bit. The Unit is switched to manual mode when the Auto- matic/Manual Mode Bit is turned OFF.
  • Page 251 Control Bit/Flag Timing Charts Appendix A 20. Cycle Start Bit, Forced Block End Bit, M Code Reset Bit, and M Code Output Cycle Start Bit Forced Block End Bit M Code Reset Bit M Code Operation The Forced Block End Bit takes precedence and stops program execution when the Forced Block End Bit and the M Code Reset BIt are turned ON at the same time.
  • Page 252 Control Bit/Flag Timing Charts Appendix A 23. Cycle Start Bit, Pause Bit, M Code Reset Bit, and M Code Output Cycle Start Bit Pause Bit M Code Reset Bit M Code Operation The program is paused when the Pause Bit is turned ON, but the M code isn’t cleared. M code M10 isn’t cleared by the M Code Reset Bit because program execution is paused.
  • Page 253 Control Bit/Flag Timing Charts Appendix A 26. Cycle Start Bit, Forced Block End Bit, Task Error Flag, and Task Error Reset Bit Cycle Start Bit Forced Block End Bit Task Error Flag Task Error Reset Bit Operation Operation is stopped with the Forced Block End Bit and then a task error occurs. Correct the cause of the error, clear the error by turning ON the Task Error Reset Bit, and restart the program by toggling the Cycle Start Bit.
  • Page 254 Control Bit/Flag Timing Charts Appendix A 29. Origin Search Bit, Busy Flag, and Automatic/Manual Mode Bit Origin Search Bit Busy Flag Automatic/Manual Mode Bit Origin search operation Operation The manual mode origin search is stopped when the Automatic/Manual Mode Bit is turned ON. All axes in the task are stopped and the Unit enters automatic mode.
  • Page 255 Control Bit/Flag Timing Charts Appendix A 32. Cycle Start Bit and Optional Input Cycle Start Bit Optional Input Operation Program execution starts when the Cycle Start Bit is turned ON. The next block after the OPTIONAL SKIP function (G75) is skipped because the optional input is ON. 33.
  • Page 256 Control Bit/Flag Timing Charts Appendix A The OPTIONAL PROGRAM STOP function (G76) is cancelled by the Forced Block End Bit. The optional input is turned OFF at the same time, but this is ignored and program execution is stopped. 36. Forced Block End Bit and Optional Input Forced Block End Bit Optional Input Operation...
  • Page 257 Control Bit/Flag Timing Charts Appendix A The G00 positioning operation is stopped by turning ON the Pause Bit in the block after the OPTIONAL END func- tion (G74). The optional input is ignored even if it goes OFF at the same time. (The program isn’t ended.) Execution of function G00 is continued when the program is restarted.

  • Page 259: B Additional Origin Search Patterns

    Appendix B Additional Origin Search Patterns This appendix provides additional examples of origin search patterns with the Origin Search Method set to Reverse mode or One Direction mode. Operation will vary depending on the position of the workpiece when the origin search is executed.
  • Page 260 Additional Origin Search Patterns Appendix B Reverse-mode Origin Searches 2 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Speed...
  • Page 261 Additional Origin Search Patterns Appendix B Reverse-mode Origin Searches 3 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Error (No origin signal) Speed Error (No origin signal) Error (No origin signal) Error (No origin proximity signal)
  • Page 262 Additional Origin Search Patterns Appendix B Reverse-mode Origin Searches 4 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Error (No origin signal) Speed Error (No origin signal) Error (No origin signal) Error (No origin proximity signal)
  • Page 263 Additional Origin Search Patterns Appendix B Reverse-mode Origin Searches 5 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Error (No origin signal) Speed Error (No origin signal) Error (No origin signal) Error (No origin proximity signal)
  • Page 264 Additional Origin Search Patterns Appendix B Reverse-mode Origin Searches 6 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Error (No origin signal) Speed Error (No origin signal) Error (No origin signal) Error (No origin proximity signal)
  • Page 265 Additional Origin Search Patterns Appendix B Reverse-mode Origin Searches 7 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Speed Error (No origin proximity signal) Error (No origin proximity signal) Error (No origin proximity signal) Error (No origin proximity signal)
  • Page 266 Additional Origin Search Patterns Appendix B Reverse-mode Origin Searches 8 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Error (No origin signal) Speed Error (No origin signal) Error (No origin proximity signal) Error (No origin proximity signal)
  • Page 267 Additional Origin Search Patterns Appendix B Reverse-mode Origin Searches 9 These origin searches are performed with an origin proximity switch and the initial search direction set to CW, but no Z-phase signal. Limit switches Origin proximity switch Z-phase signal Error (Origin proximity and overtravel simultaneously ON.) Speed...
  • Page 268 Additional Origin Search Patterns Appendix B Reverse-mode Origin Searches 10 These origin searches are performed with an origin proximity switch and the initial search direction set to CW, but no Z-phase signal. Limit switches Origin proximity switch Z-phase signal Error (No origin proximity signal) Speed Error (No origin proximity signal) Error (No origin proximity signal)
  • Page 269 Additional Origin Search Patterns Appendix B Reverse-mode Origin Searches 11 These origin searches are performed with an origin proximity switch and the initial search direction set to CW, but no Z-phase signal. Limit switches Origin proximity switch Z-phase signal Error (No origin proximity signal) Speed Error (No origin proximity signal) Error (No origin proximity signal)
  • Page 270 Additional Origin Search Patterns Appendix B Reverse-mode Origin Searches 12 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Error (No origin proximity signal) Speed Error (No origin proximity signal) Error (No origin proximity signal)
  • Page 271 Additional Origin Search Patterns Appendix B The following error can occur if the CCW limit switch signal is too close to the origin proximity signal. Limit switches Origin proximity switch Z-phase signal Error (Origin proximity reverse error) Speed Reverse-mode Origin Searches 13 These origin searches are performed without an origin proximity switch and the initial search direction set to CW.
  • Page 272 Additional Origin Search Patterns Appendix B One Direction-mode Origin Searches 1 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Speed Error (No origin proximity signal) Error (Overtravel always ON.)
  • Page 273 Additional Origin Search Patterns Appendix B One Direction-mode Origin Searches 2 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Speed Error (No origin proximity signal) Error (Overtravel always ON.)
  • Page 274 Additional Origin Search Patterns Appendix B One Direction-mode Origin Searches 3 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Error (No origin signal) Speed Error (No origin signal) Error (No origin signal)
  • Page 275 Additional Origin Search Patterns Appendix B One Direction-mode Origin Searches 4 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Error (No origin signal) Speed Error (No origin signal) Error (No origin signal)
  • Page 276 Additional Origin Search Patterns Appendix B One Direction-mode Origin Searches 5 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Error (No origin signal) Speed Error (No origin signal) Error (No origin signal)
  • Page 277 Additional Origin Search Patterns Appendix B One Direction-mode Origin Searches 6 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Error (No origin signal) Speed Error (No origin signal) Error (No origin signal)
  • Page 278 Additional Origin Search Patterns Appendix B One Direction-mode Origin Searches 7 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Speed Error (No origin proximity signal) Error (No origin proximity signal) Error...
  • Page 279 Additional Origin Search Patterns Appendix B One Direction-mode Origin Searches 8 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Error (No origin signal) Speed Error (No origin signal) Error...
  • Page 280 Additional Origin Search Patterns Appendix B One Direction-mode Origin Searches 9 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. No input for the Z phase. Limit switches Origin proximity switch Z-phase signal Error (Origin proximity and overtravel...
  • Page 281 Additional Origin Search Patterns Appendix B One Direction-mode Origin Searches 10 These origin searches are performed with an origin proximity switch and the initial search direction set to CW, but no Z-phase signal. Limit switches Origin proximity switch Z-phase signal Error (No origin proximity signal) Speed...
  • Page 282 Additional Origin Search Patterns Appendix B One Direction-mode Origin Searches 11 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Error (No origin proximity signal) Speed Error (No origin proximity signal)
  • Page 283 Additional Origin Search Patterns Appendix B One Direction-mode Origin Searches 12 These origin searches are performed with an origin proximity switch and the initial search direction set to CW. Limit switches Origin proximity switch Z-phase signal Error (No origin proximity signal) Speed Error (No origin proximity signal)
  • Page 284 Additional Origin Search Patterns Appendix B One Direction-mode Origin Searches 13 These origin searches are performed without an origin proximity switch and the initial search direction set to CW. Limit switches Z-phase signal Speed Error (No origin proximity signal) Error (Overtravel always ON.)

  • Page 285: C Mc Program Coding Sheet

    Appendix C MC Program Coding Sheet The following page can be copied for use in coding MC programs. When coding programs, be sure to specify all G codes and operands. These will be necessary when inputting programs.
  • Page 286 MC Program Coding Sheet Appendix C Programmer: Program Number: Date: Page: Block No. G Code Operands Comments...

  • Page 287: D Mc Parameter Settings

    Appendix D MC Parameter Settings Programmer: Program Number: Date: Page: Unit Parameters Parameter Setting Setting Range Number of axes 1 to 2 Number of tasks 1 to 2 Task 1 axes Any combination of X and Y Task 2 axes Memory Parameters Setting Parameter...
  • Page 288 MC Parameter Settings Appendix D Coordinate Parameters Setting Parameter X axis Y axis Reference origin offset Workpiece origin offset...
  • Page 289 MC Parameter Settings Appendix D Programmer: Program Number: Date: Page: Feedrate Parameters Parameter Setting Setting Range X axis Y axis Max. high-speed feed rate 1 to 39,999,999 Max. interpolation feed rate Origin search high speed Origin search low speed Max. jog feed rate Accel./Decel.
  • Page 290 MC Parameter Settings Appendix D Servo Parameters Setting Parameter Setting Range X axis Y axis Error counter warning 0 to 65,000 pulses In position 0 to 999 pulses Position loop gain 5 to 250 (1/s) Position loop FF gain 0 to 100 (%) Backlash compensation 0 to 999 pulses value...

  • Page 291: E Position Data Coding Sheet

    Appendix E Position Data Coding Sheet The following page can be copied to record the data stored in position data addresses.
  • Page 292 Position Data Coding Sheet Appendix E Programmer: Program Number: Date: Page: Address Data Comments Address Data Comments...

  • Page 293: Glossary

    Glossary absolute position A position given in respect to the origin rather than in respect to the present posi- tion. Curves which determine the rate of acceleration to the maximum feed rate and acceleration/deceleration curve the rate of deceleration from the maximum feed rate. auxiliary bit A bit in the Auxiliary Area.
  • Page 294 Glossary CPU Backplane A Backplane used to create a CPU Rack. CPU Rack The main Rack in a building-block PC, the CPU Rack contains the CPU, a Power Supply, and other Units. The CPU Rack, along with the Expansion CPU Rack, provides both an I/O bus and a CPU bus.
  • Page 295 Glossary in position The range within which the system is determined to be at the target position. input The signal coming from an external device into the PC. The term input is often used abstractly or collectively to refer to incoming signals. interpolation The mathematical calculation of missing values based on known values.
  • Page 296 Glossary NO contacts Normally-open contacts. A pair of contacts on a relay that close when the relay is energized. The status of an input or output when a signal is said not to be present. The OFF state is generally represented by a low voltage or by non-conductivity, but can be defined as the opposite of either.
  • Page 297 Glossary such as Programming Consoles, and there are non-dedicated devices, such as a host computer. pulses Discrete signals sent at a certain rate. The Motion Control Unit outputs pulses, each of which designates a certain amount of movement. Such pulses are con- verted to an equivalent control voltage in actual positioning.
  • Page 298 Glossary See watchdog timer. wiring check A check performed automatically at startup to detect wiring problems such as reversed polarity or disconnections. word A unit of data storage in memory that consists of 16 bits. All data areas consists of words. Some data areas can be accessed only by words; others, by either words or bits.

  • Page 299: Index

    Index connections examples encoders, 15 ABS Initialization Bit, 153 X-axis, 9 personal computer, 24 ABS Soft Reset, 188 Teaching Box, 25 ABS Soft Reset Bit, 154 connectors absolute coordinates, 105 attaching, 8, 11 ABSOLUTE SPECIFICATION, G90, 105 interface circuits, 20 addresses pin allocations, 11 position data, specifying, 73...
  • Page 300 Index Error Flag, 163 G75: OPTIONAL SKIP, 103 G76: OPTIONAL PROGRAM PAUSE, 104 Error Reset Bit, 146 G79: PROGRAM END, 105 errors, 214 G90: ABSOLUTE SPECIFICATION, 105 axes, 219 G91: INCREMENTAL SPECIFICATION, 106 indicators, 214 list, 70 system, 215 mode transitions, 112 tasks, 216 G symbols, list, 72 teaching, 197...
  • Page 301 Index Word n+16 Bit 05: Positioning Completed Flag, 173 Word n+16 Bit 06: Error Counter Alarm Flag, 173 Word n+16 Bit 07: Alarm Input, 174 M Code Reset Bit, 140 Word n+16 Bits 08 to 15: Zone Flags, 174 M Code Reset Standby Flag, 166 Word n+19 Bit 15: MPG Operation Flag, 174 Word n+3 Bits 11 to 15: Optional Inputs, 147 M codes, 107, 108...
  • Page 302 Index Origin Search Bit, 149 Programmable Controller. See PCs programs, 208 ORIGIN UNDEFINED, G29, 88 axes, 74 Override Setting Bit, 158 end, 105 executing from ladder programs, 210 format, 74 parameters, 74 pause, 104 program number, 74 parameters, 30, 31, 205 stopping axis, 30 general input, 208...
  • Page 303 Index stopping timing position data, substituting, 209 execution IORD, 67 program IOWR, 62 general input, 208 I/O transfer, 56 substituting position data, 209 timing charts, 225 SUBPROGRAM END, G73, 101 control bits, 225 SUBPROGRAM JUMP, G72, 101 control flags, 225 subprograms transfer time, 56 end, 101...

  • Page 305: 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. W315-E1-03 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.

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