Page 1 Cat. No. W435-E1-05 Programmable Controller SYSMAC CS/CJ-series CS1W-MCH71 CJ1W-MCH71 Motion Control Unit OPERATION MANUAL...
Page 2 CS1W-MCH71 CJ1W-MCH71 Motion Control Unit Operation Manual Revised June 2008...
Page 4 OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
Page 5 We are flattered that you have purchased OMRON SYSMAC CS/CJ-series advanced Motion Control Unit. Motion control Unit CS1W-MCH71/CJ1W-MCH71 (the abbreviation “MC Unit” is in this mean) is a high performance CPU unit of the programmable controller SYSMAC CS/CJ-series that has been produced by OMRON's advanced technology for control and abundant experience.
Page 6 The unit version is given to the right of the lot number on the nameplate of the on Products applicable MC Units, as shown below. MC Unit Product nameplate OMRON CJ1W- MCH71 MC UNIT Unit version Example for unit version 3.1 Lot No. 031001 0000 Ver.3.1 The unit version of the MC Units begins at version 2.0.
Page 7 The system software version in the Motion Con- system software version trol Unit can be checked in the Unit information from the online menus. Corresponds to the unit version Internal system software version CJ1W-MCH71 CS1W-MCH71 Unit Ver. 2.0: 1.05xxxx 1.05xxxx Unit Ver. 2.1: 1.06xxxx Unit Ver. 3.0: 1.07xxxx...
Page 8 Functions Supported by CJ1W-MCH71 Units Version 2.1 or Later Unit version Unit Ver. 2.0 Unit Ver. 2.1 Unit Ver. 3.0 Unit Ver. 3.1 Internal system software version 1.05 1.06 1.07 1.09 MC Unit model CJ1W-MCH71 Functions Reading unit version function Not supported Supported Supported...
Page 9 Functions Supported by CS1W-MCH71 Units Version 2.0 or Later Unit version Pre-Ver. 2.0 Unit Ver. 2.0 Unit Ver. 3.0 Unit Ver. 3.1 Internal system software version 1.00 to 1.04 1.05 1.08 1.09 MC Unit model CS1W-MCH71 Functions Jogging Supported Supported...
Page 10 Guide to Version Upgrades Guide to CJ1W-MCH71 Version Upgrade Function Upgrades from Restarting after Restoration Unit Version 3.0 to 3.1 Previous versions Current version (Unit Ver. 3.0 and earlier) (Unit Ver. 3.1) After data has been restored from the After data has been restored from the CPU Unit's flash memory, the Unit must CPU Unit's flash memory, the Unit is be restarted by cycling the CPU Unit's...
Page 11 Backup and Restore Functions Previous versions Current version (Unit Ver. 3.0 and earlier) (Unit Ver. 3.1) The origin compensation value Origin compensation values can be backed up when an absolute encoder is used even with CX-Motion-MCH version 2.1. For is backed up using the CPU Unit's details, refer to Section 11 Backup and Restore easy backup function.
Page 12 Zones Previous versions Current version (Unit Ver. 2.1 and earlier) (Unit Ver. 3.0) Zones are not supported. A maximum of 32 zone bits are available. Zone bit: A bit that turns ON when any variable is within the set range, and turns OFF when the variable is outside of the range.
Page 13 Setting the Number of Parallel Branches for Each Task Previous versions Current version (Unit Ver. 3.0) (Unit Ver. 2.1 and earlier) The number of branches and the The number of branches and the number of number of commands that can be instructions that can be executed can be set executed are the same for each individually for each task, enabling fine adjust-...
Page 14 Re-execution of WAIT Command Previous versions Current (Unit Ver. 3.0) (Unit Ver. 2.1 and earlier) If the program is stopped while If the program is stopped while WAIT command WAIT command execution is in execution is in effect (i.e., when the deceleration effect (i.e., when the deceleration stop bit is ON) and then re-started by setting the stop bit is ON) and then re-started...
Page 15 Compliance with RoHS Directive Previous versions Current version (Unit Ver. 3.0) (Unit Ver. 2.1 and earlier) Lead was included in the cream solder As shown below, lead is not used. There used to mount chip components, in the is no change in specifications (including flow solder used in assembly, and in outer appearance) resulting from this thread solder.
Page 16 Functions Added in The following table provides a comparison between the functions provided in Version Upgrade the upgrade to unit version 2.1 or later of CJ1W-MCH71 SYSMAC CJ-series Motion Control Units from the previous unit version 2.0. Reading Unit Versions Previous version (Unit Ver.
Page 17 Classification MC Unit Variable Area Area size Previous version Present version (Unit Ver. 2.0) (Unit Ver. 2.1) General I/O A IW0B00 to IW0B9F or OW0B00 to The variable area and addresses 0 to 160 words OW0B9F can be allocated for the following variables.
Page 18 Guide to CS1W-MCH71 Version Upgrade Function Upgrades from Restarting after Restoration Unit Version 3.0 to 3.1 Previous versions Current version (Unit Ver. 3.0 and earlier) (Unit Ver. 3.1) After data has been restored from the After data has been restored from the...
Page 19 Backup and Restore Functions Previous versions Current version (Unit Ver. 3.0 and earlier) (Unit Ver. 3.1) The origin compensation value Origin compensation values can be backed up when an absolute encoder is used even with CX-Motion-MCH version 2.1. For is backed up using the CPU Unit's details, refer to Section 11 Backup and Restore easy backup function.
Page 20 Signed Master Axis MOVELINK Command Previous version Current version (Unit Ver. 2.0) (Unit Ver. 3.0) The main axis input sign is ignored The main axis input sign is evaluated and the and data is read as an absolute data is read as a signed travel distance. travel distance.
Page 21 Main Power Status Previous version Current version (Unit Ver. 2.0) (Unit Ver. 3.0) The main power status (ON/OFF) The main power status (ON/OFF) is written to is written to a system variable. both a system variable and a status bit for each axis.
Page 22 Compliance with RoHS Directive Previous version Current version (Unit Ver. 2.0) (Unit Ver. 3.0) Lead was included in the cream solder As shown below, lead is not used. There used to mount chip components, in the is no change in specifications (including flow solder used in assembly, and in outer appearance) resulting from this thread solder.
Page 23 The following functions can be used with CX-Motion-MCH version 2.0 or higher (available from August 2006). Data Tracing Previous version Current version (Unit Ver. 2.0) (Unit Ver. 3.0) Data tracing is not supported. A data tracing function is provided that can simultaneously collect a maximum of 32 data items.
Page 24 Setting the Number of Parallel Branches for Each Task Previous version Current version (Unit Ver. 2.0) (Unit Ver. 3.0) The number of branches and the The number of branches and the number of number of commands that can be instructions that can be executed can be set executed are the same for each individually for each task, enabling fine adjust- task.
Page 25 Function Improvements Jogging for Unit Version 2.0 Previous versions Current version (Unit Ver. 2.0) The JOG feed direction is set or reversed As shown below, a setting for reverse as follows: operation has been added. • Use the JOG/STEP Direction Bit to •...
Page 26 Latch Status Refresh Time Previous versions Current version (Unit Ver. 2.0 or later) After a LATCH command is executed, the The performance has been improved as time from when the latch signal is input follows:7.5 to 37.5 ms until it is reflected in the system variable (the variable showing latch completion) is 14.5 to 85.5 ms.
Page 27 Deceleration Time during Pass Operation Previous versions Current version (Unit Ver. 2.0 or later) The interpolation feed deceleration time • The interpolation time used during pass is used to decelerate to a stop during operation (the interpolation feed accel- pass operation. eration time or the interpolation feed deceleration time) is used to decelerate Example: Pass Mode Selection, P00M06...
Page 28 Torque to Position Control Switching Previous versions Current version (Unit Ver. 2.0 or later) Switching from torque control to position • Switching from torque control to position control using the TORQUR command is control using the TORQUR command is executed when the axis feedback speed executed by switching to position control reaches 0.
Page 30 TABLE OF CONTENTS PRECAUTIONS ........Intended Audience ............xlii General Precautions .
Page 31: Table Of Contents
TABLE OF CONTENTS SECTION 5 Data Transfer and Storage......211 Data Transfer and Storage ........... IOWR Instruction to Transfer Data .
Page 32 TABLE OF CONTENTS SECTION 10 Program Example ........573 10-1 Program Example .
Page 33 xxxiv...
Page 34 About this Manual: This manual describes the installation and operation of the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units (MC Units) and includes the sections described below. Please read this manual carefully and be sure you understand the information provided before attempting to install or operate the MC Unit.
Page 35 xxxvi...
Page 36 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 37 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 38 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 40 The information contained in this section is important for the safe and reliable application of the CJ1W-MCH71 or CS1W-MCH71 Motion Control Unit. You must read this section and understand the information contained before attempting to set up or operate a CJ1W-MCH71 or CS1W-MCH71 Motion Control Unit.
Page 41 It is extremely important that a PLC and all PLC Units be used for the speci- fied purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying a PLC System to the above-mentioned appli- cations.
Page 42 Safety Precautions Safety Precautions DANGER Never attempt to disassemble any Units while power is being supplied. Doing so may result in serious electronic shock. Never touch any of the terminals while power is being supplied. Doing so may result in serious electronic shock. Provide safety measures in external circuits (i.e., not in the Programmable Controller or MC Unit) to ensure safety in the system if an abnormality occurs due to malfunction of the PLC or MC unit.
Page 43 Application Precautions Application Precautions Observe the following precautions when using the MC Unit or the PLC. • Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning. • Always turn off after power supply to the Unit before attempting any of the following. Not turning OFF the power supply may result in malfunction or electric shock.
Page 44 Operating Environment Precautions • Do not pull on the cables or bend the cables beyond their natural limit. Doing so may break the cables. • Do not turn off the power supply to the Unit while data is being written to flash memory. Doing so may cause problems with flash memory.
Page 45 Concepts EMC Directives OMRON devices that comply with EC Directives also conform to the related EMC standards to that they can be more easily built into other devices or machines. The actual products have been checked for conformity to EMC standards (see the following note). The customer, however, must check whether the products conform to the standard in the system used by the customer.
Page 46: Features And System Configuration
SECTION 1 Features and System Configuration The section introduces the features and system configuration of the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units. It also describes product operating principles and provides product specifications. Features ............
Page 47: Features
Features Section 1-1 Features 1-1-1 Overview The MC Unit is a CS/CJ-series Motion Control Unit that can control thirty axes. An internal motion language programming is mounted, so that it can perform the advanced motion control operations. 1. Position Control •...
Page 48: Features
Section 1-1 Features 1-1-2 Features Simple System • Independent control of multiple axes (Up to 30 physical axes; including Architecture virtual axes total is 32) • Each axis can be set as either a physical or virtual axis. • Additional unit is not required. Easiest Information •...
Page 49: System Configuration
System Configuration Section 1-2 System Configuration 1-2-1 System Configuration Example The MC Unit is adopted a high-speed communication pathway to simplify its wiring. It makes it possible to have up to 30 axes for controls. MCH71 Computer Memory card Max.30 axes (nodes)/total length 50 m W-series SMARTSTEP DI/O...
Page 50: Peripheral Devices (Models And Specifications)
Note MECHATROLINK-related products are manufactured by YASKAWA ELEC- TRIC CORPORATION. We, OMRON, can take orders for them. When ordering them through OMRON, follow OMRON's ordering format. (The delivered products will be of YASKAWA BRAND.) Ask our sales representatives about the price at when ordering them through...
Page 51: Basic Operations
Section 1-3 Basic Operations Basic Operations 1-3-1 Applicable Machines The MC Unit was developed for the purpose of motion control using servomo- tors. Even though it depends on the machine accuracy, use an encoder, which is capable to detect 5-10 times more accurate than the machine accuracy. Applicable machines 1,2,3...
Page 52 Basic Operations Section 1-3 CP Control CP Control is used to position by designing not only the starting point and the target point, but also the path between these two points. Both linear interpola- tion and circular interpolation are possible. Circular interpolation Center Starting...
Page 53: Speed Control
Section 1-3 Basic Operations 1-3-3 Speed Control Make the motor run at a specified speed. It is also possible to specify the speed change rate. Speed Speed change rate Speed command value 1-3-4 Torque Control The designated torque can be generated. It is also possible to specify the torque change rate.
Page 54 Section 1-3 Basic Operations Link operation This function can be used like the link mechanism of a machine. The slave axis synchronizes with the master axis following the specified accel- eration, constant speed, and deceleration areas. (In the diagram below, vertical and horizontal axes indicate speed and time respectively.) Acceleration Constant speed...
Page 55: Other Functions
Section 1-3 Basic Operations Travel Distance The travel distance of the master axis is superimposed on the slave axis. Superimpose This function can be used like the differential gear of a machine. Only this section is Speed superimposed. Master axis (Superimposing axis) Speed...
Page 56: Control System Configuration And Principles
Control System Configuration and Principles Section 1-4 Override (Real-time Speed Changes the speed during PTP, linear interpolation, or circular interpolation Change) operations. Backlash Correction Compensates errors caused by faulty meshing in the mechanical system. Unlimited Feeding Controls axes such as turntables and conveyors that are fed only in one direc- tion unlimitedly.
Page 57: Control System Principles
Performance Specifications 1-5-1 General Specifications Item Specifications Model CJ1W-MCH71 CS1W-MCH71 Power supply voltage 5 VDC (from Backplane) 24 VDC (from external power supply) Voltage fluctuation tolerance 4.5 to 5.5 VDC (from Backplane) 4.75 to 5.25 VDC (from Backplane) 21.6 to 26.4 VDC (from external power supply) Internal current consumption 5 VDC 0.6 A max.
Page 58 For General I/O: 0-1280 words (Depending on setting) Controlled Devices MECHATROLINK-II below supported • W-series Servo Driver with built-in communications functions • W-series Servo Driver (OMRON) + Communications I/F Unit (YASKAWA) • Various I/O units (YASKAWA) • SMARTSTEP Junior Servo Drive Up to 30 nodes * When MECHATROLINK-II devices are connected up to 16 nodes (within 30 m) or 15 nodes (within 50m), a repeater unit is not required.
Page 59 Performance Specifications Section 1-5 Item Specifications Control Servo lock/unlock Executes Servo driver lock or unlock operations Jogging Executes continuous feeding independently for each axis, by means of speed set in based on system parameter x override. commands STEP operation Feeds a specified distance for a specified axis. from the CPU Unit Origin search...
Page 60 Section 1-5 Performance Specifications Item Specifications External I/O For high-speed One port for MECHATROLINK-II servo communica- tion bus Servo encoder Incremental rotary encoder Absolute rotary encoder (Unlimited length ABS supported with some conditions) Deceleration stop input (or servo-OFF stop): 1 pt General input: 2 pts General output: 2 pts External power sup-...
Page 61 Section 1-5 Performance Specifications Item Specifications Saving pro- MC Unit Flash memory backup gram data Zones (supported for unit version The zone bit turns ON when any variable (including feedback present position, feed- 3.0 and later.) back speed, etc.) is within the set range, and OFF when outside of the set range. A maximum of 32 zones can be set.
Page 62 Performance Specifications Section 1-5 Position command decimal point Setting ranges (Setting value for P5AA02) −21474836.48 to 21474836.47 0.01 −2147483.648 to 2147483.647 0.001 −214748.3648 to 214748.3647 0.0001 The actual ranges that can be set may be smaller than those shown above depending on the pulse rate.
Page 63: Command List
Section 1-6 Command List Command List Item Contents Page Operating modes The following 2 modes are provided: Manual Modes: Operation according to commands from CPU Unit PC interface area. Automatic Mode: Operation according to commands in program. Manual mode Jogging Moves axes continuously by manual operation.
Page 64 Section 1-6 Command List Item Contents Page Automatic Positioning (PTP) Execute positioning independently for each axis at the specified speed or the speed set in the system parameters. Positioning with lin- Executes linear interpolation at the specified interpolation feed rate for ear interpolation up to 8 axes simultaneously Positioning with cir-...
Page 65 Section 1-6 Command List Item Contents Page Automatic/ Man- Backlash compensa- Compensates mechanical backlash (mechanical play between driving ual mode tion and driven axes) with the value registered in advance. (This is a func- tion of the servo driver.) Error counter reset Forcibly resets the error counter to 0, and stops axis operation.
Page 66: Performance
Performance Section 1-7 Performance Item Performance data Description Unit cycle Tm = 1, 2, 3, 4, 6, or 8 This is the cycle in which motion tasks are exe- cuted in the MC Unit. The length of this cycle is determined by the number of axes, the number of motion tasks, the use of parallel execution, the number of allocated general-purpose words,...
Page 67 The formula used in this section applies when P00004 bit 09 is 1 for a CJ1W- MCH71 or CS1W-MCH71 Motion Control Unit with unit version 3.0 or later. If the unit version is 2.0 or earlier, or the unit is version 3.0 or later but P00004 bit 09 is 0, the following formula applies.
Page 68 Section 1-7 Performance Adjusting and Matching Determine the combination of the Unit Cycle and Communications Cycle Unit Cycle and using the following table: Communications Cycle The processing cycle time of the MC Unit can be found using the following table and the unit cycle and communications cycle times that have been cal- culated.
Page 69 Performance Section 1-7...
Page 70: Basic Procedures
SECTION 2 Basic Procedures This section provides an overview of the basic procedures required to use the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units. Basic Operation Flow ......... . .
Page 71: Basic Operation Flow
Section 2-1 Basic Operation Flow Basic Operation Flow This Section gives an overview of the procedures required to use a MC Unit. OPR. Operation Flow Reference Setup SECTION 3 Installation and Wiring START 3-2 Installation 3-1 Nomenclature and Functions 3-4 Wiring Install MC Unit Set Unit No.
Page 72 Basic Operation Flow Section 2-1 OPR. Operation Flow Reference Trial OPR SECTION 7 PC Interface Area 7-3 Allocations for the CPU Unit 7-4 Interface Specifics SECTION 8 Establishing the Ori- Use Manual Mode to execute Servo Lock Use Manual Mode to execute Jogging Use Manual Mode to execute Origin Search Switch to the Automatic Mode to start the motion program from PLC and operate the system.
Page 73: Overview Of Cx-Motion-Mch
Section 2-2 Overview of CX-Motion-MCH Overview of CX-Motion-MCH The CX-Motion-MCH is a software package that can be used to set, create, and print various data required to control MC Units (such as system parame- ters, position data, motion task programs, and CAM data), transfer the data to and from the MC Unit, and monitor the operating status of the MC Unit.
Page 74: 2-2-2 Installing And Uninstalling The Software
Section 2-2 Overview of CX-Motion-MCH Group Function Details Online Initial setting Used to setup CPU Unit or MC Unit. Communications Used to make settings for communica- setting tions with the PLC. Download Used to download, compare, or upload system parameters, servo parameters, Upload position data, programs, and CAM Compare...
Page 75: Operation Procedure
Section 2-2 Overview of CX-Motion-MCH CX-One installation and uninstallation procedures. Cat. No. Model Manual name Contents W463 CXONE-AL@@C-EV2 CX-One Ver.2.1 Setup Manual An overview of the CX-One /AL@@D-EV2 FA Integrated Tool Package and the CX-One installation procedure 2-2-3 Operation Procedure The overall procedure for using the CX-Motion-MCH is given below.
Page 76: Installation And Wiring
SECTION 3 Installation and Wiring This section describes the names of Unit parts and how to install and wire the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units. Nomenclature and Functions ........
Page 77: Nomenclature And Functions
Section 3-1 Nomenclature and Functions Nomenclature and Functions 3-1-1 Nomenclature LED Indicators UNIT No. Setting switch MECHATROLINK-II connector T.B connector, SSI connector (Cannot be used) I/O connector LED Indicators Name Color Status Content Green Motion Control Unit is operating normally. (RUN) Not lit Not recognized by PLC, or MC Unit is broken.
Page 78: Area Allocations
Status Normal operation Reserved for shipping inspection by OMRON (Do not set.) Reserved for shipping inspection by OMRON (Do not set.) Reserved for shipping inspection by OMRON (Do not set.) (See ← note.) Note If the power is turned ON under this setting, the MC Unit will be started after various user settings are set beck to their factory default values.
Page 79: Installation
30 m) or 15 nodes (within 50 m), no repeater unit is required. A repeater unit is required to connect MECHATROLINK-II devices more than the cases above. CS1W-MCH71 • When using the IOWR/IORD instructions for the MC Unit, be sure that the CS1@-CPU@@H CPU Unit being used was manufactured on April 18, 2003 (Lot No.
Page 80: Mounting To The Backplane
Section 3-2 Installation • When mounting a relay output unit on the very left of the MC Unit, make sure to use the surge absorber for the relay output line. MC Unit Make sure to use a surge absorber for the contact output of this Relay Output Unit.
Page 81: Unit Handling Precautions
Be sure the sliders are completely locked into place. To separate two Units, slide the sliders to the release position to release the lock. CS1W-MCH71 1,2,3... 1. Hook the top mounting hooks on the base of the Unit on the Backplane.
Page 82: Dimensions
This label prevents wire strands and other foreign matter from entering the Unit during wiring. Remove the label after wiring has been completed to allow air circulation needed for cooling. Remove label after wiring 3-2-4 Dimensions CJ1W-MCH71 Front Side omron omron 90 mm 79.8 mm 65 mm...
Page 83: External I/O Circuitry
Section 3-3 External I/O Circuitry CS1W-MCH71 100.5 External I/O Circuitry 3-3-1 MECHATROLINK-II Connector Item Description Connector name MECHATROLINK-II connector Applicable connector USB connector DUSB-ARA41-T11 (DDK) Mating connector USB connector DUSB-APA41-B1-C50 (DDK) *Including shell. Pin arrangement Signal Description (NC) SRD− Send/Receive Data (−)
Page 84: Wiring Connectors
Section 3-3 External I/O Circuitry Item Classification Component and Maker Pin arrangement Signal Description Signal Description DI_24V DI common DI_24V DI common DI_00 DI input (Decel- DI_01 DI input eration stop) (Reserved) DI_02 DI input 1 DI_03 DI input 2 DO_24V DO_24V DO_COM...
Page 85: I/O Circuits (Cj1W-Mch71 And Cs1W-Mch71 Units Version 3.0 And Later)
Section 3-3 External I/O Circuitry Heat-shrink tube 3-3-4 I/O Circuits (CJ1W-MCH71 and CS1W-MCH71 Units Version 3.0 and Later) Connector Interface • 24VDC Digital Output (2 outputs) Circuits Item Specifications Circuitry Max. Output Cur- 100 mA/24 VDC rent Leakage current 1 mA max.
Page 86: I/O Circuits (Cs1W-Mch71 Unit Version 2.0 And Earlier)
DI_03 680 Ω 2.7 kΩ 24 VDC 0.1 µF 2.7 kΩ DI_24V 3-3-5 I/O Circuits (CS1W-MCH71 Unit Version 2.0 and Earlier) Connector Interface • 24 VDC Digital Output (2 outputs) Circuits Item Specifications Circuitry Max. Output Cur- 100 mA/24 VDC...
Page 87: Wiring
Wiring Section 3-4 • 24 VDC Digital Input Item Specifications Circuitry 24 VDC ±10% Rated Input Volt- Rated Input Cur- 4.06 to 4.48 mA DI_00 1 kΩ 2.7 kΩ (24 VDC) rent ON Voltage 9.5 V min. 0.01 µF OFF Current 4.5 V max.
Page 88: Connecting Mechatrolink Devices
Section 3-5 Connecting MECHATROLINK Devices The connecting cable for the servo driver must be the specified cable with ring core. DC Relay AC Relay Surge-absorbing Surge absorber diode Solenoid Surge absorber Note (1) Connect a surge-absorbing diode or surge absorber close to the relay. Use a surge absorbing diode with a voltage tolerance at least five times greater than the circuit voltage.
Page 89: Method Of Connecting Mechatrolink Devices
Section 3-5 3-5-1 Method of Connecting MECHATROLINK Devices Connection cable To connect MECHATROLINK devices to MC units, use the connecting cables (sold separately) in the table below. Name Model (OMRON) Model (YASKAWA) Length MECHATROLINK-II cable FNY-W6003-A5 JEPMC-W6003-A5 0.5 m (For W-series or SMART-...
Page 90 Section 3-5 Connecting MECHATROLINK Devices Attaching I/F Unit NS115 OMRON R88D-W**** (1) Remove the connector cover of the option connector (CN10) on W-series Servo Driver. (2) Attach NS115. (3) For grounding, connect the ground wire of NS115 to the part indicated as "G"...
Page 91 Section 3-5 Connecting MECHATROLINK Devices Station address setting The station address can be set as shown in the table below using the rotary switch (SW1) and piano switch (SW2 bit 3). The piano switch 3 of SW2 specifies the number of 10s and SW1 specifies the number of units.
Page 92: 24 Vdc I/O Module
Connecting MECHATROLINK Devices Section 3-5 CN1 terminal layout CN1 terminal layout Positioning /COIN- complete output Brake interlock /BK+ output (See note 3.) Brake interlock /BK- output (See note 3.) Servo ready /S-RDY+ output Servo ready /S-RDY- output Servo alarm ALM+ output Servo alarm ALM-...
Page 93 Section 3-5 Connecting MECHATROLINK Devices Transmission settings MECHATROLINK communications can be specified using the DIP switch (SW1). See the table below. Any change of the settings becomes valid after turning OFF the power once, and then ON again. SW2 (Default setting) Name Setting Content...
Page 94 Section 3-5 Connecting MECHATROLINK Devices (IN1 connector) Reserved Reserved 24 VDC DCPWR DCPWR Input 32 Input 31 Input 30 Input 29 Input 28 Input 27 Input 26 Input 25 Input 24 Input 23 Input 22 Input 21 Input 20 Input 19 Input 18 Input 17 Input 16...
Page 95 Section 3-5 Connecting MECHATROLINK Devices (OUT1 connector) DCGND2 DCGND2 24 VDC DCPWR2 DCPWR2 Load Fuse Fuse Load Output 32 Output 31 Output 30 Output 29 Output 28 Output 27 Output 26 Output 25 Output 24 Output 23 Output 22 Output 21 Output 20 Output 19 Output 18...
Page 96: Counter Module, Pulse Output Module
Section 3-5 Connecting MECHATROLINK Devices 3-5-4 Counter Module, Pulse Output Module Communications setting For counter modules and pulse output modules, MECHATROLINK communi- cations can be set using the DIP switches. SW (Default setting) Transmission setting MECHATROLINK communications can be specified using the DIP switches (SW) 6 to 8.
Page 97 Section 3-5 Connecting MECHATROLINK Devices Counter module (PL2900) Circuit Configuration and signal connection Counter module PHA1 2.7 kΩ PHA1+ 180 Ω Counter 1 Counter 1 phase-A 4.7 kΩ External pulse PHA1 latch 4.7 kΩ PHB1 620 Ω 2.7 kΩ Counter 1 external PHB1+ current...
Page 98 Section 3-5 Connecting MECHATROLINK Devices Pulse output module Circuit configuration and signal arrangement (PL2910) Pulse output module CCW1 Overheat input status OVER Excitation timing input status TIMING External power Output current − supply +5 VDC OFF output C-OFF1 5 VDC 0V(5V) Electromagnetic External power supply...
Page 99 Section 3-5 Connecting MECHATROLINK Devices...
Page 100: Mc Unit Internal Data Configuration And Setting
SECTION 4 MC Unit Internal Data Configuration and Setting This section describes the data configuration uses to set up, operate, and monitor the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units and related devices. Data Configuration ..........
Page 101: Data Configuration
Section 4-1 Data Configuration Data Configuration Data Type There are five different types of date for MC Unit. 1,2,3... 1. System parameters Unit parameters Motion task parameters Axis parameters (allocation, speed, position, origin, and machine) 2. Variables System variables Global general variables Input variables Output variables Position data...
Page 102 Section 4-1 Data Configuration Classification IORD/IOWR Control Variables WORD Contents Address System parameter Unit 5000h-501Fh 4096 • System parameters are consisted of unit parameters, task parame- Motion task 5020h-511Fh ters and axis parameters. Reserved 5120h-513Fh • The system information used by Data tracing 5140h-51BFh the MC Unit, such as number of...
Page 103: Data Configuration
Section 4-2 System Parameters 4-1-2 Data Configuration <Support Tool> <CPU Unit> When IORD instruc- When IOWR instruc- When END refresh tion is executed tion is executed At unit Scanning Global gen- Trace data eral variable Position System Servo System Input Output Task Cam data...
Page 104: System Parameters
Section 4-2 System Parameters Parameters Number IORD/IOWR Functions Addresses (See note 3.) Axes Allocations P1AA01-P1AA09 5340h-55B4h Specifies axis type and device to be used for each axis. (See note 2.) Speed P2AA01-P2AA12 55C0h-5837h Specifies max. rapid feed rate and type of acceleration (See note 2.) and deceleration etc.
Page 105 Section 4-2 System Parameters Number Address Name Function Page P00004 5003h Unit function select • Specifies method of specifying the speed in helical cir- cular interpolation under MOVEC command. • Specifies center-positioning method for MOVEC com- mand • Specifies the speed command unit for SPEED com- mand/feedback speed.
Page 106 Section 4-2 System Parameters Address Name Function Page M = 1-8 M = 0-7 P00M06 5025h + Pass mode select Sets the combination of the interpolation Accel/decel time (M * 20h) and Pass mode with fixed acceleration disabled/enabled. P00M07 5026h + Initial modal data 1 Specifies the initial value if ABL/INC specification has (M * 20h)
Page 107 Section 4-2 System Parameters Trace Parameters (Supported for unit version 3.0 and later.) Note Abbreviation in the No. column: T = 1 or 2 (trace group number) Address Name Function Page M = 1-8 M = 0-7 P05T01 Number of trace points and trace data These parameters are used to set trig- ger conditions, numbers of data items to P05T02...
Page 108 Section 4-2 System Parameters Address Name Function Page M = 1-8 M = 0-7 P05T35 Trace item 11: Address P05T36 Trace item 12: Form/type P05T37 Trace item 12 Address P05T38 Trace item 13: Form/type P05T39 Trace item 13 Address P05T40 Trace item 14: Form/type P05T41 Trace item 14 Address...
Page 109 Section 4-2 System Parameters Axis-Speed Parameters Note Abbreviation in the No. column: AA = 1 to 32 (axis number) Abbreviation in the address column: AA = 0 to 31 (axis number − 1) Address Name Function Page AA = 1-32 AA = 0-31 P2AA01 55C0h +...
Page 110 Section 4-2 System Parameters Address Name Function Page AA = 1-32 AA = 0-31 P3AA08 5847h + Reserved (AA * 14h) P3AA09 5848h + Position control Specifies the speed to switch from torque control to posi- (AA * 14h) switching speed tion control or from speed control to position control as a percentage of the rated speed.
Page 111: Data Configuration And Content Of System Parameters
Section 4-2 System Parameters Axis-Machine Parameters Note Abbreviation in the No. column: AA = 1 to 32 (axis number) Abbreviation in the address column: AA = 0 to 31 (axis number − 1) Address Name Function Page AA = 1-32 AA = 0-31 P5AA01 5D40h +...
Page 112 Section 4-2 System Parameters In the setting range and initial value columns, the upper value is in hexadeci- mal while the lower value in parenthesis is in decimal. Unit Parameters Address in MC Name Type Unit Immediate Unit updating P00001 5000h No.
Page 113 Communications cycle support Specifies the communications cycle. Normally set this parameter to 1. A setting of 0 is provided for compatibility with the CS1W-MCH71. 0: Support 1 ms, 2 ms, and 4 ms communications cycles. 1: Support 1 ms, 2 ms, 3 ms, and 4 ms communications cycles.
Page 114 1: Specified in DM Area words m+74 to m+89 allocated to the MC Unit as a CPU Bus Unit (Spec- ification added for unit version 2.1 and later.) CS1W-MCH71: Selects the performance for the unit cycle time and communications cycle time. (Sup- ported for unit version 3.0 and later.) CJ1W-MCH71: Not used.
Page 115 Section 4-2 System Parameters Function and explanation Present position preset (Supported for unit version 3.0 and later.) Selects whether the origin is to be established or the immediately prior status is to be retained when a present position preset is executed. 0: Retain the immediately prior status.
Page 116 System Parameters Section 4-2 Address in MC Name Type Unit Immediate Unit updating P00007 5006h Input control 1 from PLC Data configuration Initial value 00000000 Motion task setting 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Explanation Sets whether the input from CPU to MC Unit is enabled or disabled.
Page 117 System Parameters Section 4-2 Function and explanation Motion task 8 Sets whether the input to the Motion task 8 control area (n+11) and the Motion task 8 control data area (m+36 to 37) are enabled or disabled. 0: Normal 1: Ignored 24 to Not used Address in MC...
Page 118 Section 4-2 System Parameters Function and explanation Function and explanation Axis 7 Axis 23 Sets whether input to Axis 7 control bit area Sets whether input to Axis 23 control bit (x+6) and Axis 7 control data area (d+6) are area (x+22) and Axis 23 control data area enabled or disabled.
Page 119 System Parameters Section 4-2 Address in MC Name Type Unit Immediate Unit updating P00009 5008h Setting for the No. of MECHA- Data TROLINK-II retrial nodes Data configuration Initial value 00000000 (0) Explanation Function and explanation 00 to Not used 16 to No.
Page 120 Section 4-2 System Parameters • A period of time set here is waited for after the power to the MC Unit has been turned ON, and then starts communications with the slaves. Address in MC Name Type Unit Immediate Unit updating P00011 500Ah...
Page 121 Section 4-2 System Parameters zone data for position data PL0000 to PL0003. P0012 = 00050000 Hex Name and description Position data PL0000 Zone 1 lower limit Zone Zone 1 upper limit PL0001 data Zone 2 lower limit PL0002 Zone 2 upper limit PL0003 Position data used by program PL0004...
Page 122 System Parameters Section 4-2 Explanation • Pass Mode (P00M06) = 0 or 1 Sets the time required to accelerate from zero to the feed rate specified in the interpolation command. • Pass Mode (P00M06) = 2 or 3 Sets the time required to accelerate from zero to the maximum interpola- tion feed rate (P00M06).
Page 123 Section 4-2 System Parameters Note For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation (Page 248). Address in MC Name Type Unit Immediate Unit updating P00M05 5024h + Interpolation S-curve time con- Data (M * 20h) stant Data configuration Setting range Initial value 00000000 to 00007530 Hex...
Page 124 Section 4-2 System Parameters Address in MC Name Type Unit Immediate Unit updating P00M07 5026h + Initial modal data 1 MOVE com- Data (M * 20h) mand value select Data configuration Setting range Initial value 00000000 to 00000001 Hex 00000000 (0) (0 to 1) MOVE command value select Explanation...
Page 125 Section 4-2 System Parameters Address in MC Name Type Unit Immediate Unit updating P00M10 5029h + Interpolation feed decimal point Data (M * 20h) position Data configuration Setting range Initial value 00000000 to 00000004 Hex 00000000 (0) (0 to 4) Interpolation feed decimal point position Explanation Sets the method of interpreting the speed command value specified by an...
Page 126 Section 4-2 System Parameters Explanation They set the acceleration/deceleration times for interpolation feeding (MOVEL, MOVEC, and MOVETRAV). The following variables are provided and the bank number for each task can be specified by substituting it for the variable to switch the acceleration/decel- eration time to be used.
Page 127 Section 4-2 System Parameters Variable Bits Name IW0A0E 16 to 31 Deceleration bank selection for motion task 7 (initial value: 100) IW0A0F 16 to 31 Deceleration bank selection for motion task 8 (initial value: 100) Setting range for interpolation feed acceleration time: 1 to 5 P00M11 to P00M15 are used for the inter- polation feed acceleration time.
Page 128 Section 4-2 System Parameters Explanation Sets the usage of the physical axes (J01 to J32) to be used with MCH. Setting Description 00000000 Hex (0) Not used as physical axes. 00000001 These axes are used as real axes. to0000001E Hex (1 MECHATROLINK-II devices are used for real axes.
Page 129 Section 4-2 System Parameters Address in MC Name Type Unit Immediate Unit updating P1AA04 5343h + Output allocation points (No. of Data 16 points (word) No (AA * 14h) words) Data configuration Setting range Initial value 00000000 to 0000000F Hex 00000000 (0) (0 to 15) Output allocation points...
Page 130 Section 4-2 System Parameters Explanation Sets the No. of allowable times of communications errors on MECHA- TROLINK-II device. The setting of this parameter is valid only for I/O (specified in P1AA02: MECHATROLINK-II device classification). When the allowable times set here are exceeded, [300Bh: Communications alarm] will occur.
Page 131 Section 4-2 System Parameters Address in MC Name Type Unit Immediate Unit updating P2AA02 55C1h + Max. manual feed rate Data Command unit/ (AA * 14h) Data configuration Setting range Initial value 00000001 to 7FFFFFFF Hex 00002710 (10000) (1 to 2147483647) Max.
Page 132 Section 4-2 System Parameters Note (1) Enabling S-curve filter causes the delay for the S-curve time constant. (2) This parameter cannot be changed during operation. Address in MC Name Type Unit Immediate Unit updating P2AA06 55C5h + Rapid feed deceleration time Data (AA * 14h) Data configuration...
Page 133 Section 4-2 System Parameters Address in MC Name Type Unit Immediate Unit updating P2AA09 55C8h + Rapid feed S-curve filter enabled Data (AA * 14h) Data configuration Setting range Initial value 00000000 to 00000001 Hex 00000000 (0) (0 to 1) S-curve filter enabled Explanation Selects the S-curve filter enable/disable at rapid feed rate.
Page 134 Section 4-2 System Parameters Explanation Sets the S-curve filter time constant at manual feed rate. Note For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation (Page 248). Axis-Position Parameters Note Abbreviation in the No. column: AA = 1 to 32 (axis number) Abbreviation in the address column: AA = 0 to 31 (axis number −...
Page 135 Section 4-2 System Parameters Explanation Sets the software limit value in the negative direction. An error will occur when the command value created in every unit scan is smaller than this software limit. (See the setting example of P3AA02: + direction software limit on page 89.) Note The setting of this parameter is ignored in the following cases: •...
Page 136 Section 4-2 System Parameters Address in MC Name Type Unit Immediate Unit updating P3AA07 5846h + No. 2 in-position range Data Pulse (AA * 14h) Data configuration Setting range Initial value 00000000 to 0000FFFF Hex 0000FFFF (65535) (0 to 65535) No.
Page 137 Section 4-2 System Parameters Ex) Torque Control The following example is for a motor rated speed of 3,000 r/min and a position control switching speed of 1000 (in increments of 0.01%, i.e., 10%). TORQUE [J01] 100 T100; TORQUER [J01] T100; ← Outputs from a torque of 100% to a MOVE [J01] 10000;...
Page 138 Section 4-2 System Parameters Setting Explanation 2-level speed in 1 direction Origin search is executed only in 1 direction. After starting an origin search in the phase-Z detection direction at the origin search approach speed, the speed changes to the origin search creep speed at the rise of the origin determine signal input to travel for the final interval and an origin is determined.
Page 139 Section 4-2 System Parameters Address in MC Name Type Unit Immediate Unit updating P4AA04 5AC3h + Origin deceleration method Data (AA * 14h) Data configuration Setting range Initial value 00000000 to 00000001 Hex 00000000 (0) (0 to 1) Origin deceleration method Explanation Sets whether to use the origin proximity input signal or the limit input signal as the origin deceleration signal for origin search methods 1: Limit reversal and...
Page 140 Section 4-2 System Parameters Explanation Sets the speed of the 2nd level for 3-level speed origin search, or sets the speed of the 1st level for 2-level speed origin search. The maximum speed is limited by (32767 command unit/unit scan). Address in MC Name Type...
Page 141 Section 4-2 System Parameters Address in MC Name Type Unit Immediate Unit updating P4AA12 5ACBh + ABS origin offset Data Command unit (AA * 14h) Data configuration Setting range Initial value 80000000 to 7FFFFFFF Hex 00000000 (0) (−2147483648 to 2147483647) Offset amount Explanation Sets the offset amount for ABS origin setting.
Page 142 Section 4-2 System Parameters • When a position command value has a decimal point, processing is as fol- lows: Ex 1) When the decimal point position of the position command value for X-axis is 1: MOVE [J01]100.0; is processed as, MOVE [J01]100;...
Page 143 Section 4-2 System Parameters MOVEI [J01]100.00 D2000.0 V100.; MOVEI [J01]100.00 D2000.0 V100.0; Address in MC Name Type Unit Immediate Unit updating P5AA04 5D43h + Command unit/1 machine rotation Data Command unit (AA * 14h) Data configuration Setting range Initial value 00000001 to 7FFFFFFF Hex 00002710 (10000) (1 to 2147483647)
Page 144 Section 4-2 System Parameters Address in MC Name Type Unit Immediate Unit updating P5AA06 5D45h + Gear ratio 2 (Machine rotation Data Rotation (AA * 14h) speed) Data configuration Setting range Initial value 00000001 to 00989680 Hex 00000001 (1) (1 to 10000000) Gear ratio 2 Explanation Sets the No.
Page 145 Section 4-2 System Parameters Explanation • Specifies the external input signal for each function at a latch request. Function and explanation 00 to 07 Z: Specifies the latch input signal for MOVEI command (Interrupt feeding). 08 to 15 Y: Specifies the latch input signal for MOVELINK command (Link operation start).
Page 146 Section 4-2 System Parameters Zone Parameters Note Abbreviation in the No. column: ZZ = 1 to 32 (axis number) Abbreviation in the address column: ZZ = 0 to 31 (axis number − 1) Address in MC Name Type Unit Immediate Unit updating P6ZZ01...
Page 147 Section 4-2 System Parameters • Zone bits are specified by an address and a bit. Only the output variable area can be referenced within the range of the word (16 bits) data. Function and explanation 00 to 15 Address Set the bit to be turned ON and OFF. 0000 to 000F Hex: 0000 corresponds to bit 0, and 000F corre- sponds to bit 15.
Page 148: Concept Of Parameters
Section 4-2 System Parameters 4-2-4 Concept of Parameters Gear Ratio This section explains the concept of the gear ratio. In case of position command: In a machine configuration where the motor axis rotation (m) results in the machine axis rotation (n), set the gear ratio as shown below: [P5AA05: Gear ratio 1 (Motor rotation speed)] = m [P5AA06: Gear ratio 2 (Machine rotation speed) = n Example)
Page 149 Section 4-2 System Parameters The overview of the relations between the machine axis speed [command unit/min] and motor axis rotations [r/min] can be described by the following for- mula. Machine axis speed [Command unit/min] P5AA05 [on Motor] × Motor axis speed [Motor rev/min] = P5AA04 [Command unit/One machine rotation] P5AA06 [on Machine] Minimum speed to avoid intermittent output:...
Page 150: Timing That Enables Transferred System Parameters
Section 4-3 Variables • When Communications cycle: Unit Cycle = 1:2, 11 scans Note The delay of the NS115, 2 scans for the uplink and 1 scan for the downlink, is added to the value showed in 1-7 Performance. • Gear reverse conversion: Previous Pulse a Command unit conversion for- mula Example) When Communications cycle = 1 ms, Unit Cycle = 2 ms (1:2), No.
Page 151 Section 4-3 Variables Name Purpose Size Backup to FLASH ROM Variables exclusively for tasks 128 words × 8 Task variables Can be used only in each task, and are used as workspace, etc. during operations. tasks (2048 byte) Note (1) For Position Data, see 4-4 Position Data (Page 107). (2) For System variables, see 4-5 System Variables (Page 111).
Page 152: Position Data
Section 4-4 Position Data Precautions When The variables at the same address share the same physical space. Accessing the Same Bit type Integer type Double- Real number Address with Different length type Access Type integer type The beginning of the MB0000b MW0000 ML0000...
Page 153: Position Data Address
Section 4-4 Position Data 4-4-1 Position Data Address Specify position data at the following addresses in MC Unit memory. Specify the addresses in hexadecimal when using IOWR/IORD instructions. Data IORD/IOWR control Address No. of transferred words range Position Data 0000 to 27FF Hex (deci- 1 word: 0002 Hex, 2 words: mal:0000 to10239) 0004 Hex, 3 words: 0006 Hex, 4...
Page 154 Section 4-4 Position Data Address Stored Data @PL0000 PL0000 0000h @PL0001 PL0001 0100h @PL0002 PL0002 0101h @PL00FF PL00FF 0000h @PL0100 PL0100 0012h @PL0101 PL0101 0034h 2. Indirect specification can be also used as an operand of a command. Example 1: MOVE_[J1] @PL0100 (= MOVE_[J1]#PL0012) Example 2: In the above example, #PL0001 = @PL0100+1 has the same meaning as #PL0001 = #PL0012+1.
Page 155: Methods Used To Read, Write And Transfer Position Data
Section 4-4 Position Data 4-4-4 Methods Used to Read, Write and Transfer Position Data Position data is created or transferred with the following methods. Method Range Position data is read or written using the IORD or IOWR Individual instruction. Data can be loaded and saved using the Support Tool. All or individual Support Tool Creation (2)
Page 156: System Variables
2: Tool mode SW0003 Product ID Bit 00 When power is (Supported in Unit Ver. turned ON 0: CS1W-MCH71 Unit Ver. 2.0 or earlier 3.0 or later) 1: Other unit versions SW0004 3002 Unit Forced Stop Request Indicates forced stop request from the...
Page 157 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW0012 3009 Unit Error log 1: Error code Outputs error code of the Error log Error occurrence SW0013 Error log 1: Detailed Outputs detailed information of Error log Nil Error occurrence Information SW0014...
Page 158 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0042 3021 Unit Error log 9: Same as for Error log 1 Same as for Same as for Error Error log 1 log 1 SW0043 SW0044 3022 SW0045 SW0046...
Page 159 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW0072 3039 Unit Error log 17: Same as for Error log 1 Same as for Same as for Error Error log 1 log 1 SW0073 SW0074 303A SW0075 SW0076...
Page 160 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0098 304C Unit Release date: Main Displays the system release date Month, day When power is side: Month, Day (month and day) on the main side. (BCD) turned ON.
Page 161 Section 4-5 System Variables Motion Tasks Variable IORD Group Name Description Unit Update timing Address Address SW00B0 3058 Motion Task status 1: Main pro- Outputs the program No. of the Main When a program Task gram No. Program currently being executed is started 0-499, 2000 SW00B1...
Page 162 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW00C4 3062 Reserved Reserved Reserved Reserved SW00C5 SW00C6 3063 SW00C7 SW00C8 3064 SW00C9 SW00CA 3065 SW00CB SW00CC 3066 SW00CD SW00CE 3067 SW00CF SW00D0 3068 Motion Task status 2: Same as for Task status 1 Same as for Same as for Task...
Page 163 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW00F0 3078 Motion Task status 3: Same as for Task status 1: Same as for Same as for Task task Task status 1 status 1 SW00F1 SW00F2 3079 SW00F3...
Page 164 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0124 3092 Reserved Reserved Reserved Reserved SW0125 SW0126 3093 SW0127 SW0128 3094 SW0129 SW012A 3095 SW012B SW012C 3096 SW012D SW012E 3097 SW012F SW0130 3098 Motion Task status 5: Same as for Task status 1: Same as for Same as for Task...
Page 165 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0150 30A8 Motion Task status 6: Same as for Task status 1: Same as for Same as for Task task Task status 1 status 1 SW0151 SW0152 30A9 SW0153...
Page 166 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW0184 30C2 Reserved Reserved Reserved Reserved SW0185 SW0186 30C3 SW0187 SW0188 30C4 SW0189 SW018A 30C5 SW018B SW018C 30C6 SW018D SW018E 30C7 SW018F SW0190 30C8 Motion Task status 8: Same as for Task status 1: Same as for Same as for Task...
Page 167 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW01B0 30D8 Tracing Trace status 1: Number Outputs the number of data trace points Point When power is (Unit of trace points set for the trace status. turned ON or Ver.
Page 168 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW01CE 30E7 Reserved Reserved SW01CF SW01D0 30E8 Reserved Reserved Reserved Reserved SW01D1 SW01D2 30E9 SW01D3 SW01D4 30EA SW01D5 SW01D6 30EB SW01D7 SW01D8 30EC SW01D9 SW01DA 30ED SW01DB SW01DC 30EE...
Page 169 System Variables Section 4-5 Axis Variable IORD Group Name Description Unit Update timing Address Address SW0200 3100 Axis Axis 1 status: Current Outputs the FB position on coordinate Command Unit scan Coordinate System FB system currently being selected unit SW0201 −...
Page 170 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW020E 3107 Axis Axis 1 status: Com- Outputs command speed Command Unit scan mand Speed 1 unit/min Same value as feedback speed 1 when SW020F executing the TORQUE command. SW0210 3108 Axis 1 status: Com-...
Page 171 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0228 3114 Axis Axis 1 status: Com- Outputs the latest command No. Unit scan mand execution status See Command Code in Command Exe- cution Status on page 158 SW0229 Axis 1 status: Accelera- Outputs acceleration/deceleration sta-...
Page 172 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW0230 3118 Axis Axis 2 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0231 SW0232 3119 SW0233 SW0234...
Page 173 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0260 3130 Axis Axis 3 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0261 SW0262 3131 SW0263 SW0264...
Page 174 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0290 3148 Axis Axis 4 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0291 SW0292 3149 SW0293 SW0294...
Page 175 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW02C0 3160 Axis Axis 5 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW02C1 SW02C2 3161 SW02C3 SW02C4...
Page 176 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW02F0 3178 Axis Axis 6 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW02F1 SW02F2 3179 SW02F3 SW02F4...
Page 177 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0320 3190 Axis Axis 7 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0321 SW0322 3191 SW0323 SW0324...
Page 178 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0350 31A8 Axis Axis 8 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0351 SW0352 31A9 SW0353 SW0354...
Page 179 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0380 31C0 Axis Axis 9 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0381 SW0382 31C1 SW0383 SW0384...
Page 180 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW03B0 31D8 Axis Axis 10 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW03B1 SW03B2 31D9 SW03B3 SW03B4...
Page 181 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW03E0 31F0 Axis Axis 11 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW03E1 SW03E2 31F1 SW03E3 SW03E4...
Page 182 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0410 3208 Axis Axis 12 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0411 SW0412 3209 SW0413 SW0414...
Page 183 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0440 3220 Axis Axis 13 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0441 SW0442 3221 SW0443 SW0444...
Page 184 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0470 3238 Axis Axis 14 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0471 SW0472 3239 SW0473 SW0474...
Page 185 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW04A0 3250 Axis Axis 15 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW04A1 SW04A2 3251 SW04A3 SW04A4...
Page 186 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW04D0 3268 Axis Axis 16 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW04D1 SW04D2 3269 SW04D3 SW04D4...
Page 187 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW0500 3280 Axis Axis 17 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0501 SW0502 3281 SW0503 SW0504...
Page 188 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0530 3298 Axis Axis 18 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0531 SW0532 3299 SW0533 SW0534...
Page 189 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW0560 32B0 Axis Axis 19 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0561 SW0562 32B1 SW0563 SW0564...
Page 190 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0590 32C8 Axis Axis 20 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0591 SW0592 32C9 SW0593 SW0594...
Page 191 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW05C0 32E0 Axis Axis 21 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW05C1 SW05C2 32E1 SW05C3 SW05C4...
Page 192 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW05F0 32F8 Axis Axis 22 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW05F1 SW05F2 32F9 SW05F3 SW05F4...
Page 193 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0620 3310 Axis Axis 23 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0621 SW0622 3311 SW0623 SW0624...
Page 194 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0650 3328 Axis Axis 24 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0651 SW0652 3329 SW0653 SW0654...
Page 195 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0680 3340 Axis Axis 25 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0681 SW0682 3341 SW0683 SW0684...
Page 196 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW06B0 3358 Axis Axis 26 status Same as for Axis 1 0status Same as for Same as for Axis 1 Axis 1 status status SW06B1 SW06B2 3359 SW06B3 SW06B4...
Page 197 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW06E0 3370 Axis Axis 27 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW06E1 SW06E2 3371 SW06E3 SW06E4...
Page 198 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0710 3388 Axis Axis 28 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0711 SW0712 3389 SW0713 SW0714...
Page 199 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0740 33A0 Axis Axis 29 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0741 SW0742 33A1 SW0743 SW0744...
Page 200 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0770 33B8 Axis Axis 30 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW0771 SW0772 33B9 SW0773 SW0774...
Page 201 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW07A0 33D0 Axis Axis 31 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW07A1 SW07A2 33D1 SW07A3 SW07A4...
Page 202 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW07D0 33E8 Axis Axis 32 status Same as for Axis 1 status Same as for Same as for Axis 1 Axis 1 status status SW07D1 SW07D2 33E9 SW07D3 SW07D4...
Page 203 Section 4-5 System Variables Command Code in In the system parameter Command execution status (SW0228 for axis 1), one Command Execution of the command codes in the table below will be displayed. Status They are used to monitor the execution status of the operation in the program. Classification Command name Command...
Page 204 Section 4-5 System Variables Address Abbreviation Name ON/OFF SW021C D00-03 Always at 0 Main power ON 0: Main power OFF 1: Main power ON D05-08 Always at 0 T_LIM Torque control 0: Not controlling torque 1: Controlling torque Always at 0 NEAR Positioning proximity: In position con- 0: Outside of the range of position-...
Page 205: I/O Variables
Section 4-6 I/O Variables I/O Variables On the MC Unit, the following signals can be used as I/O variables; I/O con- nector signals of the MC Unit, the bit areas/data areas between the CPU Unit and the MC Unit, and I/O signals between MECHATROLINK-II devices and the MC Unit.
Page 206 Section 4-6 I/O Variables Input variable Size PC21 Bus Classification Access Cyclic area IW0310 m+20 Unit control data IW0311-IW031F Reserved IW0320 Reserved IW0321-IW032F Reserved IW0330 m+21 Reserved IW0331-IW033F Reserved n+4 − n+11 IW0340-IW0347 Motion task 1-8 Control bit IW0348-IW035F Reserved m+22 −...
Page 207 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0010 00-15 MECHATROLINK- MECHATROLINK-II Input MECHATROLINK-II Input Axis1 II Input Axis 1 Axis1 CH1 IW0011 MECHATROLINK-II Input MECHATROLINK-II Input Axis1 Axis1 CH2 IW0012 MECHATROLINK-II Input MECHATROLINK-II Input Axis1 Axis1 CH3 IW0013...
Page 208 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW00E0 00-15 MECHATROLINK- Same as for MECHA- Same as for MECHATROLINK-II II Input Axis14 TROLINK-II Input Axis1 Input Axis1 IW00EF IW00F0 00-15 MECHATROLINK- Same as for MECHA- Same as for MECHATROLINK-II II Input Axis15 TROLINK-II Input Axis1...
Page 209 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0300 Unit Control Bits Unit alarm reset 0: No 1: Does not turn ON Unit alarm bit ↑ : Clears the alarm occurring on the unit level : No System Parameter Save...
Page 210 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0301 00-15 Unit Control Bits Teaching Axis Setting 1-16 0: No 1: Specifies the axis as teaching object ↑ : No ↓ : No IW0302 00-15 Teaching Axis Setting 17-32...
Page 211 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0340 Motion Task 1 Motion Task Alarm Reset 0: No Control 1: Does not turn ON Motion task alarm bit ↑ : Clears alarm occurring on motion task level ↓...
Page 212 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0360 00-15 m+22 Motion Task 1 Motion Task 1 Program No. Specifies program No. to be exe- Control Data cuted by Motion Task 0-499 IW0361 00-15 m+23...
Page 213 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0440 Axis 1 Control Bits Axis Alarm Reset 0: No 1: Does not turn ON Axis alarm ↑ : Clears alarm occurring on axis level, and clears alarm at MECHATROLINK-II slaves ↓...
Page 214 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0440 Axis 1 Control Bits JOG/STEP Direction 0: JOG and STEP operation in + direction 1: JOG and STEP operation in - direction ↑ : No ↓...
Page 215 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0441 00-15 Axis 2 Control Bits Same as for Axis 1 Same as for Axis 1 IW0442 Axis 3 Control Bits Same as for Axis 1 Same as for Axis 1 IW0443 Axis 4 Control Bits Same as for Axis 1...
Page 216 I/O Variables Section 4-6 Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0481 00-15 Axis 2 Control Axis 2 Override Same as for Axis 1 Data IW0482 Axis 3 Control Axis 3 Override Same as for Axis 1 Data IW0483 Axis 4 Control...
Page 217 I/O Variables Section 4-6 Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW04A0 00-15 Axis 1 Control Axis 1 internal override Used by adding it to the axis over- Data ride value. IW04A1 00-15 Axis 2 Control Axis 2 internal override Same as for Axis 1 Data...
Page 218 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW04BF 00-15 Axis 32 Control Axis 32 internal override Same as for Axis 1 Data IW04C0 00-15 Axis 1 Control Reserved Reserved Data IW04C1 00-15 Axis 2 Control Reserved...
Page 219 I/O Variables Section 4-6 Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW04DD 00-15 Axis 30 Control Reserved Reserved Data IW04DE Axis 31 Control Reserved Reserved Data IW04DF Axis 32 Control Reserved Reserved Data IW04E0 00-15 1376 Reserved Reserved...
Page 220: List Of Output Variables
Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0A08 00-15 Motion task 1 con- P0004 bit 13 = 1:Motion P0004 bit 13 = 1: trol data tasks 1 to 8 deceleration Interpolation feed deceleration time banks time setting 1 to 5:P00M16 to P00M20 are...
Page 221 Section 4-6 I/O Variables Input variable Size PC21 Bus Classification Access Cyclic area OW0306-OW030F Reserved m+38 − m+39 OW0310-OW0311 Unit status data OW0312-OW031F Reserved OW0320 Reserved OW0321-OW032F Reserved OW0330-OW0331 m+21 Reserved OW0332-OW033F Reserved n+17 − n+24 OW0340-OW0347 Motion task 1-8 Status bits OW0348-OW035F Reserved m+42 −...
Page 222 I/O Variables Section 4-6 Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0010 00-15 MECHATROLINK- MECHATROLINK-II Output MECHATROLINK-II Output Axis 1 Axis 1 CH1 Output Axis 1 OW0011 MECHATROLINK-II Output MECHATROLINK-II Output Axis 1 Axis 1 CH2 OW0012 MECHATROLINK-II Output MECHATROLINK-II Output Axis 1...
Page 223 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW00C0 00-15 MECHATROLINK- Same as for MECHA- Same as for MECHATROLINK-II TROLINK-II Output Axis 1 Output Axis 1 OW00CF Output Axis 1 CH12 OW00D0 00-15 MECHATROLINK- Same as for MECHA-...
Page 224 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW01D0 00-15 MECHATROLINK- Same as for MECHA- Same as for MECHATROLINK-II TROLINK-II Output Axis 1 Output Axis 1 OW01DF Output Axis 1 CH29 OW01E0 00-15 MECHATROLINK- Same as for MECHA-...
Page 225 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW022B 00-15 Slave Status Axis Alarm/warning code Same as for Axis 1 OW022C 00-15 Servo Status 1 Same as for Axis 1 OW022D 00-15 Servo Status 2 Same as for Axis 1 OW022E...
Page 226 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0255 00-15 Slave Status Axis Alarm/warning code Same as for Axis 1 OW0256 00-15 Servo Status 1 Same as for Axis 1 OW0257 00-15 Servo Status 2 Same as for Axis 1 OW0258...
Page 227 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0303 n+15 Unit Status Unit Ready 0: Unit is not ready to receive commands 1: Unit is ready to receive com- mands Unit Alarm 0: No alarm 1: An alarm occurred on Unit level F-ROM Save Completed...
Page 228 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0304 00-15 Zone Monitoring Status Bits Outputs whether zone bits No. 1 (No. 1 to 16) to 16 can be used. (Supported for unit version No.
Page 229 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0340 n+17 Motion Task 1 Sta- Motion Task Alarm 0: No alarm occurring on motion task level 1: An alarm occurred on motion task level Motion Program Operating 0: Motion task is not executing motion program...
Page 230 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0364 00-15 m+46 Motion task 2 Sta- Same as for Motion Task 1 Same as for Motion Task 1 Status tus Data Status Data Data OW0365 m+47...
Page 231 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0440 x+32 Axis 1 Status Bits Axis Alarm 0: No alarm on axis or MECHA- TROLINK-II slave 1: An alarm occurred on axis or MECHATROLINK-II slave Machine Origin 0: Machine coordinate system FB...
Page 232 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0441 00-15 x+33 Axis 2 Status Bits Same as for Axis 1 Status Same as for Axis 1 Status Bits Bits OW0442 x+34 Axis 3 Status Bits Same as for Axis 1 Status Same as for Axis 1 Status Bits Bits...
Page 233 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0460 00-15 Reserved Reserved Reserved OW047F OW0480 00-15 d+32 Axis 1 Status Data Axis Alarm Code Output the alarm code for alarm occurring on axis or MECHA- TROLINK-II slave OW0481 00-15...
Page 234 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW04A7 00-15 d+71 Axis 14 Status Same as for Axis 1 Status Same as for Axis 1 Status Data Data Data OW04A8 d+72 OW04A9 d+73 OW04AA d+74...
Page 235: Present Position Preset
Section 4-7 Present Position Preset Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW04DA 00-15 d+122 Axis 31 Status Same as for Axis 1 Status Same as for Axis 1 Status Data Data Data OW04DB d+123 OW04DC d+124 OW04DD...
Page 236: Servo Parameter
Section 4-8 Servo Parameter Ladder Diagram Example • The following shows the ladder diagram that executes the present posi- tion preset. • MC Unit having the unit No. 0, the present position of Axis 1 is modified to the preset values in DM100 and 101. Execution condition DIFU...
Page 237: Data Configuration And Contents Of Servo Parameters
Section 4-8 Servo Parameter 2. Select the servo parameters in the project tree and select Online - Trans- fer- From Servo from the menu bar, click the icon in the toolbar, or right- click and select Transfer - From Servo from the pop-up menu to read the parameters from the servo drive to the computer.
Page 238 Section 4-8 Servo Parameter ∆ : Restoring the power/CONFIG is required. (Called Offline User Constant) Type User Name Size Unit Lower Upper the Support constant No. limit limit Tool initial able value ∆ Pn000 Basic function selection switch 0000H 1FF1H 0000H ∆...
Page 239 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper the Support constant No. limit limit Tool initial able value ● Pn003 Advanced function selection switch 3 0000H 00FFH 0002H ● Analog monitor 1 Motor rotation speed Rotary: 1 V/1000 r/min, Linear: 1 V/1000 mm/s Speed command Rotary: 1 V/1000 r/min, Lin- ear: 1 V/1000 mm/s...
Page 240 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper the Support constant No. limit limit Tool initial able value ● Pn102 Position loop gain 2000 ● Pn103 Inertia ratio 10000 ● Pn104 Speed loop gain 2 2000 ● Pn105 Speed loop integration time constant 2 2 0.01 ms 15...
Page 241 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper the Support constant No. limit limit Tool initial able value ● Pn11B Reserved ● Pn11C Reserved ● Pn11D Reserved ● Pn11E Reserved ● Pn11F Position integration time constant 2000 ●...
Page 242 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper the Support constant No. limit limit Tool initial able value ● Pn400 Torque/Thrust gain 0.1 V/ Rated torque ● Pn401 Torque/Thrust filter time constant 0.01 ms 0 65535 ● Rotary Pn402 Forward torque limit...
Page 243 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper the Support constant No. limit limit Tool initial able value ∆ Sequence Pn50A Input signal select 1 0000H FFFFH 2881H related con- Input signal allocation Custom setting stant mode Do not set.
Page 244 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper the Support constant No. limit limit Tool initial able value ∆ Sequence Pn50E Output signal select 1 0000H 3333H 3001H related con- ∆ /COIN signal allocation Not used stant Output from SO1 (CN-25, 26) output termi- nal.
Page 245 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper the Support constant No. limit limit Tool initial able value ∆ Sequence Pn511 Output signal select 5 0000H FFFFH 6541H related con- ∆ /DEC signal allocation Input from SI0 (CN1-40) input terminal. stant Input from SI1 (CN1-41) input terminal.
Page 246 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper the Support constant No. limit limit Tool initial able value ● Pn600 Regenerative resistor capacity (set the 10 W 1000 capacity when connecting an external regenerative resistor) ● Pn601 Reserved constant 1000 ●...
Page 247 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper the Support constant No. limit limit Tool initial able value ❍ Acceleration/ Pn80A First-stop linear acceleration constant. 10000 65535 deceleration Com- mand unit/s ❍ Pn80B Second-stop linear acceleration con- 10000 65535 stant.
Page 248: Motor Parameters
Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper the Support constant No. limit limit Tool initial able value ❍ Command Pn814 Final travel distance for external posi- Com- − 2 − 1 supplement Pn815 tioning mand unit ❍...
Page 249 Section 4-8 Servo Parameter In the initial value column, the upper value is in hexadecimal and the lower value in parenthesis is in decimal. Name Configuration and explanation Type Initial Unit Immediate value updating 9001 No. of encoder 00000000 pulses No.
Page 250 Section 4-8 Servo Parameter Name Configuration and explanation Type Initial Unit Immediate value updating 9007 Max. rapid Data 0000 (0) speed index Max. speed unit • Sets the unit system for the max. speed. Note Make sure to set this parameter to 0000 Hex.
Page 251: Setting Method Using Combination Of W Series And Ns115
Section 4-8 Servo Parameter Name Configuration and explanation Type Initial Unit Immediate value updating 900D Position loop Data 0000 (0) gain address Position loop gain address • This is the address of the position loop gain. Note Selecting the motor model automati- cally sets this parameter.
Page 252 Section 4-8 Servo Parameter User constant Name Content Setting Remark Pn200.1 Clear signal mode Disabled constant Pn200.3 Filter select Disabled constant Pn300 Speed command input gain Disabled constant Pn301,2,3 Internal setting speed 1, 2, 3 Disabled constant Pn400 Torque command input gain Disabled constant I/O Signal (W-series CN1) The standard setting of I/O signals (CN1) when the NS115 is mounted is...
Page 253 Section 4-8 Servo Parameter Related user's constant Pn202 Electronic gear (numerator) Pn203 Electronic gear (denominator) <Full-closed System Specifications> • Full-closed encoder pulse mode 5V differential line driver output (EIA Standard RS-422A compliance) • Full-closed encoder pulse signal mode Two pulses with phase difference of 90 degree: Phase-A, Phase-B Latch pulse (origin pulse): Phase-C (can be used) Maximum receivable frequency: 1 Mbps (per one phase) Phase A...
Page 254 Section 4-8 Servo Parameter Electronic gear Elec- Position error Speed/Current tronic Motor Machine Position command counter loop gear Full-closed Elec- × 4 tronic Encoder position gear Input Signal Select 5 Through the following user constants setting, it is possible to allocate the sig- nals in the table below to the CN1 input signals.
Page 255: Cam Data
Section 4-9 CAM Data CAM Data CAM data indicates the entire CAM tables used in the commands CAM (Elec- tronic Cam, Single axis) and CAMBOX (Electronic Cam, Synchronous). The CAM tables are used either separately or all at once from a motion program. Cam Data Configuration The tables below describe the data configuration of CAM data.
Page 256: Data Transfer And Storage
SECTION 5 Data Transfer and Storage This section describes how to transfer data between the CPU Unit and the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units and how data is stored. Data Transfer and Storage ........
Page 257: Data Transfer And Storage
Data Transfer and Storage Section 5-1 Data Transfer and Storage 5-1-1 Data Transfer Overview The following methods are available for transferring data between CPU and MC Units. 1,2,3... 1. Download or upload data from the Support Tool Programs, system parameters, servo parameters, position data, Cam data created with the Support Tool, can be downloaded to or uploaded from the MC Unit.
Page 258: Data Storage Overview
Section 5-1 Data Transfer and Storage 5-1-2 Data Storage Overview Transferred data and parameters are written to the internal memory of the MC Unit where they will be used for operation, but they will be lost if the MC Unit is turned OFF or the MC Unit is restarted from the CPU Unit.
Page 259 Data Transfer and Storage Section 5-1 Yes: Possible No: Not possible Save: Saved in Flash Memory Data Content Data con- Read/Write/Save figuration Support Tool (See note 1.) IOWR/IORD Read Write Save Read Write Save Programs Programs for MC Unit Cam data Data for Electronic Cam Variables Position data...
Page 260: Transfer And Storage Of Servo Parameters
Section 5-1 Data Transfer and Storage 5-1-4 Transfer and Storage of Servo Parameters The following table shows the methods for transferring and saving servo parameters. Trigger Operation Object the Support Tool Read RAM of the servo driver RAM of the MC Unit IORD instruction of the CPU Unit RAM of the servo driver the Support Tool...
Page 261 Section 5-1 Data Transfer and Storage 2. Reading from MC Unit Using FINS Commands The servo parameters are read from the RAM of the MC Unit. Support Tool Servo Driver MC Unit Servo Parameters Servo Parameters Servo Parameters Flash ROM EEPROM Servo Parameters Servo Parameters...
Page 262 Data Transfer and Storage Section 5-1 4. Writing by Support Tool • The servo parameters will be written in both the MC Unit and servo driver. • The written servo parameters will be the object of Flash ROM save. • Writing is executed regardless of whether it is immediately enabled or enabled when the power is turned ON.
Page 263 Section 5-1 Data Transfer and Storage 5. Writing by IOWR Instruction • The servo parameters are written in the RAMs of both the MC Unit and the servo driver. • Writing is executed regardless of whether it is immediately enabled or enabled when the power is turned ON.
Page 264 Section 5-1 Data Transfer and Storage 6. Writing by PARAM Command • This is just a temporary writing, so it will not be the object of Flash ROM save. • Only the servo parameters in the RAM of the servo driver will be overwrit- ten.
Page 265 Section 5-1 Data Transfer and Storage 8. Saving by Allocated IF Area Saves the servo parameters of the MC Unit to servo driver’s EEPROM and MC Unit’s Flash ROM. MC Unit Servo Driver Support Tool Allocated IF Area Servo Parameters Servo Parameters Flash ROM EEPROM...
Page 266: Iowr Instruction To Transfer Data
IOWR Instruction to Transfer Data Section 5-2 IOWR Instruction to Transfer Data 5-2-1 Overview Position data, system parameters, and servo parameters can be written to the MC Unit by executing the CPU Unit’s IOWR instruction. Present position pre- set is also executed by IOWR instruction. CPU Unit MC Unit Ladder program...
Page 267: Iowr: Intelligent I/O Write
IOWR Instruction to Transfer Data Section 5-2 5-2-2 IOWR: Intelligent I/O Write IOWR @IOWR Operand Description C: Control code MC Unit address (Hex) Specifies the first address in the MC Unit where data will be written (in hexadecimal). S: First source word First source word Specifies the first word in the CPU Unit from which data is to be transferred.
Page 268: Flags
Section 5-2 IOWR Instruction to Transfer Data 5-2-3 Flags Name Symbol Error Flag • The total No. of words transferred in D is not • The conditions other than the ones between 0000 and 0008 Hex. described on the left •...
Page 269 IOWR Instruction to Transfer Data Section 5-2 Ladder Program Example Execution Condition DIFU (Work Bit) Set the following position data with D00100 as the first address in DM Area. Specifies the address PL0456 Hex as the first position data in the MC Unit IOWR #0456 Specifies the first word of transfer...
Page 270 Section 5-2 IOWR Instruction to Transfer Data Example 3) Write the servo parameters using IOWR instruction • To write the servo parameters, the servo parameter axis has to be speci- fied in advance. Write the axis No. in 6000h of IORD/IOWR control code (address in the MC Unit).
Page 271 Section 5-2 IOWR Instruction to Transfer Data Ladder Program Example The parameter axis for the servo driver is set to the values in D0100 and D0101. 2-word data in D0110 and D0111 are written in the servo driver parameter No. Pn000. I0.00 DIFU W500.00...
Page 272 IOWR Instruction to Transfer Data Section 5-2 Timing Chart in Executing The following describes the timing and processing when IOWR instruction is IOWR Instruction executed. (Address Specification) Transferred data IOWR instruction Format check 1. Data check and processing 2. Multiple scans Depending on the No.
Page 273: Iord Instruction To Transfer Data
Section 5-3 IORD Instruction to Transfer Data IORD Instruction to Transfer Data 5-3-1 Overview Position data, system variables, system parameters, and servo parameters can be read by executing the CPU Unit’s IORD instruction. CPU Unit MC Unit [Ladder program] IORD C: Control code Address Internal Memory Area...
Page 274 Section 5-3 IORD Instruction to Transfer Data Operand Description C: Control code MC Unit address (Hex) Specifies the first address of the data in the MC Unit to be read. D: No. of transferred words/ Transfer source unit No. No. of transferred words (Hex) Transfer source unit No.
Page 275: Flags
Section 5-3 IORD Instruction to Transfer Data 5-3-3 Flags Name Symbol Error Flag • The No. of transferred words in D is not • The conditions other than the ones between 0000 and 0008 Hex. described on the left. • The unit number data in D is not between 8000 and 800F Hex.
Page 276 Section 5-3 IORD Instruction to Transfer Data Ladder Program Example Execution Condition (Work bit) DIFU Specifies the address PL0456 Hex as the first position data address in the MC Unit IORD #0456 No. of transferred words: 8 words #00088000 transfer destination unit No.: 0 (Four position data x 2 words = 8 words) D00100 Specifies the first word of destination where...
Page 277 Section 5-3 IORD Instruction to Transfer Data • Setting values for specifying the servo parameter axis are to be [Axis No. - 1] as shown below: Axis No. Setting value for axis specification • IORD/IOWR control addresses (addresses in the MC Unit) corresponding to the parameter Nos.
Page 278 Section 5-3 IORD Instruction to Transfer Data Ladder Program Example The parameter axis of the servo driver is set to the values in D0100 and D0101. The value in the parameter Pn000 of the servo driver is read and stored in D0110 and D0111. I0.00 DIFU W500.00...
Page 279: Saving Data
Section 5-4 Saving Data Timing Chart in Executing The following describes the timing and processing when executing IORD IORD Instruction (Address instruction. Specification) Transferred data Determined IORD instruction Format check 1. Data Processing 3. Data check 2. Multiple scans 1,2,3... 1.
Page 280: Data Saving Procedure
Section 5-4 Saving Data 5-4-2 Data Saving Procedure The PC Interface Area (bit area) is used to save the transferred data in MC Unit. Procedure Saving parameters: n+0 word Bit 01 Saving position data: n+0 word Bit 02 Status Flash save completed: n+15 word Bit 02 Refer to SECTION 7 PC Interface Area (page 373) for details.
Page 281 Section 5-4 Saving Data Program Example: Transferring More Than One Data Item 000001 IOWR: System parameter (number of parallel branches) (000040) W374.00 DIFU 000002 W375.00 (013) (000042) WR1 start <W375.00> W375.00 W375.02 W375.03 IOWR #5001 D9520 #28000 (223) [OP1] WR1 OK WR1 NG [OP2] Number of parallel branches Number of parallel branches...
Page 282 Section 5-4 Saving Data 000007 Saves system parameters to flash memory. (000077) Parameter save command W375.07 1515.02 W300.01 <W300.01> Flash WR2 OK a78 a83 memory W300.01 save completed Position data save command Parameter save command W300.00 1500.01 000009 <c1500> (000081) Parameter save command Parameter save command 1500.02...
Page 283 Section 5-4 Saving Data...
Page 284: Programming
SECTION 6 Programming This section describes how to program CJ1W-MCH71 and CS1W-MCH71 Motion Control Unit operation, including the program configuration and the specific commands used in programming. Basic Information ..........
Page 285: Basic Information
Section 6-1 Basic Information Basic Information 6-1-1 Program and Task Configuration The programs are written by the user to control the application using the MC Unit. The tasks are units for work to execute the programs. The MC Unit can have up to 8 motion tasks for axis control.
Page 286: Task Execution Format
Basic Information Section 6-1 Exchanging Data Between It is possible to exchange data between tasks through the global general vari- Tasks able. Since exchanging data between motion tasks is also possible through the global general variable, a simplified interlock can be provided. MC Unit CPU Unit MECHATROLINK-II Device...
Page 287: Advancement Of The Motion Program
Basic Information Section 6-1 The Unit Cycle is either the same or twice the MECHATROLINK-II (MLK) communications cycle. Communications Unit Cycle (ms) cycle (ms) 1 or 2 2 or 4 3 or 6 4 or 8 For details, refer to 1-7 Performance on page 21. All running motion tasks are executed in task number order in each Unit Cycle.
Page 288 Section 6-1 Basic Information • When system parameter P00004 (Unit function selection) bit 11 is 0 (default) The number is specified using system parameter P00002 (Number of par- allel branches). (Default: 4) With the default, a maximum of four commands can be executed in a single motion task.
Page 289 Basic Information Section 6-1 In a motion task, two or more multiple execution commands can be execut- ed simultaneously in one Unit Cycle. A command of this type can be exe- cuted along with a single execution command or other multiple execution commands.
Page 290 Section 6-1 Basic Information Speed of Axis No.1 Time Speed of Axis No.2 Time Speed of Axis No.3 Time Operation-related commands Time Stepping in Pass Mode When a movement command is being executed in Pass Mode, execution of the next block starts when deceleration starts for the current block. Even with single execution commands, two blocks will be executed simultaneously in one cycle.
Page 291 Section 6-1 Basic Information Speed of Axis No.1 Time Speed of Axis No.2 Time Speed of Axis No.3 Time Speed of Axis No.4 Time Operation-related commands Time Stepping When Parallel When parallel branch is executed, the branched program steps per sequence. Branch is executed The execution of commands within the same scan is restricted by system parameters just as it is in the Stop Mode.
Page 292 Basic Information Section 6-1 Speed of axis No.1 Time Speed of axis No.2 Time Operation-related command (Left branch) Time Operation-related command (Right branch) Time Operation Image (2): It takes three cycles to execute one single execution command and the maxi- mum number of simultaneous executions is set to four.
Page 293: Program System
Section 6-1 Basic Information 6-1-4 Program System This section explains the program of the MC Unit. • Programs are composed of the motion task main programs and motion task sub-programs. Motion task main programs (Program numbers 0-499) Motion task sub-programs (Program numbers 500-999) •...
Page 294 Section 6-1 Basic Information Name Usage P2AA07 Manual feed acceler- Axis control bits: ation time JOG/STEP/Machine origin return/Origin search P2AA08 Manual feed deceler- ation time • S-curve acceleration/deceleration can be realized by multiplying move- ment averaging filter and trapezoidal acceleration/deceleration. S-curve Waveform Speed Trapezoidal Waveform...
Page 295 Section 6-1 Basic Information Speed P2AA01 Time P2AA05 P2AA06 Case 2: Interpolation Commands (MOVEL, MOVEC, and MOVETRAV) 1) P00M06 (pass mode) = 0 or 1 The rates of acceleration and deceleration will be maintained while moving in a triangular curve. F speed: Speed specified in the interpolation command P00M02: Interpolation feed acceleration time P00M03: Interpolation feed deceleration time...
Page 296 Section 6-1 Basic Information Speed P00M01 Time P00M02 When P00M06 = 2: P00M02 When P00M06 = 3: P00M03 • Relations between Axis Operation Function and Acceleration/Decelera- tion Classifica- Function Acceleration time Deceleration time Time or S-curve filter select tion Acceleration / S-curve filter time Deceleration constant...
Page 297 Section 6-1 Basic Information Classifica- Function Acceleration time Deceleration time Time or S-curve filter select tion Acceleration / S-curve filter time Deceleration constant Axis opera- MOVELINK Calculated with oper- Calculated with oper- Depending on the tion start and A and other travel and D and other travel travel distance.
Page 298 Section 6-1 Basic Information The following table shows the relations between each command and operat- ing modes. Command Function Stop Mode Pass Mode Remark ❍ × MOVE POSITIONING ❍ MOVEL LINEAR INTERPOLATION ❍ MOVEC CIRCULAR INTERPOLATION ❍ × DATUM ORIGIN SEARCH ❍...
Page 299 Section 6-1 Basic Information Ex) Correct Notation Incorrect Notation MOVEL [J01] 100 [J02] 200; MOVEL [J01] 100 [J02] 200; MOVEL [J01] 200 [J02] 300; #IWOA00 = 1; Not an interpolation command, so op- eration will not be continuous. MOVEL [J01] 300 [J02] 400; MOVEL [J01] 100 [J02] 200;...
Page 300 Section 6-1 Basic Information Speed 200000 100000 Time Bank 2 Bank 1 Parameters and Variables Used for Bank Selection The following system parameters and input variables are used for bank selec- tions. System Parameters The following ten parameters are provided for each task. Name Setting Initial...
Page 301 Section 6-1 Basic Information Bits Name Setting Initial range value IW0A03 00-15 Acceleration/deceleration bank selection 0-10 for motion task 4 IW0A04 00-15 Acceleration/deceleration bank selection 0-10 for motion task 5 IW0A05 00-15 Acceleration/deceleration bank selection 0-10 for motion task 6 IW0A06 00-15 Acceleration/deceleration bank selection...
Page 302 Section 6-1 Basic Information Setting the Acceleration and Deceleration Times for Interpolation Separately (Unit Ver. 3.1 or Later) Acceleration and deceleration times can be set separately for linear interpola- tion, circular interpolation, and traverse using the bank function. Setting Procedure 1,2,3...
Page 303 Section 6-1 Basic Information The following variables are used to specify the bank number during accel- eration and deceleration. Variable P00004.13 = 0 P00004.13 = 1 address Name Specification Name Specification IW0A00 Acceleration/ Selects sys- Motion task 1 Selects sys- deceleration tem parame- acceleration...
Page 304 Section 6-1 Basic Information Variable P00004.13 = 0 P00004.13 = 1 address Name Specification Name Specification IW0A08 Reserved Motion Task 1 Selects sys- deceleration tem parame- time bank ters to use as selection interpolation feed decelera- IW0A09 Reserved Motion Task 2 tion time.
Page 305 Section 6-1 Basic Information Value of P00M06 Operating P00004.13 = 0 P00004.13 = 1 mode Acceleration Deceleration Acceleration time Deceleration time time time 3 Interpolation deceleration Pass Mode Value set for Bank selection Acceleration time Deceleration time time + Pass mode with fixed P00M02 bank selection bank selection...
Page 306 Section 6-1 Basic Information Interpolation acceleration time = bank 2 Interpolation acceleration time = bank 1 Interpolation deceleration time = bank 2 Interpolation deceleration time = bank 1 Speed Enabled from Enabled from next block next block Time Interpolation acceleration time + Fixed acceleration pass mode disabled (P00106 = 0) Enabled when the block executed after parameter change begins to deceler- ate.
Page 307 Section 6-1 Basic Information Execution with PROG P0002 Q0001; motion task 1. PASSMODE; #IW0A00=1; Acceleration bank 1 specification #IW0A08=1; Deceleration bank 1 specification DATUM [J01]0; ABL MOVEL [J01]100000 F600000; WAIT #SL0204 > 20000; Command position exceeds 20000 #IW0A08=2; Deceleration bank 2 specification ABL MOVEL [J01]200000 F1000000;...
Page 308 Section 6-1 Basic Information IOW #SL0204 > 350000; Command position exceeds 350000 #IW0A08=2; Deceleration bank 2 specification ABS MVS [J01]500000 F600000; IOW #SL0204 > 450000; Command position exceeds 450000 #IW0A08=3; Deceleration bank 3 specification END; Enabled when Speed next block begins to decelerate Enabled when next block begins...
Page 309 Section 6-1 Basic Information Changing Speed with the Program The feed rate from the motion program can be added to the override that changes the axes feed rate from the ladder program in order to conduct high speed positioning. The actual speed is calculated as follows: Actual speed = Axes feed rate ×...
Page 310 Section 6-1 Basic Information If the speed of axes exceeds the speed specified in the parameter [P2AA01: Maximum rapid feed rate], the speed will be limited as shown in the table below: Command Speed limit operation MOVEL Interpolation feed rate is limited in order to prevent the speed of the axis that has the longest travel distance from exceeding the speed specified in the parameter [P2AA01: Maximum rapid feed rate].
Page 311 Section 6-1 Basic Information Commands using the The following six commands use the counter latch function: Counter Latch Function Command Purpose for using Role of latch signal counter latch function DATUM: Origin search Detects origin The trigger to decide the final stop position MOVEI: Interrupt feeding Detects external signal The trigger to decide the final...
Page 312 Section 6-1 Basic Information Commands Parameters Value: Latch signals MOVEI: Interrupt feeding P5AA08: @@%%$$##h 0: Phase-C (Z) External input MOVELINK: Link operation ## (MOVEI: Interrupt feeding) 1: External input signal 1 signal select 1 $$ (MOVELINK: Link operation) 2: External input signal 2 CAMBOX: Electronic Cam, Synchronous %% (CAMBOX: Electronic cam,...
Page 313 Section 6-1 Basic Information Command executed Classification Axis movement Axis operation Axis Setting simultaneously operation cancel Function/Name Command currently being Executed Function/Name Command Stepping Link operation MOVELINK (M) MOVELINK Q0 Completed Slave Q1 Completed Q2 Completed Q3 Completed Q4 Completed Q5 Completed Not completed Electronic CAM,...
Page 314 Section 6-1 Basic Information Command executed Classification Axis movement Axis operation Axis Setting simultaneously operation cancel Function/Name Command currently being Executed Function/Name Command Stepping Target position MOVEMODI change Parameter value PARAM change Workpiece coor- OFFPOS dinate system OFFSET change Present value Present value Latch Latch Meaning...
Page 315 Section 6-1 Basic Information Switching method and the behaviors are as shown below: Mode before Mode after Switching method Behavior switch switch Position Speed • Execute SPEED command when the When executing SPEED command during axis is being stopped. axis movement, the alarm [2014: Control mode error] will occur.
Page 316: Synchronous Command
Basic Information Section 6-1 A command of the next block can be executed during S-curve deceleration. However, if the command is to be executed after completion of the previous command's output (as it should be for CAM, etc.), STOPMODE or PASS- MODE command can be used to control the execution.
Page 317 Basic Information Section 6-1 • Whether to use the specified speed of the master axis or the feedback speed can be selected using the operand of each synchronous com- mand. • If a master axis is the virtual axis, feedback speed = specified speed. •...
Page 318 Section 6-1 Basic Information Especially when the master and slave axes are in different tasks, or in dif- ferent blocks of parallel branching, provide interlocking, etc. so that the master axis starts operating only after all the slave axes have recognized and processed the command.
Page 319 Basic Information Section 6-1 9001h [No. of encoder pulses/1 motor rotation] × Command unit P5AA05 [on motor] Pulse [on motor] = [on machine] × --- (1) P5AA04 [command unit/1 machine rotation] × P5AA06 [on machine] • No. of pulses for the linking distance of the master axis [J01]: When 100.
Page 320: Modal Data
Section 6-1 Basic Information Timing chart J01 Operation (slave axis) MOVELINK MOVE J02 Operation (master axis) MOVE J03 Operation (MOVE) MOVE Explanation 1,2,3... 1. Having J02 as a master axis with the travel distance of 1000, J01 is moved to the position of 2000 through synchronization. In this operation, the ac- celeration interval of the slave axis is specified between the synchroniza- tion start position and 200 of the master axis travel distance while the deceleration interval is specified between the synchronization end position...
Page 321: Nesting
Section 6-1 Basic Information Group Command Default value Parameter No. PASSMODE/ PASSMODE P00M08 (M = 1-8) STOPMODE Operand F F = 0 P00M09 (M = 1-8) Calling Sub-program If a sub-program has been called using the GOSUB command, all modal data is inherited.
Page 322: 6-1-11 Arithmetic Command
Basic Information Section 6-1 Conditional Format Expression Less than (Immediate value or Variable)<(Immediate value or Variable) Equal to or (Immediate value or Variable)> = (Immediate value or Variable greater than Equal to or less (Immediate value or Variable)< = (Immediate value or Variable) than 6-1-11 Arithmetic Command Data type...
Page 323 Section 6-1 Basic Information B: Bit type, W: Word type, L: Long type, F: Real-number type, @: Indirect specification Classifi- Function Com- Notation Operand Range Immediate Variable cation mand example value Inte- Deci- point Simple Assign #MW- = 1st Term Write Arithmetic #MW-;...
Page 324 Section 6-1 Basic Information Classifi- Function Com- Notation Operand Range Immediate Variable cation mand example value Inte- Deci- point Logic #MW- = 1st Term Write opera- (Logical #MW- | 2nd Term LONGMIN- Inte- Read tions #MW-; LONGMAX 3rd Term LONGMIN- Inte- Read LONGMAX...
Page 325 Section 6-1 Basic Information Classifi- Function Com- Notation Operand Range Immediate Variable cation mand example value Inte- Deci- point Functions Decimal FRAC #MF- = 1st Term Write FRAC#MF-; 2nd Term Within the opera- Read tion numerical value range Sign #MF- = 1st Term Write SGN#MF-;...
Page 326: 6-1-12 Data Used For Operand
Section 6-1 Basic Information Classifi- Function Com- Notation Operand Range Immediate Variable cation mand example value Inte- Deci- point BCD → BIN BIN Data #MW- = 1st Term Write Opera- BIN#MW-; 2nd Term In BCD format, Inte- Read tions Word type: 0 to 9999 Long type: 0 to 99999999...
Page 327: 6-1-13 Virtual Axis
Section 6-1 Basic Information • Decimal number: Value with decimal point Minimum value: − 2147483648. Maximum value: 2147483647. Maximum number of decimals: 30 digits Maximum number of digits excluding 0: 10 digits (Negative value: 2147483648, Positive value: 2147483647) <Example> The decimal number with the greatest No. decimals is shown in the following table.
Page 328: 6-1-14 I/O Axis
Section 6-1 Basic Information Function item Specifications Establishing machine The position where power is turned ON is determined as machine coordinate system origin. coordinate system origin (Operates in [Origin at power ON] mode.) It is possible to determine a user-specified position as an origin using the axis control bit [Forced origin].
Page 329: 6-1-15 Parameters Having Influence On Axis Operation
Section 6-1 Basic Information Function item Specifications PROG axis declaration If specified, the alarm [201Ah: Axis declaration error] will occur. Usage in each command If axis No. is specified on axes other than the synchronous master axis, the alarm [2007h: Axis reservation disable] will occur.
Page 330: 6-1-16 Coordinate System
Section 6-1 Basic Information Section Name Axis machine P5AA03 Speed Multiplier with Decimal Point Axis machine P5AA04 Command unit/One Machine Rotation Axis machine P5AA05 Gear Ratio 1 (Motor Rotation Speed) Axis machine P5AA06 Gear Ratio 2 (Machine Rotation Speed) Axis machine P5AA07 Axis Feed Mode Axis machine...
Page 331: Command Overview
Section 6-2 Command Overview Starting a New Program If a new main program is started (the first execution after power is turned ON, Operation or execution in the Start Mode = 0 or 3), the machine coordinate system is always used. Although the offset value is inherited from the previous program, the coordinate system select is not inherited.
Page 332 Section 6-2 Command Overview Commands that can be used in the motion program are listed below: Classifica- Command/func- Code Applicable Summary Completion condi- tion tion name task tion (Proceed to next block) Motion Axis move- POSITIONING MOVE Moves each axis independently. In-position ment LINEAR INTERPO-...
Page 333 Section 6-2 Command Overview Classifica- Command/func- Code Applicable Summary Completion condi- tion tion name task tion (Proceed to next block) Motion Settings TARGET POSITION MOVEMODI Changes target position of an Target position CHANGE operating axis. change completed. ABSOLUTE SPECI- Treats coordinate values as Coordinate mode FICATION absolute values.
Page 334 Section 6-2 Command Overview Classifica- Command/func- Code Applicable Summary Completion condi- tion tion name task tion (Proceed to next block) Motion Control PROGRAM START PROG Indicates the start of program. Program start pro- cessing completed. PROGRAM END Indicates the end of program. Program end pro- cessing completed.
Page 335: Command Format
Section 6-2 Command Overview Classifica- Command/func- Code Applicable Summary Completion condi- tion tion name task tion (Proceed to next block) Motion Simple ASSIGN Assigns values to variables. Result assigned. arithmetic Performs addition. Result assigned. operations − SUBTRACT Performs subtraction. Result assigned. MULTIPLY Performs multiplication Result assigned.
Page 336 Section 6-2 Command Overview Classifica- Name Format tion Axis move- Positioning MOVE_[<axis name>]<position command value>---8--- ment Linear interpolation MOVEL_[<axis name>]<position command value>---8---{F<Interpolation feed rate>}; Circular interpolation Center position specification: MOVEC_Q<rotation direction> [<horizontal axis name>]<horizontal axis position command value>[<vertical axis name>]<vertical axis position command value> I<horizontal axis center command>...
Page 337 Section 6-2 Command Overview Classifica- Name Format tion Setting Target position MOVEMODI_[<axis name>]<changed target position>---8---; change Absolute specifica- ABL; tion ABL_<other command>; Incremental specifi- INC; cation INC_<other command>; Parameter value set- PARAM_P<parameter number> = <parameter setting value>; ting PARAM_[<axis name>]<servo parameter number> = <parameter setting value>; Pass Mode PASSMODE;...
Page 338 Section 6-2 Command Overview Classifica- Name Format tion Control Program start PROG_P<program number> Q<axis declaration>; Program end END; Sub-program call GOSUB_P<sub-program number>; Sub-program End RETURN; Dwell time DWELL_T<dwell time>; Wait for condition to WAIT_<conditional expression>; be met Optional end STOPOP_<conditional expression>; Conditional branch- IF_<conditional expression>;...
Page 339 Section 6-2 Command Overview Classifica- Name Format tion Functions Absolute value <variable> = ABS<numerical value>; Sine <variable> = SIN<numerical value>; Cosine <variable> = COS<numerical value>; Tangent <variable> = TAN<numerical value>; ARC Sine <variable> = ASINE<numerical value>; ARC Cosine <variable> = ACOS<numerical value>; ARC Tangent <variable>...
Page 340: Command List (Operand List)
Section 6-2 Command Overview 6-2-3 Command List (Operand List) The following table describes the operands that are used in commands. Operand Command: Meaning of the value Remark Axis name MOVE: Position command value These operands require distinction of axis names. MOVEL: Position command value MOVEC: Position command value DATUM: Origin offset...
Page 341 Section 6-2 Command Overview Operand Command: Meaning of the value Remark MOVEC: Horizontal axis center position Indicates the first auxiliary position command. MOVETRAV: Rotations at starting edge MOVELINK: Link start position CAMBOX: Link start position LATCH: Latch check start position MOVEC: Vertical axis center position Indicates the second auxiliary position com- mand.
Page 342: Program Number And Axis Declaration
Section 6-2 Command Overview 6-2-4 Program Number and Axis Declaration The program number and axes to be used in the program are specified in PROG command (Program Start). Refer to Program Start (PROG) on page 347. Format PROG_P <Program Number> Q <Axis Declaration>; Program Number The table below shows the relations between the program number and main program/sub-program for motion tasks.
Page 343: Command Details
Section 6-3 Command Details Command Details 6-3-1 Expression in This Section This section provides detailed descriptions of the commands. Command for- mats, operands and application are described and programming examples are provided. Function Name Positioning (MOVE) Positioning is performed with PTP control on up to eight axes simultaneously Function Overview at rapid feed rate.
Page 344 Section 6-3 Command Details Format MOVE_[<axis name>]<position command value> ---8---; Ex: MOVE_[J01]100.01 [J02]-100.02; Operand Position command value Axis name: 01 to J32 Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation −2147483648 to Position command Yes (See...
Page 345 Section 6-3 Command Details Linear Interpolation Positioning is performed on up to eight axes with linear interpolation at the (MOVEL) specified interpolation feed rate. Command type Single execution command Format MOVEL_[<axis name>]<position command value> ---8--- {F<interpolation feed rate>}; Ex: MOVEL_[J01]100.01 [J02]-100.02 F10000.25; Operand Position command value Axis name: J01 to J32...
Page 346 Section 6-3 Command Details Combined speed Time Axis n speed Time Axis m speed Time Motion task status data: Previous Next MOVEL command block Executing block No. Axis n status bit: Axis operating Axis n status bit: Positioning completed Axis m status bit: Axis operating Axis m status bit: Positioning completed...
Page 347 Section 6-3 Command Details Format Center position specification: MOVEC_Q<rotation direction> [<horizontal axis name>]<horizontal axis posi- tion command value> [<vertical axis name>]<vertical axis position command value> I<horizontal axis center command> J<vertical axis center command> {[<linear axis name>]<linear axis command value>}{L<number turns>}{F<interpolation feed rate>}; Radius specification: MOVEC_Q<rotation direction>[<horizontal axis name>]<horizontal axis posi- tion command value>...
Page 348 Section 6-3 Command Details Radius Specification Axis name: J01 to J32 Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation 1, −1 Rotation direction Yes (See Yes (See note 1.) note 2.) −2147483648 to Horizontal axis posi- Yes (See...
Page 349 Section 6-3 Command Details Vertical axis Center Start position Radius End position Horizontal axis • When [Number of turns] is specified, multiple rotations will occur. In addi- tion, multiple rotations can be specified only for center position specifica- tion. For radius specification, programs cannot be loaded (because the center position cannot be determined If the start position = the end posi- tion for radius specification.) •...
Page 350 Section 6-3 Command Details • In radius specification, if [Radius] is positive, the center angle will be 180 degrees or smaller. If [Radius] is negative, the center angle will be 180 degrees or greater. Radius < 0 180 degrees or greater End position 180 degrees or smaller...
Page 351 Section 6-3 Command Details Description • DATUM command performs the origin search for the specified axis. • Specifying the offset will set the origin of the machine coordinate system after an origin search to other than zero. (Specify zero to set it to zero.) •...
Page 352 Section 6-3 Command Details • Operation patterns are specified in the parameter [P4AA01: Origin search method], and there are four different origin search methods as shown below: Origin search Function method Origin at power ON The position when the power is turned ON is defined as the origin.
Page 353 Section 6-3 Command Details Interrupt feeding When the signal specified in the parameter [P5AA08: External Input signal (MOVEI) select 1] is turned ON, positioning is performed moving the specified axis for the specified feed amount. Command type Single execution command Format MOVEI_[<axis name>]<position command value>...
Page 354 Section 6-3 Command Details • If the Fixed feed amount specified is smaller than the distance required from the signal input to the stop after deceleration, return operation is per- formed for the excessive distance after completion of deceleration stop. Speed Fixed feed amount (the negative speed indicates...
Page 355 Section 6-3 Command Details • The actual positioning time can be found using the following expression: [Actual positioning time] = Positioning time + [P2AA05: Rapid feed accel- eration time] × [Speed of each axis]/[P2AA03: Rapid feed rate] • In specifying deceleration, the parameter [P2AA06: Rapid feed decelera- tion time] is ignored.
Page 356 Section 6-3 Command Details Traverse This command is provided for traverse, winding machine operations. (MOVETRAV) Command type Single execution command Format MOVETRAV_Q<operating mode> [<winding axis name>]<winding axis rota- tions> [<traverse axis name>]<traverse axis winding width> L<number of layers> {I<rotations at starting edge>}{J<rotations at ending edge>}{F<winding axis speed>};...
Page 357 Section 6-3 Command Details Description Traverse axis winding width Number of layers Winding axis Traverse axis • Description of Operating mode is shown below. It cannot be specified with variables. When linked traverse is specified, only the blocks in the same operating mode can be linked.
Page 358 Section 6-3 Command Details • In the linked traverse, up to 5 blocks are interpreted per unit scan. If more than 5 blocks are linked, the time [(No. of linked blocks/5) × Unit scan] will be required for the interpretation (i.e. from completion of executing the previous block to start of the linked traverse operation.
Page 359 Section 6-3 Command Details • If either the global variable or position data is used for CAM table, phase and displacement are to be specified as double-length integer type data. Global general variable Position data Starting data number → MLmmmm PLmmmm = mmmm Phase...
Page 360 Section 6-3 Command Details Data No. Phase Displacement 3000 13600 3500 16400 4000 18400 4500 19600 5000 20000 5500 19600 6000 18400 6500 16400 7000 13600 7500 10000 8000 6400 8500 3600 9000 1600 9500 10000 25000 12000 10000 20000 8000 15000 Displacement...
Page 361: Command For Axis Operations/Operation Cancel
Section 6-3 Command Details • When specifying the starting and ending points, the restriction varies depending on the used data as shown below: Data Restriction CAM data Even with the starting and ending points specified, the other data will not be ignored. Therefore, the conditions mentioned above have to be met even for the unused area.
Page 362 Section 6-3 Command Details Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation −2147483648 to Link start position Yes (See Yes (See No (See 2147483647 note 1.) note 2.) note 5.) Master axis classifi- 0 or 1 Yes (See...
Page 363 Section 6-3 Command Details Interval Master axis Slave axis Constant Master axis travel [Slave axis travel distance]- Slave axis travel distance in acceleration - Slave axis speed distance- Master travel distance in deceleration axis travel distance in acceleration- Mas- ter axis travel dis- tance in deceleration Decelera- Master axis travel...
Page 364 Section 6-3 Command Details • [Master axis classification] determines whether to synchronize the slave axis with the master axis command value or feedback value. Master axis Master axis value to classification synchronize with 0 or omitted Command value Feedback value •...
Page 365 Section 6-3 Command Details Case First command Next command Remarks MOVELINK CAMBOX If there is a deceleration area in the first MOVELINK command, part of the deceleration area will be eliminated when switching to the next command. If there is no deceleration area in the first MOVELINK command, the axis will travel the expected travel distance.
Page 366 Section 6-3 Command Details Set the link option (Q) using the following combinations to enable the axes to travel the expected travel distance. First command Next command Command Link option (conditions for Command Link option (conditions for command completion) command completion) CAMBOX 8 (Slave axis travel dis- CAMBOX...
Page 367 Section 6-3 Command Details Slave axis displacement Master axis phase Cam (1) Cam (2) Cam (3) Slave axis speed Master axis phase Electronic Cam, The operation is executed based on the CAM table synchronizing the slave Synchronous axis to the specified master axis. (CAMBOX) Command type Single execution command...
Page 368 Section 6-3 Command Details Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) Figures below the decimal point are to be omitted. (3) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 369 Section 6-3 Command Details Note The bit image is shown below: 0/1 = Slave axis travel distance output is completed/ When command execution is started 0/1/2 = When command execution is started/ When latch for master axis is detected/ When master axis reaches Link start position 0/1 = Repeat/Only for one cycle from the starting to ending data number •...
Page 370 Section 6-3 Command Details • When these conditions are not met, "CAM (Electronic cam, single axis)" and "CAMBOX (Electronic cam, synchronous)" commands may cause the axis to stop operating, or to operate in an unexpected way. To avoid acci- dents, make sure that the conditions are met. Note The position data and global general variable can be used while being over- written real-time.
Page 371 Section 6-3 Command Details Note The axis will travel the expected distance when operation is repeated using the CAMBOX command (link options 0 to 5). Example: Case 1 CAMBOX [J01]1 [J02]10000 K10000 Q8 B0; Cam (1) CAMBOX [J01]2 [J02]10000 K10000 Q8 B0; Cam (2) CAMBOX [J01]3 [J02]10000 K10000 Q8 B0;...
Page 372 Section 6-3 Command Details First command Next command Command Link option (conditions for Command Link option (conditions for command completion) command completion) CAMBOX 8 (Slave axis travel dis- CAMBOX 0 or omitted (Slave axis tance output completed.) travel distance output com- pleted.) 10 (Slave axis travel dis- tance output completed.)
Page 373 Section 6-3 Command Details Slave axis displacement Master axis phase Cam (1) Cam (2) Cam (3) Slave axis speed Master axis phase Electronic Shaft Positioning is performed synchronizing the slave axis to the specified master (CONNECT) axis based on the specified gear ratio. Command type Single execution command Format...
Page 374 Section 6-3 Command Details • Master axis classification determines whether to synchronize the slave axis with the master axis command value or feedback value. Master axis Master axis value to classification synchronize with 0 or omitted Command value Feedback value •...
Page 375 Section 6-3 Command Details Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation −2147483648 to Catch-up position Yes (See Yes (See No (See offset 2147483647 note 1.) note 2.) note 3.) −2147483648 to Marker sensor ON Yes (See...
Page 376 Section 6-3 Command Details Waiting for marker Trailing section Synchronization section sensor signal Master axis Trailing operation travel distance Slave axis Marker sensor ON SYNC command SYNCR command- Synchronization Synchronous operation executed with the synchronous command is can- Cancel (SYNCR) celled.
Page 377 Section 6-3 Command Details • If Travel distance for deceleration stop is smaller than the distance required for deceleration stop from the current speed (speed of the previ- ous scan), return operation is performed after the deceleration stop. • SYNCR command execution will be completed when positioning (includ- ing the return operation) for all the specified axes are completed (in-posi- tion).
Page 378 Section 6-3 Command Details • If Slave axis name is omitted in ADDAXR command, all the superimposi- tion being executed in the same motion task will be cancelled. • ADDAXR command execution will be completed when superimposition is cancelled. • During the command execution, the command code “0019h” is output to the system variable “Command execution status”...
Page 379 Section 6-3 Command Details Operand Axis Name: J01 to J32 Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation Speed command See note 1. Yes (See Yes (See No (See value note 2.) note 3.) note 4.)
Page 380 Section 6-3 Command Details (4) Command execution is completed. • During the command execution, the command code “001Ah” is output to the system variable “Command execution status” (SW0228 for Axis 1). (For details of command codes, see 4-5 System Variables Command Code in Command Execution Status on page 158.) Caution The maximum time required from starting SPEED command to completing...
Page 381 Section 6-3 Command Details Program Image SPEED [J01]<V1> T <T1>; Speed control started SPEED [J01]<V2> T <T2>; Speed changed SPEED [J01]<V3> T <T3>; Speed and direction changed SPEEDR [J01] T <T4>; Speed control completed Speed Rated Speed Time -Rated Speed Torque Control/ The axes Torque can be controlled in Torque Control mode.
Page 382 Section 6-3 Command Details Note (1) This is the % specification for the maximum motor torque in the unit of 0.01%. When the value I0000 is set, it is interpreted as 100% of the max- imum torque. The maximum motor torque limits the maximum torque in actual operations.
Page 383: Setting Command
Section 6-3 Command Details Program image TORQUE [J01]<Tq1> T <T1>; Torque control started TORQUE [J01]<Tq2> T <T2>; Torque changed TORQUE [J01]<Tq3> T <T3>; Torque and direction changed TORQUER [J01] T <T4>; Torque control completed Torque Max Torque Time -Max torque Caution When executing the TORQUE command, the following axis command position values are output to system variables (refer to 4-5 System Variables).
Page 384 Section 6-3 Command Details Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position]. (3) There is no influence.
Page 385 Section 6-3 Command Details Positioning up to this point is performed with target Speed position change command. Target position change command Rapid feed rate Original travel distance Time Motion task status data: Executing block number Previous MOVE command block Next Axis status bit: Positioning completed Axis status bit:...
Page 386 Section 6-3 Command Details Change Parameter The setting of the specified parameter is changed. Value (PARAM) Command type Single execution command Format PARAM_P<parameter number> = <parameter setting value>; PARAM_[<axis name>]<servo parameter number> = <parameter setting value>; Ex: PARAM P1 = 2; Operand Axis name: J01 to J32 Operand...
Page 387 Section 6-3 Command Details For example, when changing the interpolation feed speed for motion task parameters with a unit cycle of 2 ms, the execution time will be 24 to 44 ms. Pass Mode The operating mode is switched to Pass Mode. (PASSMODE) Command type Multiple execution command...
Page 388 Section 6-3 Command Details Machine Coordinate Coordinate system is switched to the machine coordinate system. System Select (ORIGIN) Command type Single execution command Format ORIGIN; Ex: ORIGIN; Operand Description • Coordinate values after ORIGIN command are treated as values on the machine coordinate system.
Page 389 Section 6-3 Command Details Machine coordinate Workpiece coordinate system system Positioning to (20000, 15000) WORK command not executed (15000) After WORK command execution 15000 (9000) 12000 4000 (14000) (20000) -3000 10000 20000 Workpiece Coordinate The offset value of the workpiece coordinate system is changed. System Offset Change (OFFPOS) Command type...
Page 390 Section 6-3 Command Details • The workpiece coordinate system offset value specified will be enabled when WORK command is executed. It means that the offset value will not be reflected in the operation until WORK command is executed again when using the coordinate system specified with Workpiece coordinate system number.
Page 391 Section 6-3 Command Details Specification Operation End position is omitted Accepting section: End position and before End position Lower limit Upper limit Start position<End posi- Accepting section: Start position and after, End position and before tion Lower limit Start position End position Upper limit Start position>End posi-...
Page 392: Control Command
Section 6-3 Command Details • Especially, be cautious of temporary power interruption since it is impossi- ble to know when it happens. Should it happen on the MC unit, make sure to clear the latch check range by setting the servo driver so that its power is also restored when it happens, or by using the following programs when restarting the MC Unit: 1,2,3...
Page 393 Section 6-3 Command Details Ex: PROG_P1000 Q0000000F; Operand Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation Program number 0 to 1999 Axis declaration 00000000 to FFFFFFFF [hex] Description • Program is started and axes to be used in the program are declared. •...
Page 394 Section 6-3 Command Details • END command cancels axis operation commands (MOVELINK/CAM- BOX/CONNECT/ADDAX/SYNC/ SPEED/TORQUE) being executed. • In execution of axis operation commands other than the above, END com- mand execution will be completed after the axis status bits [Positioning completed] (x+32, bit06 for Axis 1) for all the axes operated with the pro- gram are turned ON (1).
Page 395 Section 6-3 Command Details Sub-Program End Sub-program is ended. (RETURN) Command type Single execution command Format RETURN; Ex: RETURN; Operand Description • Sub-program is ended and the operation returns to the program that called the sub-program. • If RETURN command is not present in a sub-program, the program can- not be loaded.
Page 396 Section 6-3 Command Details The formats of conditional expressions are shown in the following table. Immediate values and variables are the only comparison objects. If a different data type is used, an alarm will occur in pre-analysis. Conditional Format Expression Equal to (Immediate value or Variable) = = (Immediate value or Variable) Not equal to...
Page 397 Section 6-3 Command Details Conditional Format Expression Equal to or (Immediate value or Variable)> = (Immediate value or Variable) greater than Equal to or less (Immediate value or Variable)< = (Immediate value or Variable) than Operand Description • If the conditional expression is satisfied, execution of the next block is interrupted.
Page 398 Section 6-3 Command Details Operand Description • If the conditional expression is satisfied, processing 1 will be executed. If the conditional expression is not satisfied, processing 2 will be executed. • Processing 1 is described between IF and ELSE (can be described over multiple lines).
Page 399 Section 6-3 Command Details WHILE Conditional expression True False Processing WEND Repeat FOR Processing is repeated for the specified number of times. (FOR...NEXT) Command type FOR: Multiple execution command NEXT: Multiple execution command <Default value setting> ( ← can be omitted) Format FOR_W<work registers for repeat count>...
Page 400 Section 6-3 Command Details Work registers for repeat count ≥ Repeat end value False True Processing NEXT Add No. of increments steps to work registers for repeat count. Parallel Execution Processing is branched and executed in parallel. (PARALLEL...JOINT... JWAIT) Command type PARALLEL: Single execution command JOINT: Single execution command...
Page 401 Section 6-3 Command Details • The number of parallel branches can be specified with Number of branches. The maximum number of branches for the Unit is specified in the parameter [P00002: Number of parallel branches]. If Number of branches exceeds the parameter setting, the alarm [200Dh: Count specification error] will occur.
Page 402 Section 6-3 Command Details EX: SWITCH #DW0000; CASE 0; ABL MOVE [J03]-100.00 [J04]-50.00; BREAK; CASE 1; INC MOVE [J01]-200.00 [J02]50.00; BREAK; DEFAULT; INC MOVE [J01]0.00 [J02]0.00 [J03]0.00 [J04]0.00; SEND; Operand Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect...
Page 403 Section 6-3 Command Details SWITCH CASE CASE DEFAULT Processing 1 Processing 2 Processing n BREAK BREAK SEND No Operation (Single) No processing will occur. (NOPS) Command type Single execution command Format NOPS; Ex: NOPS; Operand Description • No processing will occur, however, NOPS command functions as a single execution command.
Page 404 Section 6-3 Command Details Timing chart J01 operation (MOVE) Value of #IW0B00 NOPS command Note Without NOPS command, the value of #IW0B00 changes on the timing described below: Program PROG P0001 Q00000001; Program declared MOVE [J01]200000; J01 moved to the position 200000 #IW0B00 = 0055;...
Page 405 Section 6-3 Command Details Program PROG P0001 Q00000001; Program declared PARALLEL N2; #PL0000 = #IL0B00 * 1000; Result of (IL0B00 x 1000) assigned to PL0000 #PL0001 = #IL0B02 * 500; Result of (IL0B02 x 500) assigned to PL0001 MOVEL [J01]#PL0000 F#PL0001; J01 moved to the position PL0000 at the speed PL0001 JOINT;...
Page 406: Simple Arithmetic Operation
Section 6-3 Command Details 6-3-6 Simple Arithmetic Operation ASSIGN ( = ) Values are assigned for the specified variable. Command type Multiple execution command Format <First term> = <Second term>; Ex: #MF1000 = 123.45; Operand Operand Setting range Decimal Variable specification INC/ ABL influ- Word...
Page 407 Section 6-3 Command Details Simple Arithmetic This command executes the specified simple arithmetic operations. Operations (+, −, *, /, %, ^) +, − , *, /, %, and ^: Not executed as an independent command (no type). Command type Format <First term>...
Page 408: Logic Operation
Section 6-3 Command Details Precaution for Handling the Data Types 1,2,3... 1. Bit type • When the bit type is used, all the operands must be the bit type. • The integer immediate values 0 and 1 are treated as the bit type. 2.
Page 409 Section 6-3 Command Details • The table below shows the result of logic operations. Second Third term Logical OR Logical AND Logical exclusive term (OR) (AND) OR (XOR) Precaution for Handling the Data Types 1,2,3... 1. Bit type • When the bit type is used, all the operands must be the bit type. •...
Page 410: Function
Section 6-3 Command Details • Operation is performed in the type of the highest priority, and the op- eration result will be stored after being converted to the type on the left. • The integer immediate value is treated as long word type, and the dec- imal immediate value is treated as real number type.
Page 411 Section 6-3 Command Details TAN (TANGENT), ASIN (ARC SINE), ACOS (ARC COSINE), FRAC (DECI- MAL) Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation First term Variable Second term Operation numerical value range (See note.) Note...
Page 412: Bit Operation
Section 6-3 Command Details Notation Function Description ACOS ARC COSINE Finds the arc cosine of the specified data. (Units: [deg]) The specified data is real number type only. ATAN ARC TANGENT Finds the arc tangent of the specified data. (Units: [deg]) The specified data is real number type only.
Page 413: 6-3-10 Data Operation
Section 6-3 Command Details • If the logic operation expression is false, SET or RESET command does not turn ON or OFF the specified bit. • When the logic operation is executed on each corresponding bit with the logic operator on the right side and if there is any bit having the result of 1, it is considered to be true.
Page 414 Section 6-3 Command Details Note Setting range when viewed as BCD data. Description • BIN command converts the specified value (BCD data) into binary (BIN code). • BIN command can be used only for integer data. 1234 (BCD) 1234 (binary) BIN to BCD (BCD) The BCD command converts the BIN data into the BCD data.
Page 415 Section 6-3 Command Details Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation Transfer destination Variable first data Number of trans- System vari- ferred data able:1 to (2048 - address) Global general variable:1 to (8192 - address) Input variable:1...
Page 416 Section 6-3 Command Details Operand Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation First cleared data Variable Number of cleared Global general data variable:1 to (8192- address) Input variable:1 to (4096- address) Output vari- able:1 to (4096-...
Page 417 Section 6-3 Command Details...
Page 418: Pc Interface Area
SECTION 7 PC Interface Area This section describes the interface area in the CPU Unit used to control and monitor the CJ1W-MCH71 and CS1W- MCH71 Motion Control Units. Overview ........... . . 7-1-1 Data Exchange Area Overview .
Page 419: Overview
Section 7-1 Overview Overview CPU Unit can control MC Unit with the following three different methods of data I/O. 1,2,3... 1. Data exchange with allocated PC area words. 2. Data exchange with allocated DM area words. 3. Data exchange with allocated Custom area words . 7-1-1 Data Exchange Area Overview CPU Unit...
Page 420: About I/O Refresh
Section 7-1 Overview Area Brev- Direction Usage Remark No. of No. of words min. words max. Custom I/O Area Setting General I/O A General I/O Setting General I/O B General I/O Setting General I/O C General I/O Setting General I/O D General I/O Setting General I/O E...
Page 421 Section 7-1 Overview Unit Number Bit area Unit Number Bit area Word 1575-1599 Word 1775-1799 Word 1600-1624 Word 1800-1824 Word 1625-1649 Word 1825-1849 Word 1650-1674 Word 1850-1874 Word 1675-1699 Word 1875-1899 CPU Bus Unit Allocated DM Area Words 100 words are allocated for each Unit starting from D30000. Unit Number DM area Unit Number...
Page 422 Section 7-1 Overview Area Brevity CPU Unit’s Addresses Custom I/O Area Depends on the general I/O area range setting. CIO, WR, DM, EM Unit version 2.0 or earlier: m+4 and m+5 Unit version 2.1 or later: m+4, m+5, m+74, and m+75 Depends on the general I/O area range setting.
Page 423 Section 7-1 Overview Name Purpose P1AA01 Physical axis The greatest axis number that is going to be used setting determines the number of allocated. Custom I/O Area Allocation The Custom I/O Areas (brevity codes: a_A to a_H) are the areas used to exchange custom data between the CPU Unit and MC Unit.
Page 424 Section 7-1 Overview • General I/O area allocation is performed using [PORT_* Number of trans- ferred words], [PORT_* Area type], [PORT_* Direction], and [PORT_* First address]. • The destination of allocations in the MC Unit is as follows: When [PORT_* Direction] is 0 (MC Unit to CPU): Output variables When [PORT_*Direction] is 1 (CPU to MC Unit): Input variables •...
Page 425 Section 7-1 Overview For general I/O area A in the MC Unit, allocations are specified by setting the [PORT_A transfer area type at MC Unit] (m+74) and the [PORT_A transfer first address at MC Unit] (m+75) of [General I/O area range setting] in the allo- cated DM area.
Page 426: Cpu Unit's Influence
Section 7-1 Overview Transfer area First transfer address at MC Unit Number of 1) Entire transfer area is within area range: transferred Transfers all data. words Area range Final transfer address at MC Unit First transfer address at MC Unit Number of 2) Part of transfer area is outside area range: transferred...
Page 427: Operating Mode
Section 7-2 Operating Mode The MC Unit operates as shown in the table below when the operating mode of the CPU Unit is changed: CPU Unit operating mode MC Unit operation change RUN Mode or MONITOR Mode All the axes decelerate and stop. →...
Page 428: Manual Mode/Automatic Mode
Section 7-2 Operating Mode All operations (manual mode/automatic mode) can be performed from the CPU Unit in RUN and CPU Modes. Internal Description Operation from CPU Unit mode Manual Mode Automatic Mode RUN Mode • This is the normal mode for operating the MC Unit from the CPU Unit. All commands All commands can be used.
Page 429: Manual Mode
Section 7-2 Operating Mode Function Command method Manual Automatic Mode Mode JOG/STEP Direction Axis control bit Axis Machine Lock Axis control bit Manual/Automatic Mode Axis control bit Present Position Preset IOWR instruction Yes: Can be executed No: Cannot be executed 7-2-2 Manual Mode In Manual Mode, control for each axis is possible and the following functions...
Page 430 Section 7-2 Operating Mode Whether another function The following table shows whether another function can or cannot be exe- can or cannot be executed cuted when a function listed vertically on the left are being executed: during execution of a Yes: Can be executed ≅...
Page 431: Automatic Mode
Section 7-2 Operating Mode The following table shows whether deceleration stop can be executed or not and whether the Busy flag turns ON or stays OFF when the functions listed vertically on the left are being executed. Additionally, whether the functions listed vertically on the left can be executed under various conditions or not is shown: Condition...
Page 432 Section 7-2 Operating Mode 2. Specify the program number to be executed. Set the program number to be executed in the motion task control data [Motion program number (word m+22)] of motion task control data. 3. Set the Start Mode for restarting the motion program interrupted in the mid- dle of execution.
Page 433 Section 7-2 Operating Mode In case of ABL specification ABL MOVE [J1] 2000 [J2] 0; _ When this block is interrupted ABL MOVE [J1] 3000 [J2] 0; Start Mode Operation Start point Interruption End point Start point End point Resumes pro- gram from mid- way of the block indicated by Exe-...
Page 434 Section 7-2 Operating Mode MC Units manufactured before 2 February 2004 (Lot No. 040202xxxx) • Axis 1 is set to a turntable. • Axis 1 is set as an infinite length axis. • The command value for axis 1 is set between 0 ° and 359 ° . •...
Page 435 Section 7-2 Operating Mode In case of ABL specification ABL MOVE [J1] 2000 [J2] 0; _ When this block is interrupted ABL MOVE [J1] 3000 [J2] 0; Start Mode Operation Block stop Resumes pro- Start point End point Start point End point gram from mid- way of the block...
Page 436 Section 7-2 Operating Mode Ladder program example The procedure to execute the motion program is described as a ladder pro- to execute motion gram below. programs Note that, however, the following ladder program contains the circuits of only the minimum requirements to execute a motion program. Therefore, it is nec- essary to add circuits depending on the actual requirement for actual opera- tions.
Page 437 Section 7-2 Operating Mode Related PC Interface Area The list below is for the motion task 1. the list for motion tasks 2-8 is the same List as motion task 1. Classification Word Variable Name Specifications Motion task 1 IW0340 Motion program start 0: Nil Control bit 1: Nil...
Page 438 Section 7-2 Operating Mode Ladder Program Example Ladder program example and timing chart for the program operation with axis and Timing Chart movement (including deceleration stop) are shown below. In this example, Axes 1 and 2 are operated with motion task 1 and the Motion task 1 Control bit [Deceleration stop] is used for stopping.
Page 439 Section 7-2 Operating Mode Word Allocation Example The word allocation for the ladder program above is shown below (Unit num- ber: 0): Description in ladder program Axis 1 Axis 2 R1 to R3 (Work bit) W50001 to W50003 x+0.15, x+1.15 (Manual/Automatic W20015 (See note.) W20115 (See note.) Mode) n+4.02 (Start Mode 1)
Page 440 Section 7-2 Operating Mode Timing Chart In Automatic Mode (R1) In Servo lock status (R2) Command enable Level H (R3) Program setting button Start button Pause button Start Mode 1 (n+4.02) Motion program start (n+4.01) Motion program completed (n+17.02) Motion program operating MC Unit and CPU Unit •...
Page 441: Allocations For The Cpu Unit
Section 7-3 Allocations for the CPU Unit • If the output time of the signal output from either Unit (CPU or MC) is shorter than the processing cycle of the other Unit to which the sig- nal is input, the latter Unit may not be able to detect the change of the signal.
Page 442 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Unit control bit IW0300 Unit Alarm Reset 0: Nil 1: Does not turn ON the bit [Unit Alarm] ↑: Clears the alarm occurring on Unit level ↓: Nil System Parameter 0: Nil Save...
Page 443 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications IW0301 00-15 Teaching Axis Set- 0: Nil ting 1-16 1: Specifies axis as teaching object ↑: Nil ↓: Nil IW0302 00-15 Teaching Axis Set- 0: Nil ting 17-32 1: Specifies axis as teaching object ↑: Nil ↓: Nil...
Page 444 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Motion task 3 IW0342 00-15 Same as for Motion Same as for Motion Task 1 Control bit Task 1 Motion task 4 IW0343 00-15 Same as for Motion Same as for Motion Task 1 Control bit Task 1...
Page 445 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Unit status bit n+15 OW0303 00 Unit Ready 0: Unit is not ready for accepting commands 1: Unit is ready for accepting commands Unit Alarm 0: No alarm occurring on Unit level or Unit Alarm Reset is ON 1: Alarm occurring on Unit level Flash Save Com-...
Page 446 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Motion task 1 n+17 OW0340 00 Motion Task Alarm 0: No alarm occurring on motion task level or Status bit Motion Task Alarm Reset is ON 1: Alarm occurring on motion task level Motion Program 0: Motion task is not executing program operation Operating...
Page 447: Dm Area Words For Unit (20 Words, Cpu Unit → Mc Unit)
Section 7-3 Allocations for the CPU Unit DM Area Words for Unit (20 Words, CPU Unit → MC Unit) 7-3-2 DM Output Area for the Unit (CPU → MC Unit, 20 Words) Default Setting Area Classification Word Variable Name Specifications Unit area range 00-15 Bit Area Type...
Page 448 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications General I/O F m+14 Same as for General I/O A area range settings area range set- m+15 tings General I/O G m+16 Same as for General I/O A area range settings area range set- m+17 tings...
Page 449 Section 7-3 Allocations for the CPU Unit The custom bit area is allocated, as shown below, starting from word 0064Hex (100) of CIO area in PLC. Control bit Status bit Axis 01 Axis 02 Axis 31 Axis 32 Ex2: 0002 00C8 The custom bit area is allocated, as shown below, starting from word 00C8Hex (200) of CIO area in PLC.
Page 450 Section 7-3 Allocations for the CPU Unit 03: DM area (custom address) Specifies DM area of PLC starting from the specified first address (m+3). 04: EM area (custom word) Specifies EM area of PLC starting from the specified first address (m+3).
Page 451 Section 7-3 Allocations for the CPU Unit General I/O Area Settings (with PORT_A) Word Name Timing for enabling the setting PORT Area Type, No. of Transferred Words, Direction Specification When the power is turned ON, or when MC Unit is restarted PORT Area First Address Data configuration Setting range...
Page 452 Section 7-3 Allocations for the CPU Unit For details on bank and file memory for the EM Area, refer to the SYSMAC CS Series Programmable Controllers Operation Manual (W339) or the SYS- MAC CJ Series Programmable Controllers Operation Manual (W393). •...
Page 453 Section 7-3 Allocations for the CPU Unit On PLC Direction On MC Unit → PORT_D EM 10000 to 10159 IW 0CE0 to 0D7F PORT_E Not used. → PORT_F CIO 0010 to 0019 IW 0E20 to 0E29 ← PORT_G DM 32000 to 32159 OW 0EC0 to 0F5F ←...
Page 454 Section 7-3 Allocations for the CPU Unit • The following values are set for m+4 and m+5. General I/O A 840A (PORT_A) 4E20 • The following values are set for m+74 and m+75. General I/O A m+74 0004 Range setting m+75 0000 DM Output Area Words for the Unit (CPU Unit →...
Page 455 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Motion task 1 m+42 OW0360 00-15 Motion Task Alarm Outputs the code of the alarm occurring on motion Status data Code task level. m+43 OW0361 00-15 Executing Motion Outputs the program No.
Page 456: Custom Bit Area
Allocations for the CPU Unit Section 7-3 7-3-3 Custom Bit Area Custom Bit Area (CPU → MC Unit, 32 words) Classification Word Variable Name Specifications Axis 1 Control bits IW0440 Axis Alarm Reset 0: Nil 1: Does not turn ON the bit [Axis Alarm] ↑: Clears the alarm occurring on axis level and MLK slave alarm ↓: Nil...
Page 457 Allocations for the CPU Unit Section 7-3 Classification Word Variable Name Specifications Axis 1 Control bits IW0440 ABS Origin Setting 0: Nil 1: Nil ↑: Sets the absolute encoder origin ↓: Nil Axis Override Enable 0: Disables axis override value (override 100% is used) 1: Enables axis override value ↑: Nil...
Page 458 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Axis 26 control bits x+25 IW0459 00-15 Same as for Axis 1 Same as for Axis 1 Axis 27 control bits x+26 IW045A 00-15 Same as for Axis 1 Same as for Axis 1 Axis 28 control bits x+27...
Page 459 Allocations for the CPU Unit Section 7-3 Custom Bit Area (MC Unit → CPU, 32 words) Classification Word Variable Name Specifications Axis 1 Status bits x+32 OW0440 00 Axis Alarm 0: No alarm occurring on axis or MLK slave or Axis Alarm Reset is ON.
Page 460: Custom Data Area
Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Axis 1 Status bits x+32 OW0440 15 In Manual/Automatic 0: In Manual Mode Mode 1: In Automatic Mode Axis 2 Status bits x+33 OW0441 00-15 Same as for Axis 1 Same as for Axis 1 Axis 3 Status bits x+34...
Page 461 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Axis 11 Control data d+10 IW048A 00-15 Axis 11 Override Same as for Axis 1 Control data Axis 12 Control data d+11 IW048B 00-15 Axis 12 Override Same as for Axis 1 Control data Axis 13 Control data d+12 IW048C 00-15...
Page 462 Allocations for the CPU Unit Section 7-3 Classification Word Variable Name Specifications Axis 2 Status d+35 OW0483 00-15 Same as for Axis 1 Same as for Axis 1 Status data data Status data d+36 OW0484 d+37 OW0485 Axis 3 Status d+38 OW0486 00-15...
Page 463 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Axis 18 Status d+83 OW04B3 00-15 Same as for Axis 1 Same as for Axis 1 Status data data Status data d+84 OW04B4 d+85 OW04B5 Axis 19 Status d+86 OW04B6 00-15...
Page 464 Section 7-3 Allocations for the CPU Unit Custom Area (CPU ← → MC Unit, 8 Areas × 160 words) Classification Word Variable Name Specifications General I/O A IW0B00 00-15 General I/O A Reflects the data from general output A Word 1-160 (CPU→MC Unit), or sets the data to be output to IW0B9F general input A (MC Unit→CPU)
Page 465: Interface Specifics
Section 7-4 Interface Specifics Interface Specifics This section provides detailed information on each bit in the PC IF Area and the functions of data in allocated DM Area. Response Time For each bit, description of ‘Timing Chart’ is provided. [T1] indicates the Unit Scan while [Tu] indicates being not fixed.
Page 466 Interface Specifics Section 7-4 Name Specifications Unit Alarm 0: No Alarm occurring on Unit level or the bit [Unit Alarm Reset] is ON 1: Alarm occurring on unit level Unit Alarm Code Output the code of the alarm occurring on Unit level •...
Page 467 Interface Specifics Section 7-4 Alarms are reset on the basis of each type. Therefore, execute the alarm reset over the Unit, Task, and Axis to clear an alarm occurring on the MC Unit with- out fail. Timing Chart Basic operation (Alarm Occurring): Alarm Identification: Alarm Occurring Alarm Identification:...
Page 468 Section 7-4 Interface Specifics Alarm that cannot be reset occurs: When the bit [Unit Alarm] is turned OFF, whether reset has been accepted or not will be checked. When [Unit Alarm Reset] is turned OFF, [Unit Alarm] bit will be turned ON. Unit Control Bit: Unit Alarm Reset Alarm Identification:...
Page 469 Interface Specifics Section 7-4 Alarm occurs when [Unit Alarm Reset] has been ON: Another alarm occurs when [Unit Alarm Reset] has been ON. [Unit Alarm] will not turn ON when an alarm occurs while [Unit Alarm Reset] is ON. When the bit [Unit Alarm] is turned OFF, whether reset has been accepted or not will be checked.
Page 470 Section 7-4 Interface Specifics Status Condition Name Specifications Flash Save Com- 0: Neither parameter nor position data save is completed pleted 1: Parameter or position data save is completed (including error completion) • When saving is completed (normal completion or error completion), the bit [Flash Save Completed] will turn ON.
Page 471 Section 7-4 Interface Specifics The timing chart will be the same as the above even at error completions. Use the bit [Unit Alarm] to confirm normal completion or error completion. (Confirm with the alarm as it seldom happens.) If [System Parameter Save] is turned OFF before completion: Turning OFF after reception will not interrupt saving.
Page 472 Interface Specifics Section 7-4 System Parameter Program Example DIFU Work bit Position Data Save condition n+0.02 Position Data Save n+15.02 Flash Save n+0.02 Completed Position Data Save Timing Chart Basic Operation: When [Flash Save Completed] is turned ON, [Position Data Save] will be turned OFF.
Page 473 Section 7-4 Interface Specifics Function • To use the actual positions on an application in motion programs as posi- tion data, the present positions are stored in position data. • Generally, there are following 2 operations: • Teaching Condition Setting: The axis and address of teaching object will be specified when the bit [Teaching Condition Setting] is turned ON.
Page 474 Section 7-4 Interface Specifics • The bit [Teaching Address] will return to zero if the address after incre- ment in teaching execution exceeds 10239 (27FFh). Status Condition Name Specifications Teaching Warning 0: Teaching condition setting, execution completed success- fully 1: Condition error, Command disabled, No origin, or Address overflow Teaching Condition 0: When the bit [Teaching Condition Setting] is OFF...
Page 475 Section 7-4 Interface Specifics Effect of Other Functions Classification Items Effect Physical status Servo axis No effect Virtual axis No effect I/O axis No effect Counter axis No effect Control status In Position control No effect In Speed control No effect In Torque control No effect Status bits...
Page 476 Section 7-4 Interface Specifics Program Example DIFU Work bit Teaching Condition Setting n+15.04 Teaching Axis MOVL Setting #00000001 Teaching Condition n+0.03 Setting Completed Teaching Storing Teaching Condition First Address Setting #0000 Setting m+20 n+0.03 Teaching Condition Setting DIFU Work bit Teaching Execution Condition n+0.04 Teaching Type...
Page 477 Section 7-4 Interface Specifics Timing Chart Teaching Condition Setting (Normal completion): Completed normally, and the address monitor is updated. Changing only the address after the rise of [Teaching Condition Setting] cannot be accepted. Unit Control Bit: Teaching Condition Setting Unit Control Bit: Number of Teaching Axis Setting axes = 8...
Page 478 Section 7-4 Interface Specifics Teaching Condition Setting (Error Completion): Error occurs because the Error occurs because address is 10240 or higher. No. of axes is zero. Unit Control Bit: Teaching Condition setting Unit Control Bit: No. of axes = 0 No.
Page 479 Section 7-4 Interface Specifics Teaching Execution (Normal completion): Completed normally, and The feedback position is stored. the address will be incremented. Unit Control Bit: Teaching Execution Unit Control Bit: Teaching Type Unit Status Bit: Teaching Warning Unit Status Bit: Teaching Execution Completed Unit Status Data: 1000h...
Page 480 Section 7-4 Interface Specifics Teaching Execution (Error completion): Completed with error because The feedback position is not stored. no origin has been defined. Unit Control Bit: Teaching Execution Unit Control bit: Teaching Type Unit Status Bit: Teaching Warning Unit Status Bit: Teaching Execution Completed Unit Status Data:...
Page 481 Section 7-4 Interface Specifics Command and Operation Name Specifications Servo Parameter 0: Nil Save 1: Nil ↑: Saves servo parameters in the Flash ROM and EEPROM. ↓: Nil • Servo parameters will be saved when the bit [Servo Parameter Save] is turned ON.
Page 482 Section 7-4 Interface Specifics Timing Chart Basic Operation: When [Flash Save Completed] is turned ON, [Servo Parameter Save] will be turned OFF. When [Servo Parameter Save] is turned OFF, [Flash Save Completed] will be turned OFF. Unit Control Bit: Servo Parameter Save Unit Status Bit: Flash Save Completed Data in Flash Memory...
Page 483 Section 7-4 Interface Specifics Command and Operation Name Function Present Value Moni- Selects data to be output to present value monitor. tor Select 0: Zero output Outputs 0. 1: Feedback position (coordinate system currently being selected) Outputs feedback position on the selected coordinate system. 2: Feedback position (machine coordinate system) Outputs feedback position on the machine coordinate system.
Page 484 Section 7-4 Interface Specifics Name Function Servo Axis Virtual Axis I/O axis, Counter axis Present Value Selects from the following 11 to output Always zero Monitor ← 0: Zero Value range: 0, Unit: Nil 1: Feedback position (selected coordinate system) Same value as for Value range: −2147483648 to 2147483647, Unit: Command unit...
Page 485: Unit Status Bits
Section 7-4 Interface Specifics Classification Item Effects Status Bits Busy No effect In Servo Lock No effect No Origin No effect Axis Operating No effect Positioning Completed No effect Positioning Completed (No.2) No effect Axis Machine Lock Status No effect Command Disabled/Enabled When OFF: [Present Value Monitor] = 0 When ON: No effect...
Page 486 Interface Specifics Section 7-4 • The bit [Unit Ready] will be turned ON after the power is turned ON, the initial processing is completed, and the motion task becomes ready to receive commands. • During normal operations, the bit [Unit Ready] will be turned OFF when an alarm that requires the system stop occurs.
Page 487 Interface Specifics Section 7-4 Status Condition Name Specifications External Forced Stop 0: No forced stop request from something (FINS, etc.) other Request than input variable 1: There is a forced stop request from something (FINS, etc.) other than input variable. External Forced Stop 0: No forced stop request, or processing for the stop Status...
Page 488: Motion Task Control Bits
Section 7-4 Interface Specifics 7-4-3 Motion Task Control Bits Words Variables Bits Name IW0340 Motion Program Start (Task 1) Output n+11 IW0347 Motion Program Start (Task 8) 02-03 Start Mode (Task 1) Start Mode (Task 8) Function Specifying a program number and starting the motion task can execute the motion program that was stored in the MC Unit.
Page 489 Interface Specifics Section 7-4 • In [Start Mode] = 1, the operation at resuming an interrupted program var- ies depending on the command being executed as shown below: Command Operation MOVE/MOVEL/MOVEC/ See 7-2-3 Automatic Mode (page 386). MOVEI/MOVET MOVETRAV/MOVELINK/ When interrupted midway of a block, resumes to fin- CAMBOX (1 cycle) ish the remaining travel distance.
Page 490 Section 7-4 Interface Specifics • [Executing Motion Block Number (Single execution command)] indicates the block number of the single execution command currently being exe- cuted. It will be updated only when a command execution is started. If program operation is interrupted or completed, the value immediately before will be held, and updated when execution of the next block is started in Pass Mode section.
Page 491 Section 7-4 Interface Specifics Program Example <Example of starting the program (program No. 1) using Axes 1 and 2 with motion task 1> x+0.15 Axis 1 Automatic/Manual Mode Automatic/Manual x+1.15 Switch Axis 2 Automatic/Manual Mode In Automatic Mode x+32.15 x+33.15 Axis 1 In Automatic Mode Axis 2 In Automatic Mode In Servo Lock...
Page 492 Interface Specifics Section 7-4 Timing Chart Turning ON [Motion Program Number] during operation is ignored. Turning ON [Motion Program Start] during operation is ignored. Start Mode and Program Number at the rise of Executing Motion Program the bit [Motion Program Start] are referenced. Number is held even after operation completion.
Page 493 Section 7-4 Interface Specifics Transition of Executing Motion Block Number: Programs to be executed Row No. PROG P100 Q00000003; MOVE [J01]1000 [J02]1000; #MW1000 = 1000; #MW1000 = 2000; #MW1000 = 3000; ABLMOVE [J01]#MW1000 [J02]#MW1000; END; The 3 to 5 rows are executed in one scan, so only the 5th row executed at the end of the scan will remain as data.
Page 494 Section 7-4 Interface Specifics Command and Operation Name Specifications Motion Program 0: Nil Start 1: Nil ↑: Starts the motion program following the specified Start Mode. ↓: No Start Mode 0,3: Reads program number and executes the program from top. 1: Executes the program from the block indicated by Executing Motion Block Number.
Page 495 Section 7-4 Interface Specifics Command Operation SPEED: Decelerates to zero speed, and switches to Position Con- Speed Control trol Mode. After position loop is formed, the operation will be stopped. TORQUE: Reduce torque to zero, and switches to Position Control Torque Control Mode.
Page 496 Section 7-4 Interface Specifics Timing Chart Programs to be executed Row No. PROG P100 Q00000003; ABL MOVEL [J01]1000 [J02]1000; The bit [Deceleration Stop] is turned ON during execution of this block. #MW1000 = 1000; #MW1000 = 2000; #MW1000 = 3000; ABL MOVEL [J01]#MW1000 [J02]#MW1000;...
Page 497 Section 7-4 Interface Specifics Stop in Pass Mode: Programs to be executed Row No. PROG P100 Q00000003; PASSMODE; MOVEL [J01]1000; The bit [Deceleration Stop] is turned ON after MOVEL [J02]1000; having stated the execution of this block. END; Executing Motion Program Number and Executing Motion Block Number will be held after completion of deceleration stop.
Page 498 Section 7-4 Interface Specifics Stop in Speed or Torque Control: Program to be executed Row No. PROG P100 Q00000003; The bit [Deceleration Stop] is turned ON SPEED [J01]1000 T 100; after having started execution of this block. MOVEL [J02]1000; END; [J01] Speed Time Motion Task Control Bit:...
Page 499 Section 7-4 Interface Specifics Name Specifications Start Mode 0,3: Reads program number and executes the program from top. 1: Executes the program from the block indicated by Executing Motion Block Number. Operation at resuming interrupted pro- grams varies depending on the command used or stopping status.
Page 500 Section 7-4 Interface Specifics Status Condition Name Specifications Motion Program 0: Motion task is not executing program operation. Operating 1: Motion task is executing program operation (turned OFF after completion of deceleration or block stop) Motion Program 0: When starting program operation Operation Com- 1: END command was executed.
Page 501 Section 7-4 Interface Specifics Timing Chart Basic Operation: Program to be executed Row No. PROG P100 Q00000003; ABL MOVE [J01]1000 [J02]1000; The bit [Block Stop] is turned ON #MW1000 = 1000; during execution of this block. #MW1000 = 2000; #MW1000 = 3000; ABL MOVE [J01]#MW1000 [J02]#MW1000;...
Page 502 Section 7-4 Interface Specifics Stop in Pass Mode: Program to be executed Row No. PROG P100 Q00000003; PASSMODE; MOVEL [J01]1000; The bit [Block Stop] is turned ON MOVEL [J02]1000; after starting execution of this block. END; Although the 3 block is currently being executed, execution of the 4 block has already been started.
Page 503 Section 7-4 Interface Specifics Stop in Speed or Torque control mode: Program to be executed Row No. PROG P100 Q00000003; The bit [Deceleration Stop] is turned ON SPEED [J01]1000 T 100; after starting execution of this block. MOVEL [J02]1000; END; [J01] speed Time Motion Task Control Bit:...
Page 504 Section 7-4 Interface Specifics Command and Operation Name Specifications Motion Program 0: Nil Start 1: Nil ↑: Starts motion program operation following the specified Start Mode ↓: No Start Mode 0,3: Reads program number and executes the program from top. 1: Executes the program from the block indicated by Executing Motion Block Number.
Page 505 Section 7-4 Interface Specifics Name Specifications Executing Motion Outputs the program number of the program currently being Program Number executed in motion task or temporarily being stopped. Executing Motion • Outputs the block number of the single execution command Block Number currently being executed with motion task, or temporarily (Single execution being stopped.
Page 506 Section 7-4 Interface Specifics Timing Chart Basic Operation: Program to be executed Row No. PROG P100 Q00000003; ABL MOVE [J01]1000 [J02]1000; #MW1000 = 1000; #MW1000 = 2000; #MW1000 = 3000; ABL MOVE [J01]#MW1000 [J02]#MW1000; END; Stopping at the end of the block makes the bit [In Block Stop] turn ON. After block stop completion, Executing Motion Program Number and Executing Motion Block Number will be held.
Page 507 Section 7-4 Interface Specifics Word Variable Name IW0340 Task Override Enable (Task 1) Output n+11 IW0347 Task Override Enable (Task 8) Function • Override is the function to change the feed rate specified in the motion program or parameter to the user-specified speed with % specification. •...
Page 508 Section 7-4 Interface Specifics • The value in [Task Override] is enabled only while the bit [Task Override Enable] is turned ON. When the bit is OFF, override 100.00% is used. • The bit [Task Override Enable] and data [Task Override] are always refer- enced.
Page 509 Section 7-4 Interface Specifics Relation between Task Override and Axis Override: Program Example MOVEL Operation of (1) MOVEL [J01]10000; ---(1) MOVE [J01]3000; ---(2) MOVEL Speed is affected by [Task Override]. MOVEL Speed is not affected by [Axis Override]. MOVE Operation of (2) MOVE Speed is not affected by [Task Override].
Page 510 Section 7-4 Interface Specifics Command and Operation Name Specifications Motion Task Alarm 0: Nil Reset 1: Does not turn ON the bit [Motion Task Alarm]. ↑: Clears the alarm occurring in motion task. ↓: Nil Turning ON the bit [Motion Task Alarm Reset] can reset alarms on the motion task level.
Page 511 Section 7-4 Interface Specifics Program Example DIFU Work bit Alarm Reset Condition n+0.00 Unit Alarm Reset n+15.01 Unit Alarm n+0.00 Occurring Unit Alarm Reset n+4 to 11.01 Task Alarm Reset n+17 to 24.00 Task Alarm n+4 to 11.01 Occurring Task Alarm Reset x+0 to 31.00 Axis Alarm Reset x+32 to 63.00...
Page 512 Section 7-4 Interface Specifics Timing chart Basic Operation (Alarm Occurring): Alarm Identification: Alarm Occurring Alarm Identification: Motion Task Alarm Occurring Motion Task Status Bit: Motion Task Alarm Motion Task Status Data: XXXX Motion Task Alarm Code Internal Alarm Status Basic Operation (Alarm Reset): When the bit [Motion Task Alarm] is turned OFF, whether reset has been accepted or not will be checked.
Page 513 Section 7-4 Interface Specifics When an alarm that cannot be reset occurs: When the bit [Motion Task Alarm] is turned OFF, whether reset has been accepted or not will be checked. The bit [Motion Task Alarm] will be turned ON when the bit [Motion Task Alarm Reset] is turned OFF.
Page 514 Section 7-4 Interface Specifics Another alarm occurred while the bit [Motion Task Alarm Reset] is ON. When an alarm occurs while the bit [Motion Task Alarm Reset] is ON, the bit [Motion Task Alarm] will not be turned ON. When the bit [Motion Task Alarm] is turned OFF, whether reset has been accepted or not will be checked.
Page 515 Section 7-4 Interface Specifics Effect of Other Functions System Parameter ON/OFF of the bit [Speed Clamp Warning] is determined by the following sys- tem parameters: Parameter No. Name P00M01 Maximum interpolation feed rate P2AA01 Maximum rapid feed rate Timing Chart Basic Operation: The override exceeded 100% and the bit Override reduced to 100% and the bit...
Page 516 Interface Specifics Section 7-4 • [Motion Program Number] is not between 0-499. • The motion program specified by [Motion Program Number] does not exist (It has not been loaded). • The bit [Command Disable/Enable] of the axis specified by PROG com- mand is OFF.
Page 517: Axis Control Bits, Axis Status Bits
Interface Specifics Section 7-4 Effect of Other Functions System Parameter Timing Chart When bit [Motion Program Start] turns ON/OFF, bit [Start] also turns ON/OFF accordingly. Motion Task Control Bit Motion Program Start Motion Task Control Data Motion Program Number Motion Task Status Bit Motion Program Operating Motion Task Status Bit...
Page 518 Section 7-4 Interface Specifics Operation At rising edge Axis Control Bit: ABS Origin Setting Not influenced Execution prohibited IOWR: Present Position Preset Not influenced Execution prohibited • Turning ON the bit [Deceleration Stop] after having started deceleration stop operation will not interrupt deceleration stop operation. Status Condition Effect of Other Functions Effect on Other Functions...
Page 519 Interface Specifics Section 7-4 Word Variables Bits Name IW0440 Servo Lock (Axis 1) Output x+31 IW045F Servo Lock (Axis 32) Servo Unlock (Axis 1) Output Servo Unlock (Axis 32) Function This is the function to lock (Servo ON) or unlock (Servo OFF) the servo. Command and Operation Name Specifications...
Page 520 Section 7-4 Interface Specifics Classification Item Effect Status Bits Busy No effect Servo Lock No effect No Origin No effect Axis Operating No effect Positioning Completed No effect Positioning Completed (No.2) No effect Axis Machine Lock Status No effect Command Disable/Enable Servo Lock/Unlock cannot be executed when OFF.
Page 521 Section 7-4 Interface Specifics Timing Chart Basic Operation: Turning OFF the bit [Servo Lock] will not cause Servo Unlock. Turning OFF the bit [Servo Unlock] will not cause Servo Lock. Axis Control Bit: Servo Lock Axis Control Bit: Servo Unlock Axis Status Bit: In Servo Lock Servo Unlock:...
Page 522 Interface Specifics Section 7-4 Command and Operation Name Specifications 0: Nil 1: Continues JOG operation ↑: Starts JOG operation ↓: Stops JOG operation JOG/STEP Direction 0: Sets the direction of JOG and STEP operation to positive direction 1: Sets the direction of JOG and STEP operation to negative direction ↑: Nil ↓: Nil...
Page 523 Section 7-4 Interface Specifics Classification Item Effect Status Bits Busy JOG cannot be executed when In Servo Lock JOG cannot be executed when OFF. No Origin No effect Axis Operating JOG cannot be executed when Positioning Completed No effect Positioning Completed (No.2) No effect Axis Machine Lock Status No effect...
Page 524 Section 7-4 Interface Specifics Timing Chart ■ P00004 bit 05 set to 0 Basic Operation: The bit [Positioning Completed] is not included Direction cannot be changed in completion condition. after the JOG operation has been started. Speed Time Axis Control Bit: JOG Operation Axis Control Bit: JOG/STEP Direction...
Page 525 Section 7-4 Interface Specifics Timing Chart ■ P0004 bit 05 set to 1 Basic Operation: The bit [Positioning Change the rotation direction Completed] is not included using the JOG/STEP Direction Bit. in completion condition. Speed Time Axis Control Bit: JOG Operation Axis Control Bit: JOG/STEP Direction Axis Status Bit:...
Page 526 Section 7-4 Interface Specifics • When the axis completes to move for the specified travel distance, it auto- matically decelerates to stop. (The travel distance for the deceleration stop is included in the specified travel distance.) • [Axis Override] is applied to the speed. For details of timing, etc., see Relation between Task Override and Axis Override (page 462).
Page 527 Section 7-4 Interface Specifics Classification Item Effect Status Bits Busy STEP cannot be executed when ON. In Servo Lock STEP cannot be executed when OFF. No Origin No effect Axis Operating STEP cannot be executed when ON. Positioning Completed No effect Positioning Completed (No.2) No effect Axis Machine Lock Status...
Page 528 Section 7-4 Interface Specifics Timing Chart Basic Operation: STEP operation travel distance The bit [Positioning The direction cannot be Completed] is not included changed after STEP in completion condition. operation has been started. Speed In order to complete the operation, check if the bit [Positioning Completed] is turned ON, and then turn OFF the bit [STEP...
Page 529 Section 7-4 Interface Specifics Premature completion: Actual travel distance STEP operation travel distance Speed The bit [Busy] will be turned OFF when the axis operation is completed because the bit [STEP Operation] has been turned OFF. Time Axis Control Bit: STEP Operation Axis Control Bit: JOG/STEP Direction...
Page 530 Section 7-4 Interface Specifics Command and Operation Name Specifications Origin Search 0: Nil 1: Continues Origin search ↑: Starts Origin search ↓: Stops Origin search Origin search operation will be started when the bit [Origin Search] is turned ON. Even if the machine origin is not detected, the axis decelerates to stop when the bit is turned OFF.
Page 531 Section 7-4 Interface Specifics Classification Item Effect Status Bits Busy Origin search cannot be exe- cuted when ON. In Servo Lock Origin search cannot be exe- cuted when OFF. No Origin No effect Axis Operating Origin search cannot be exe- cuted when ON.
Page 532 Section 7-4 Interface Specifics Program Example 1: Origin Search Using an Incremental Encoder DIFU Work bit Origin Search Condition Axis Status x+32 to 63 words x+0 to 31.06 Origin Search Bit 02 Bit 05 Bit 14 Bit 03 Bit 15 Bit 04 Bit 00 Busy...
Page 533 Section 7-4 Interface Specifics Timing Chart Basic Operation: The bit [Positioning Completed] is included in the completion conditions. Operation Origin search operation Axis control Bit: Origin Search Axis Status Bit: Machine Origin Axis Status Bit: Busy Axis Status Bit: No Origin Axis Status Bit: Axis Operating Axis Status Bit:...
Page 534 Section 7-4 Interface Specifics Premature completion: When origin search operation is The bit [Positioning completed] is included started, the bit [No Origin] will in the completion conditions. be turned ON. The origin is not determined due to premature completion. Origin search operation Operation Axis Control Bit: Origin Search...
Page 535 Section 7-4 Interface Specifics Command and Operation Name Specifications Machine Origin Return 0: Nil 1: Continues Machine origin return (PTP) ↑: Starts Machine origin return (PTP) ↓: Stops Machine origin return (PTP) The machine origin return operation will be started when the bit [Machine Ori- gin Return] is turned ON.
Page 536 Section 7-4 Interface Specifics Classification Item Effect Status Bits Busy Machine origin return cannot be executed when ON. In Servo Lock Machine origin return cannot be executed when OFF. No Origin Machine origin return cannot be executed when ON. Axis Operating Machine origin return cannot be executed when ON.
Page 537 Section 7-4 Interface Specifics Timing Chart Basic operation: There must be an origin already The bit [Positioning completed] determined when starting the operation. is included in the completion conditions. Machine origin return operation Operation Axis Control Bit: Machine Origin Return Axis Status Bit: Machine Origin Axis Status Bit:...
Page 538 Section 7-4 Interface Specifics Premature completion: There must be an origin The bit [Positioning Completed] is already determined when included in the completion conditions. starting the operation. The axis cannot reach the machine origin due to the premature completion. Machine origin return operation Operation Axis Control Bit: Machine Origin Return...
Page 539 Section 7-4 Interface Specifics • When the bit [In Servo Lock] is OFF: The error counter reset processing will be executed when the bit [Error Counter Reset] is turned ON. Note Actually, Errors are not generated. When the bit [Axis Operating] is OFF: •...
Page 540 Section 7-4 Interface Specifics Program Example DIFU Error Counter Work bit Reset Condition Work bit x+32 to 63.13 x+32 to 63.00 Command Positioning x+0 to 31.08 Disabled/Enabled Completed Error Counter Reset x+32 to 63.05 Axis Operating Timing Chart Basic operation 1 (The bit [Error Counter Reset] is turned OFF after checking the bit [Positioning Completed].): The bit [Axis Operating] is OFF.
Page 541 Section 7-4 Interface Specifics Basic operation 2 (The bit [Error Counter Reset] is turned OFF without check- ing the bit [Positioning Completed].): The bit [Axis Operating] is OFF. Therefore, the error counter reset processing is immediately started. Because the bit [Error Counter Reset] is turned Error amount OFF, processing will be interrupted and the bit [Positioning Completed] will not turn ON.
Page 542 Section 7-4 Interface Specifics Execution when the bit [Axis Operating] is ON (in Manual Mode): Waits until the bit [Axis Operating] is turned OFF, and executes the error counter reset. Speed Time Axis Control Bit: Axis Control Bit: Error Counter Reset Axis Status Bit: Busy Axis Status Bit:...
Page 543 Section 7-4 Interface Specifics Execution when the bit [Axis Operating] is ON (in Automatic Mode): Waits until the bit [Axis Operating] is turned OFF, and executes the error counter reset. Speed Time Motion Task Control Bit: Motion Program Start Axis Control Bit: Error Counter Reset Axis Status Bit: Busy...
Page 544 Section 7-4 Interface Specifics Status Condition Name Specifications Machine Origin 0: Machine coordinate system FB position is outside of origin in-position range. 1: Machine coordinate system FB position is within origin in- position range. Busy 0: Not executing any of the functions listed below. 1: Executing one of the functions listed below, or the com- mand bit is ON.
Page 545 Section 7-4 Interface Specifics Program Example DIFU Work bit Forced Origin Condition Axis Status x+32 to 63 words x+0 to 31.09 Forced Origin Bit 02 Bit 05 Bit 06 Bit 13 Bit 14 Bit 15 Busy Axis Positioning Command Axis Not In Manual/ Operating Completed...
Page 546 Section 7-4 Interface Specifics Function The present position will be defined as the machine origin when the bit [ABS Origin Setting] is turned ON and the positional relation between the origin and ABS encoder value is saved into the flash ROM. With this function, the need for origin searches when switching ON the ABS encoder will be eliminated.
Page 547 Section 7-4 Interface Specifics Classification Item Effect Status Bits Busy ABS origin setting cannot be exe- cuted when ON. In Servo Lock No effect No Origin No effect Axis Operating ABS origin setting cannot be exe- cuted when ON. Positioning Completed ABS origin setting cannot be exe- cuted when OFF.
Page 548 Section 7-4 Interface Specifics Timing Chart The bit [Positioning Completed] must be ON when starting ABS origin setting. Axis Control Bit: ABS Origin Setting Axis Status Bit: Machine Origin Axis Status Bit: Busy Axis Status Bit: No Origin Axis Status Bit: Axis Operating Axis Status Bit: Positioning Completed...
Page 549 Section 7-4 Interface Specifics • The relations between each command and override are shown in the table below: Classification Function/Name Command Override Remark Axis Movement Positioning MOVE Axis Override Internal Over- ride Linear Interpolation MOVEL Task Override Circular Interpolation MOVEC Task Override Origin Search DATUM...
Page 550 Section 7-4 Interface Specifics Program Example Override Data Setting #0000 Axis Override Enable Condition d+31 x+0 to 31.11 Axis Override Enable Timing Chart Basic Operation: The bit [Axis Override Enable] is turned OFF. Therefore, override 100% is used. The bit [Axis Override Enable] is turned ON, so [Axis Override] is enabled.
Page 551 Section 7-4 Interface Specifics Relation between Task Override and Axis Override: Program Example MOVEL Operation of (1) MOVEL [J01]10000; ---(1) MOVEL Speed is influenced by [Task Override]. MOVE [J01]3000; ---(2) MOVEL Speed is not influenced by [Axis Override]. MOVE Operation of (2) MOVE Speed is not influenced by [Task Override].
Page 552 Section 7-4 Interface Specifics • When Axis machine lock status is cancelled, the command position returns to the position (Feedback present position) before the machine lock status. • The Axis machine Lock function works on each axis independently. Therefore, make sure to take caution when the operation (interpolation, etc.) involves multiple axes.
Page 553 Section 7-4 Interface Specifics Classification Item Effect Status Bits Busy No effect In Servo Lock No effect No Origin No effect Axis Operating Axis machine lock state will not be changed when ON. Positioning Completed No effect Positioning Completed (No.2) No effect Axis Machine Lock Status No effect...
Page 554 Section 7-4 Interface Specifics Timing Chart Basic Operation: The bit [Axis Machine Lock Status] will be changed (turned ON/OFF) after the bit [Axis Operating] is turned OFF. Command speed Time Feedback speed Time Axis Control Bit: Axis Machine Lock Axis Status Bit: Axis Machine Lock Status Axis Status Bit: Axis Operating...
Page 555 Section 7-4 Interface Specifics Operation in Speed or Torque Control: In Speed or Toque Control, it is not guaranteed that the axis will not move when the command output is stopped. Therefore, the bit [Axis Machine Lock Status] is not changed (turned ON/OFF). Due to the same reason, while the bit [Axis Machine Lock Status] is 1 (ON), commands are output not as Speed or Torque command, but as Position command.
Page 556 Section 7-4 Interface Specifics Status Condition Name Specifications Busy 0: Not executing any of the functions listed below. 1: Executing one of the functions listed below, or the com- mand bit is ON. JOG, STEP, Origin Search, Machine Origin Return, Error Counter Reset, Forced Origin, and ABS Origin Setting Axis Not Used/Used 0: Axis is not being used.
Page 557 Section 7-4 Interface Specifics Function In Manual/Automatic Mode OFF (Manual) ON (Automatic) Axis Control Bit: Manual/Automatic Can be executed Can be executed Mode IOWR: Present Position Preset Can be executed Cannot be executed • When the bit [Manual/Automatic Mode] is turned ON (1) during a manual operation, the manual operation being executed will be interrupted by deceleration stop.
Page 558 Section 7-4 Interface Specifics Axis operation switch in Manual Mode: Deceleration will be started when the bit [Manual/Automatic Mode] is changed (turned ON/OFF). The bit [In Manual/ Automatic Mode] will be changed (turned ON/OFF) Speed when the deceleration stop is completed. Time Axis Control Bit: Manual/Automatic Mode...
Page 559 Section 7-4 Interface Specifics Switch during program operation in Automatic Mode: Deceleration is started when the bit [Manual/Automatic Mode] is changed (turned ON/OFF). The program below is executed: Only [J01] is switched to Manual Mode. The bits [Axis Not MOVEL [J01]20000 [J02]10000; Used/Used] for both [J01] and [J02] are turned OFF (Not Used).
Page 560 Section 7-4 Interface Specifics Word Variable Name IW0440 Axis Alarm Reset (Axis 1) Output x+31 IW045F Axis Alarm Reset (Axis 32) x+32 OW0440 Axis Alarm Occurring (Axis 1) Input x+63 OW045F Axis Alarm Occurring (Axis 32) Function • When an error that requires stopping the operation occurs in the MC Unit or MECHATROLINK-II slaves, it will be detected as an alarm.
Page 561 Section 7-4 Interface Specifics Program Example DIFU Work bit Alarm reset condition n+0.00 Unit Alarm Reset n+15.01 Unit Alarm n+0.00 Occurring Unit Alarm Reset n+4 to 11.01 Task Alarm Reset n+17 to 24.00 Task Alarm n+4 to 11.01 Occurring Task Alarm Reset x+0 to 31.00 Axis Alarm Reset x+32 to 63.00...
Page 562 Section 7-4 Interface Specifics Timing Chart Basic Operation (Alarm Occurring): Alarm identification Data: Alarm Occurring Alarm identification Data: Axis Alarm Occurring Axis Status Bit: Axis Alarm Axis Status Data: Axis Alarm Code XXXX Internal Alarm Status Basic Operation (Alarm Reset): When the bit [Axis Alarm] is turned OFF, whether reset has been accepted or not will be checked.
Page 563 Section 7-4 Interface Specifics When an alarm that cannot be reset occurs: When the bit [Axis Alarm] is turned OFF, whether reset has been accepted or not will be checked. When the bit [Axis Alarm Reset] is turned OFF, the bit [Axis Alarm] will be turned ON.
Page 564 Section 7-4 Interface Specifics When an alarm occurs while the bit [Axis Alarm Reset] is ON: Another alarm occurred while the bit [Axis Alarm Reset] is ON. When an alarm occurs while the bit [Axis alarm Reset] is ON, the bit [Axis Alarm] will not be turned ON.
Page 565 Section 7-4 Interface Specifics • 1-shot output may occur. In that case, depending on the Scan Time of the ladder program and the Unit Scan Time of the MC Unit, the output may not be reflected in the ladder program. Effect on Other Functions The bit [Machine Origin] does not affect other functions directly.
Page 566 Section 7-4 Interface Specifics The bit [Busy] will be turned ON when the execution of the following functions is started after they were accepted, and turned OFF when the execution is completed and the command is turned OFF. Function Axis Control Bit: JOG Axis Control Bit: STEP Axis Control Bit: Origin Search Axis Control Bit: Machine Origin Return...
Page 567 Section 7-4 Interface Specifics Function Remark Axis Control Bit: The bit [No Origin] will be turned OFF when ABS Control Setting is completed nor- ABS Origin Setting mally. Subsequently, the bit will be turned OFF simultaneously when the bit [Command Dis- abled/Enable] is turned ON.
Page 568 Section 7-4 Interface Specifics Function Remark MOVEC Command: Circular Interpolation In Pass Mode MOVETRAV Command: Traverse In Pass Mode • The status (ON/OFF) of Axis machine lock will not be changed while the bit [Axis Operating] is ON. System Parameter Timing Chart Basic Operation: Command speed...
Page 569 Section 7-4 Interface Specifics • The bit [Positioning Completed (No.2)] will be turned ON when the differ- ence between the present position and target position enters into the in- position range No.2 (specified in the system parameter) after position command output was completed. •...
Page 570 Section 7-4 Interface Specifics System Parameter The range where the bits are turned ON/OFF is determined by the following system parameter: Name Pn0500 In-Position Range P3AA07 No.2 In-Position Range Note It is generally recommended to set the parameters above so that [Pn0500 = P3AA07] is satisfied for the sake of positioning and interpolation feed accu- racy.
Page 571 Section 7-4 Interface Specifics Status Condition Name Specifications Error Counter Warn- 0: Error amount is within the range of the error counter warn- ing value. 1: Error amount has exceeded the range of the error counter warning value. • The bit [Error Counter Warning] will be turned ON when the error amount exceeds the error counter warning value specified in the system parame- ter.
Page 572 Section 7-4 Interface Specifics Function Purpose of counter latch function Role of latch signal MOVELINK: Link Operation Detects link start position. Trigger to start synchronization CAMB0X: Detects link start position. Trigger to start synchronization Electronic Cam, Synchronous SYNC: Trailing Synchronization Detects marker sensor ON position.
Page 573 Section 7-4 Interface Specifics Status Condition Name Specifications MECHATROLINK Warn- 0: No warning detected on MECHATROLINK-II device 1: Warning detected on MECHATROLINK-II device 1-shot output may occur. In that case, depending on the Scan Time of the lad- der program and the Unit Scan Time of the MC Unit, the output may not be reflected in the ladder program.
Page 574 Section 7-4 Interface Specifics • The bit for the axis that was allocated as a real axis will be turned ON when axis initialization processing is completed after communications were established. When disconnection due to communications error occurs, it will be turned OFF. Turning ON the bit [Axis Alarm Reset] may recover the communications from the disconnection.
Page 575 Section 7-4 Interface Specifics Effect on Other Functions • In Manual Mode No effect. (The bit [Busy] also has effect on the functions affected by this bit. Duration of the bit [Busy] staying ON is longer than that of the bit [Axis Not Used/Used], which means that the bit [Busy] includes the bit [Axis Not Used/Used] consequentially.
Page 576: Establishing The Origin
SECTION 8 Establishing the Origin This section describes how to establish the origin in the positioning system. Overview ........... . . 8-1-1 Using Incremental Encoders .
Page 577: Overview
Section 8-1 Overview Overview This section describes the method of establishing the origin for motion control systems using either incremental encoders or absolute encoders. 8-1-1 Using Incremental Encoders In motion control systems using incremental encoders, an origin must be established and the bit [No Origin] must be turned OFF after the power is turned ON.
Page 578 Section 8-1 Overview 8-1-2 Using Absolute Encoders With the ABS encoder, the present position can be defined by reading the absolute value from the encoder when the MC Unit is turned ON if the PLC (MC Unit) or servo driver was turned OFF once. Because of this, there is no need to perform origin searches every time when turning ON the devices.
Page 579: Input Signals Required For Origin Search
Section 8-2 Input Signals Required for Origin search Input Signals Required for Origin search The following input signals and conditions are required to perform the origin search operation. Parameter Description CW/CCW Limit Signals Normally closed switches are required. Origin Proximity Signal The logic of the input signal can be changed in the parameter, so either Normally closed or Normally open switch can be used.
Page 580 Section 8-3 Origin Search Methods and Parameters 3-level Speed in One • The origin search is performed only in one direction. Direction Mode • After starting the operation towards the phase-Z detection direction at Ori- gin search feed rate, the speed will be changed to Origin search approach speed when the Origin proximity signal input (normally open) is turned ON.
Page 581: Origin Search Operations
Section 8-4 Origin Search Operations Parameter Value Description Origin search P4AA08 1 to 2147483647 Sets the 2 level speed of the 3-level speed origin approach speed Note The speed is limited by search, or sets the 1 level speed of the 2-level 32767 command unit/unit speed origin search.
Page 582 Section 8-4 Origin Search Operations Description 1,2,3... 1. When the origin search is executed, the axis is moved in the specified di- rection at the specified origin search feed rate. 2. When the origin proximity input signal is input, the speed is changed to the origin search approach speed.
Page 583 Section 8-4 Origin Search Operations Description 1,2,3... 1. When the origin search is executed, the axis is moved in the phase-Z de- tection direction at the origin search approach speed. 2. After the origin proximity input signal is turned OFF, the speed is reduced at the first rise of the phase-Z.
Page 584: Absolute (Abs) Encoders
MC Unit reads the same data to calculate the absolute position to set the machine coordinate system automatically. Applicable Absolute The following Servomotors with absolute encoders that can be connected to Encoders the MC Unit are provided: OMRON W Series (R88M-W@@@@@S) (R88M-W@@@@@T)
Page 585: Abs Encoder Origin Setting
Section 8-6 ABS Encoder Origin Setting ABS Encoder Origin Setting 8-6-1 Procedure Follow the procedure below to set the ABS encoder origin. Related parameter setting for the MC Unit and Servo Driver ABS encoder setup ABS origin setting for the MC Unit Follow the above procedure in the following cases: •...
Page 586 0 in the MC Unit. Setup Procedure The following setup procedure is for the ABS encoder on OMRON W-series Servomotor. Make sure to follow the procedure. Otherwise, errors may occur.
Page 587 Section 8-6 ABS Encoder Origin Setting 1,2,3... 1. Execute ABS encoder setup in the system check mode (Fn008). ABS encoder setup in the Displays PGCL1 system check mode More than 1second Sets PGCL5 Setup operation Done display flashing (setup is completed) After 1second Returns to the PGCL5 display More than 1second...
Page 588 Section 8-6 ABS Encoder Origin Setting 8-6-4 Supplemental Information for Setting Up Setup operation explained above is required for operation check (with no load) on a motor and driver alone. When connecting the motor with the mechanical system for trial operation, another setup will be required due to the possibility that the amount of multi-turns in the ABS encoder may be too great .
Page 589 Section 8-6 ABS Encoder Origin Setting Execute ABS origin setting using the bit in the PC Interface Area. Name Word Variable Name Description Axis 1 Control Bit IW0440 Absolute Origin 0: Nil Setting 1: Nil ↑: Sets ABS encoder origin ↓: Nil Axis 2-32 Control IW0441...
Page 590: Other Operations
SECTION 9 Other Operations This section describes special operations for the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units, including teaching, program debugging, coordinate systems, and backup functions. Teaching............
Page 591: Teaching
Section 9-1 Teaching Teaching This section describes the teaching method using the PC Interface Area. 9-1-1 Introduction • After moving the axis to a desired position, the present position can be written into the words for position data. This process is called teaching. The address to which the present position is written is called teaching address.
Page 592 Section 9-1 Teaching 9-1-3 Teaching Execution • The bit [Teaching Type] will be read when the bit [Teaching Execution] is turned ON, and the present values will be written into the position data under the conditions specified in the [Teaching Condition Setting]. •...
Page 593 Section 9-1 Teaching • It will be turned OFF when the bit [Teaching Execution] is turned OFF. Teaching Address Monitor • The status [Teaching Address Monitor] indicates the teaching address. • When teaching is completed normally, the address displayed in [Teaching Address Monitor] will be automatically incremented for the number of axes specified in the bits [Teaching Axis Setting 1-16] and [Teaching Axis Setting 17-32].
Page 594 Section 9-1 Teaching DM Area Words for Unit (MC Unit to CPU Unit) Classification Word Variable Name Specifications Unit Status data m+39 OW0311 00-15 Teaching Address Outputs the address of the current teaching Monitor object. 9-1-6 Program Example DIFU Work bit Teaching Condition Setting Condition n+15.04...
Page 595 Section 9-1 Teaching 9-1-7 Timing Chart Teaching Condition Setting (Normal completion): Completed normally, and the address monitor changes Changing only the address after the automatically. rise of the bit [Teaching Condition Setting] cannot be accepted. Unit Control Bit: Teaching Condition Setting Unit Control Bit: Axis number...
Page 596 Section 9-1 Teaching Teaching Execution (Normal completion): The feedback position is stored. Completed normally, and the address will be incremented. Unit Control Bit: Teaching Execution Unit Control Bit: Teaching Type Unit Status Bit: Teaching Warning Unit Status Bit: Teaching Execution Completed Unit Status Data: 1008h...
Page 597 Section 9-1 Teaching Teaching Execution (Error completion): Completed with error because The feedback position is not stored. no origin has been defined. Unit Control Bit: Teaching Execution Unit Control Bit: Teaching Type Unit Status Bit: Teaching Warning Unit Status Bit: Teaching Execution Completed Unit Status Data:...
Page 598: Debugging The Program
Section 9-2 Debugging the Program Debugging the Program The debug function is described here, and the following functions are used for debugging the programs. Debug function Debugged Operation Debugging unit program Single Block Operation Motion program Ladder, the Support Motion task Tool Machine Lock Motion program...
Page 599 Section 9-2 Debugging the Program Single Block Operation Mode Motion Program Start Program execution status In Block Stop Effect on Other Tasks Single Block Operation Mode is a function independent for each task, so there is no effect on other tasks. Operation during Parallel If the bit [Single Block Operation Mode] is already ON before execution of par- Execution...
Page 600 Section 9-2 Debugging the Program Single Block Operating Mode Motion Program Start Program NO.NSTOP With NSTOP NO NSTOP execution status 9-2-2 Machine Lock Function • Machine Lock function prohibits the output of movement commands to the axes so that operation sequences other than axis operations can be debugged.
Page 601 Section 9-2 Debugging the Program The Machine Lock status will be changed after the bit [Axis Operating] is turned OFF. Command speed Time Feedback speed Time Axis Control Bit: Axis Machine Lock Axis Status Bit: Axis Machine Lock Status Axis Status Bit: Axis Operating Wait Wait...
Page 602 Section 9-2 Debugging the Program The status will be changed when The output remains as the the bit [Axis Operating] = 0 in the position command in Axis position control mode. Machine Lock state. Position Speed/Torque Commands by program Position command Speed/Torque command command command...
Page 603: Coordinate System
Section 9-3 Coordinate System Coordinate System 9-3-1 Machine Coordinates and Workpiece Coordinates There are two types of coordinate systems: • Machine coordinate system: This is the coordinate system unique to the system that is determined by defining an origin. • Workpiece coordinate system: This is the coordinate system unique to the work that is determined by adding an offset to the machine coordinate system.
Page 604 Section 9-3 Coordinate System When Parallel Branching • When executing parallel branching using PARALLEL command, the offset value and coordinate system select will be inherited to all the branches. • The offset value and coordinate system select changed in a branch will influence other branches.
Page 605 Section 9-3 Coordinate System Example: Upper limit of the limited length axis = 100,000 Lower limit of the limited length axis = − 100,000 SL0206: Machine coordinate system command position = − 50,000 SL021A: No. of multi-turns = − 1 When executing the following program with the setting above: PROG P0001 Q00000001;...
Page 606 Section 9-3 Coordinate System • Upper limit of the unlimited length axis = P5AA04 − 1 Unlimited Length Axis • Lower limit of the unlimited length axis = 0 P5AA04: Command unit/1 machine rotation With the unlimited length axis, even when SL021A: No. of multi-turns is not zero, the target position and reached position will match.
Page 607 Section 9-3 Coordinate System Software Limit Range Specification Operation (Shaded area is the operating range.) P3AA04 = 0 The entire area is the operating range. P3AA03 P3AA02 P3AA04 = 1 Lower than [P3AA02: + direction software limit] is the operating range. P3AA03 P3AA02 →...
Page 608 Section 9-3 Coordinate System • If origin setting is executed near the limit of the multi-turn data, a slight movement will make the axis exceed the limit. Therefore, always initialize the multi-turn data of the encoder before executing origin setting. •...
Page 609 Section 9-3 Coordinate System Multi-turn data Value of Pn205 Rotation amount When Multi-turn Limit Setting Is Adjusted Multi-turn data Pn205 Rotation amount Machine coordinate system Rotation amount The same present value can be obtained from the same multi-turn data. Note that, however, there is no guarantee on the value of the number of multi- turns (SL021A: Number of multi-turns) on the machine coordinate system.
Page 610 Section 9-3 Coordinate System When Multi-turn Limit Setting is not Adjusted Multi-turn data Pn205 Rotation amount Machine coordinate system Rotation amount The same present value cannot be obtained from the same multi-turn data. When Multi-turn Reset Similar to the case above, the correct present value cannot be obtained when Cycle is Shorter than the reset cycle of the multi-turn data is shorter than the cycle of the machine Machine Coordinate...
Page 611: Backup And Restore Function
Section 9-4 Backup and Restore Function Backup and Restore Function When replacing the Unit, etc., all the data in the MC Unit can be saved in the memory card of the CPU Unit at once. The saved settings can be set in another MC Unit using the memory card easily.
Page 612 Section 9-4 Backup and Restore Function Personal Computer CPU Unit MC Unit Internal memory Support tool Position data Data transfer Parameters area Hard disk Variables EM area Programs FINS area →(1) ↓(2) Flash memory Memory card <Additional note> 1: Restore/Program Read command 2: Backup Recording Device...
Page 613 Section 9-4 Backup and Restore Function 9-4-1 Procedures for Backup and Restore LED Indicators Battery Compartment ERR/ALM DIP Switch (inside Battery Compartment) PRPHL/COMN Used to make initial settings. SYSMAC ERR/ALM CJ1G-CPU44 SYSMAC CS1G PROGRAMMABLE PRPHL Memory Card Power Supply Switch CONTROLLER PROGRAMMABLE CONTROLLER COMM...
Page 614: Servo Driver Status Output
Section 9-5 Servo Driver Status Output Servo Driver Status Output The Servo Driver status output function is supported by MC Units with unit version 3.0 or later. Status Output Function The codes that are generated together with the main circuit ON/OFF and other Servo Driver statuses that occur for each axis when a Servo Driver warning/alarm occurs are collected and continuously set in the output vari- ables.
Page 615: Data Tracing
Section 9-6 Data Tracing Data Tracing Data tracing is supported for MC Units with unit version 3.0 or later. Data Tracing Operations The following table lists the data trace operations that are supported for MC Units. Item Description Number of trace groups Number of trace data items From 1 to 16 items can be simultaneously collected per group.
Page 616: Zones
Section 9-7 Zones Zones Zones are supported for MC Units with unit version 3.0 or later. Overview A zone bit turns ON when a specified variable is within the set range, and turns OFF when the variable is outside of the range. A maximum of 32 zone bits can be set.
Page 617 Section 9-7 Zones ■ Enabling and Disabling Zone Bits Each zone bit can be enabled or disabled by turning ON or OFF the applica- ble bits for the following variables. Address Name Contents IW0304 Zone enable bits (No. 1 to 16) Enables or disables zone bits No.
Page 618: Program Example
SECTION 10 Program Example The section provides a programming example to demonstrate how the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units can be used. 10-1 Program Example ..........
Page 619: Program Example
Section 10-1 Program Example 10-1 Program Example This section shows several motion programs for different typical application. 10-1-1 Positioning with PTP Control Explanation of the • Positioning to the 3 points below is executed with PTP control, and the operation axes returns to the origin ([J01]0, [J02]0).
Page 620 Section 10-1 Program Example 15) The program is completed. 10-1-2 Positioning with Linear Interpolation Explanation of the • At the rise of the general input (IW0B00), positioning with linear interpola- operation tion is performed from the present position to the position [J01]10000, [J02]50000.
Page 621 Section 10-1 Program Example 10-1-3 Positioning with Linear and Circular Interpolation Explanation of the Positioning with the path shown below is performed combining linear and cir- operation cular interpolation. 40000 30000 20000 10000 10000 20000 30000 40000 Program 01) PROG P003 Q00000003; 02) PASSMODE;...
Page 622 Section 10-1 Program Example 10-1-4 Positioning with Position Data Explanation of the Positioning is performed using indirectly specified position data. operation Position data Position data specified indirectly PL0000 PL0102 position data of [J01] PL0001 PL0103 position data of [J02] PL0002 PL0102 position data of [J01] position data of [J02]...
Page 623 Section 10-1 Program Example 14) This is the end of FOR command from 06). 15) The program is completed. 10-1-5 Positioning with Workpiece Coordinate System with Subprograms Explanation of the Changing coordinate systems and using subprograms, the same operation is operation executed repeatedly in different positions on the machine coordinate system.
Page 624 Section 10-1 Program Example 22) WORK C3; 23) GOSUB P500; 24) ORIGIN; 25) MOVEL [J01]0 [J02]0 F500000; 26) END; Subprogram 01) PROG P500 Q00000003; 02) MOVEL [J01]0 [J02]0 F500000; 03) MOVEL [J01]1000 [J02]1000 F300000; 04) MOVEL [J01]2000; 05) MOVEL [J02]2000; 06) MOVEL [J01]1000;...
Page 625 Section 10-1 Program Example Subprogram 01) A subprogram No. and axes to be used are specified. 02) The axes move from the present position to the position [J01]0, [J02]0. 03) The axes move to the position [J01]1000, [J02]1000. 04) The axis moves to the position [J01]2000. 05) The axis moves to the position [J02]2000.
Page 626 Section 10-1 Program Example 10-1-7 Positioning with Position Data Calculation Explanation of the • After positioning based on the initial values of position data was per- operation formed, positioning is repeated 10 times adding 1000 to the position data of [J01] each time. After that, positioning is repeated 5 times adding 5000 to the position data of [J02] each time.
Page 627 Section 10-1 Program Example Subprogram 01) A program No. and axes to be used are specified. 02) The task variable for counting (DL0002) is reset. (For [J01]) 03) With FOR command, the process through 03) to 07) is repeated 10 times. 04) The axes [J01] and [J02] move based on the values in the position data (PL0010) and (PL0011) respectively.
Page 628 Section 10-1 Program Example 10-1-8 Stopping a Program with General Input Explanation of the • The program advance is held while the general input is ON. operation • The axis keeps going back and forth between positions 0 and 20000 until IW0B00 becomes 1.
Page 629 Section 10-1 Program Example General input PL0010 Axis movement Stopping position X is assigned to PL0010. Origin return Positioning to the position X (content of PL0010) Positioning Program 01) PROG P010 Q00000001; 02) STOPMODE; 03) #PL0010 = 50000; 04) #IW0B00 = 0; 05) STOPOP #IW0B01 = = 1;...
Page 630 Section 10-1 Program Example • The target position is to be specified within the range of 0 to 360 degrees. Passing the position of 360 (0) degrees clears the present position to 0. 1,2,3... 1. Enter a target position into the position data using IOWR instruction. 2.
Page 631 Section 10-1 Program Example Explanation of the Main program program 01) A program No. and axes to be used are specified. 02) With WHILE command, the process through 02) to 23) is repeated until the general input (IW0B00) becomes 1. 03) With WAIT command, the program advance will be held until the general input (IW0B01) becomes 1.
Page 632 Section 10-1 Program Example Program 01) PROG P011 Q00000001; 02) WORK C1; 03) OFFPOS C1 [J01]#SL0206; 04) INC MOVE [J01]1000; 05) NOPS; 06) END; Explanation of the 01) The program number and axes to be used are specified. program 02) The workpiece coordinate system (C1) is enabled. 03) The workpiece coordinate system (C1) offset is changed to the machine coordinate system present position (SL0206) (i.e., the workpiece coordi- nate system is preset).
Page 633 Section 10-1 Program Example Explanation of the 01) A program No. and axes to be used are specified. program 02) The axes return to the origin. 03) to 05) The general outputs (OW0BA0 to OW0BA2) are reset to 0. 06) The program will wait until the general input (IW0B00) becomes 1. 07) Positioning with linear interpolation is performed to the position [J01]10000, [J02]10000.
Page 634 Section 10-1 Program Example 11) The program advance will be held until the general input (IW0B02) becomes 1. 12) The general output (OW0BA1) is cleared to 0. 13) This is the end of WHILE command from 02). 14) The program is completed. 10-1-14 Interrupt Feeding (MOVEI) Explanation of the Positioning of [J01] to 100000 is performed.
Page 635 Section 10-1 Program Example 06) When the system variable (SW022A) is 2, the command of 07) is exe- cuted. When it is not 2, the program jumps to 10). (Latch completed) (With interrupt feeding, the axis returns to the origin after operations of other axes.
Page 636 Section 10-1 Program Example 03) Positioning is performed to the position [J01]10000, [J02]20000 in 3 sec- onds. 04) to 05) After completion of positioning, 1 is output to the general output (OW0BA0). 06) The program advance will be held until the general input (IW0B00) becomes 1.
Page 637 Section 10-1 Program Example • The example of setting the program above with pitch specification is shown in the next page. Calculation method of the operand <Winding axis rotations> for the above program with pitch specification Pitch = Traverse axis winding width/No. of winds per layer Therefore, Pitch = 360/20 = 18 [command unit/rev] The program should be changed as shown below:...
Page 638 Section 10-1 Program Example Cam data Displacement 20000 Data No. Phase Displacement 1000 1600 1500 3600 15000 2000 6400 2500 10000 3000 13600 3500 16400 4000 18400 10000 4500 19600 5000 20000 5500 19600 6000 18400 6500 16400 7000 13600 5000 7500 10000...
Page 639 Section 10-1 Program Example 10-1-18 Link Operation (MOVELINK) Explanation of the • Positioning is performed with a slave axis synchronizing to a specified operation master axis. • In this example, the master axis will start operating when the general input becomes 1. The slave axis will start synchronization when the mas- ter axis reaches the position 5000.
Page 640 Section 10-1 Program Example 11) The program advance will be held until the general input (IW0B01) becomes 0. 12) The general output (OW0BA0) is cleared to 0. 13) The present position of the master axis is entered into the position data for the workpiece coordinate.
Page 641 Section 10-1 Program Example 06) The program will wait until the general input (IW0B01) becomes 1. 07) The slave axis performs 1 cycle of the cam operation based on the cam table 1 while the master travels for 60000. (The slave axis will start cam operation once the master reaches the posi- tion 5000.) 08) The master axis moves from the present position to the position 90000 with linear interpolation.
Page 642 Section 10-1 Program Example Explanation of the 01) A program No. and axes to be used are specified. program 02) The gear ratio of 1 to 2 is set. 03) The master axis moves to the position 50000 at 500 rpm. (The slave syn- chronizes to the master and moves at 250 rpm.) 04) The operation is held for 3 seconds.
Page 643 Section 10-1 Program Example (Master axis) 01) PROG P024 Q00000001; 02) MOVEL [J01]30000 F500000; 03) DWELL T5000; 04) MOVEL [J01]60000; 05) MOVEL [J01]100000 F1000000; 06) DWELL T3000; 07) #ML0000 = 1; 08) MOVEL [J01]0; 09) #ML0000 = 0; 10) END; Explanation of the (Slave axis) program...
Page 644 Section 10-1 Program Example Superimposed only for this interval Master axis Slave axis ADDAX ADDAXR command command Program (Master axis) 01) PROG P025 Q00000001; 02) STOPMODE; 03) MOVEL [J01]50000 F500000; 04) NOPS; 05) #MW0000 = 1; 06) MOVEL [J01]100000; 07) MOVEL [J01]150000 F1000000; 08) NOPS;...
Page 645 Section 10-1 Program Example 06) The master axis moves to the position 100000 at 500 rpm. 07) The master axis moves to the position 150000 at 1000 rpm. 08) to 09) After positioning is completed, 0 will be output to the global general variable (MW0000).
Page 646 Section 10-1 Program Example Program 01) PROG P027 Q00000001; 02) MOVEL [J01]50000 F500000; 03) SPEED [J01]50. T0; 04) #OW0BA0 = 1; 05) WAIT #SL0204 > = 150000; 06) SPEEDR [J01] T0; 07) #OW0BA0 = 0; 08) MOVEL [J01]200000; 09) DWELL T5000; 10) MOVEL [J01]0;...
Page 647 Section 10-1 Program Example Explanation of the 01) A program No. and axes to be used are specified. program 02) The axis moves to the position 50000 with linear interpolation. 03) TORQUE command operation is started with 50% of the maximum motor torque.
Page 648 Section 10-1 Program Example 04) to 07) When the present position reaches 10000, if the general input (IW0B00) is 1, the target position will be changed to 40000. If the general input (IW0B00) is not 1, the target position will not be changed.
Page 649 Section 10-1 Program Example 04) The axis moves to the position 100000 with linear interpolation. 05) This is the syntax of PARALLEL command. 06) If the external input is turned ON between the start position 80000 and the end position 90000, the ON position will be assigned to the position data (PL0015).
Page 650 Section 10-1 Program Example 10-1-28 Parallel Execution (PARALLEL, JOINT, JWAIT) Explanation of the • The processing is branched and executed in parallel. operation • This program is used, for example, when executing interpolation com- mands simultaneously. • In this example, 3 axes are operated with linear interpolation and they are simultaneously operated with PARALLEL command.
Page 651 Section 10-1 Program Example 10-1-29 Selective Execution (SWITCH, CASE, BREAK, SEND) Explanation of the • The processing is selectively executed according to the values of condi- operation tional variables. • In this example, different operations are executed depending on the val- ues of the general input at program startup.
Page 652: Slave Modules
Section 10-2 Slave Modules 21) The axes return to the origin. 22) The program is completed. 10-2 Slave Modules This section describes the parameter settings, the allocation area status, and the program examples for operations when the I/O module is specified as the MECHATROLINK-II device.
Page 653 Section 10-2 Slave Modules Output variables Address Symbol Name Description OW0030 0 to 15 Output (OUT1) Controls status of output signal (connector 1) 1 to 16 Output 1 to output 16 OW0031 0 to 15 Output (OUT1) Controls status of output signal (connector 1) 17 to 32 Output 17 to output 32 OW0032...
Page 654 Section 10-2 Slave Modules ;*** Present position preset #OL0052 = 2147483647;---present position setting value #OB00502 = 1;---------Present value setting ON WAIT #IB00501 = = 1; --- → Present position setting completed #OL0052 = 0;---------Present position setting value (cleared) #OB00502 = 0;---------Present value setting OFF WAIT #IB00501 = = 0;...
Page 655 Section 10-2 Slave Modules Address Symbol Name Description IW0051 0 to 15 Monitor Content of monitor is to be as follows through the initial setting: IW0052 • Current value IW0053 • Latch data IW0054 • Mode settings • Notch point setting value 1 (counter 1) •...
Page 656 Section 10-2 Slave Modules Output variables Address Symbol Name Description OW0050 M-SET1 Counter 1 The counter mode setting signal Mode set ON: Mode setting signal is effective N-SET1 Counter 1 The notch point setting preset signal Notch point setting Notch point is set at the rise of the signal (OFF-ON). P-SET1 Counter 1 The counter’s current value preset signal...
Page 657 Section 10-2 Slave Modules Address Symbol Name Description OW0052 0 to 15 Setting values The following 3 counter data settings are available: OW0053 • Mode settings • Notch point setting OW0054 • Current value setting OW0055 Program example With the above settings, the program that makes the slave axis [J04] link to the input of the counter module [J05] as the master axis is shown below (The same specification method as the normal axes can be used): PROG P001 Q00000001;...
Page 658 Section 10-2 Slave Modules Input variables Address Symbol Name Description IW0030 RDY1 Ready Indicates the result of self-diagnosis for the module. Word 1 (Word 1) ON: Normal OFF: Abnormal Not used MONSEL1 Monitor parameters Indicates that the parameters are being monitored. Not used PACK1 Parameter settings...
Page 659 Section 10-2 Slave Modules Address Symbol Name Description IW0032 Word 1 Appropriate setting enables monitoring of the following val- Monitor register ues of Word 1. IW0033 • Current position • Parameter settings • Alarm status IW0034 Word 2 Appropriate setting enables monitoring of the following val- Monitor register ues of Word 2.
Page 660 Section 10-2 Slave Modules Address Symbol Name Description OW0031 ARST2 Alarm reset This is the alarm-reset command. Word 2 Alarm is reset at the rise of the signal (OFF-ON). CAN2 Cancel This signal cancels axis movement. Axis movement is canceled at the rise of the signal (OFF- ON).
Page 661 Section 10-2 Slave Modules Parameter Parameter No. setting Name Setting range (units) Initial setting PRMn3 PRMn2 PRMn1 PRMn0 In zero point return Zero point return speed: Speed: 1 to 50000 (10 pps) • Zero point return speed Zero point return Accel/ Time: •...
Page 662 Section 10-2 Slave Modules !Caution When operating an axis with the pulse output module, make sure to set the Output Current OFF signal (OW0030 bit13) to “1”. If an axis movement com- mand bit is turned ON with the Output Current OFF signal (OW0030 bit13) set to “0”, the alarm [03: Move reference when output current is OFF] will occur.
Page 663 Section 10-2 Slave Modules #OB00305 = 0; Parameter No. specification (05) #OB00306 = 1; Parameter No. specification (05) #OB00307 = 0; Parameter No. specification (05) #OW0032 = 2000; ------------ Positioning speed data #OW0033 = 100; ------------- Positioning Accel/decel time data #OB00303 = 1;...
Page 664: Others
Section 10-3 Others #OB00304 = 0; Parameter No. specification (00) #OB00305 = 0; Parameter No. specification (00) #OB00306 = 0; Parameter No. specification (00) #OB00307 = 0; Parameter No. specification (00) END; 10-3 Others Example 1 This program may be the automatic operation of a simple ‘pick and place’ machine (e.g., PCB mounting machine).
Page 665 Section 10-3 Others ENDIF; IF #SL0244>20000; Torque in Axis 2 #MB00001 = 1; ELSE; #MB00001 = 0; ENDIF; IF #SL0274>20000; Torque in Axis 3 #MB00002 = 1; ELSE; #MB00002 = 0; ENDIF; ;If any of the drives has a torque bigger than 200% we set a bit ;in an output variable (for PLC control) IF #MW0000>0;...
Page 666 Section 10-3 Others 6xxxh) as required. ;------------------------------------------------------------------------------- ;VARIABLES FROM/TO PLC: ;IW0B00 is bag length ;IW0B01 is speed (bag/min) ;IW0B02 is a bitwise word to give the bits to start (b0) and the confir- mation than the cutter is in the STOP position (b2) ;IW0B03 is the expected distance to move after the mark ;OW0BA0 Gives the START order to the cutter (rising edge) ;OTHER VARIABLES:...
Page 667 Section 10-3 Others MOVE [J01]#IW0B00; ELSE; ;Cutting with mark MOVEI [J01]#IW0B00 D#IW0B03 V#ML0002; ENDIF; ;Activate bag cutter (rising edge in OB0BA00) DWELL T10; WAIT #SW0228 = = 0; Check that the movement has finished #OB0BA00 = 1; DWELL T20; #OB0BA00 = 0; WEND;...
Page 668 Section 10-3 Others WAIT #IB00501 = = 1; Initialization completed #OB00500 = 0; #OB00503 = 1; Counter 1 enabled ;Set the axes to RUN #IB04402 = 1; AXIS1 on WAIT #OB04403 = = 1; Wait for confirmation AX1 #IB04402 = 0; WHILE 1 = = 1;...
Page 669 Section 10-3 Others IF #OW0BA0 = = 0; IF NO ALARM IF #OW0BA2<>4; #OW0BA2 = 2;System stopped ENDIF; IF #IB0B001 = = 0; #DB00000 = 1; ENDIF; IF #IB0B001 = = 1; IF #DB00000 = = 1; #DB00000 = 0; GOSUB P502;...
Page 670 Section 10-3 Others #IB03417 = 1; Override Task 1 ;Override for the rest of the tasks #IB0B002 = 1; STOP is NC #OW0BA0 = 0; ;etc. RETURN; PROG P501 Q00000000;STOP all Programs ;STOP MOTION PROGRAMS #IB03414 = 1; STOP Motion Task 2 immediately; #IB03424 = 1;...
Page 671 Section 10-3 Others PROG P503 Q00000000;ALARM management ;------------------------------------------------------------ ;Write here the necessary actions to do in front of an alarm. ;Specially notifying to the PLC what happened ;------------------------------------------------------------ #OW0BA1 = 1111; RETURN;...
Page 672: Troubleshooting
SECTION 11 Troubleshooting This section describes how to troubleshoot problems that may occur when using the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units. 11-1 Troubleshooting ..........
Page 673: Troubleshooting
PC Interface Area and related DM Area words using the CX-Programmer or other Support Tools and provide them to your OMRON representative. • If an operation cannot be properly executed, it may be that a program or parameters were not saved when they were transferred.
Page 674 Section 11-1 Troubleshooting Problem Probable causes Item to check Remedy The CPU Unit’s Power supply lines are Check the power supply wiring. Correct the power supply wiring. RUN indicator wired incorrectly. does not light The power supply voltage Check the power supply. Check the power supply capac- when the power is low.
Page 675 Section 11-1 Troubleshooting Problem Probable causes Item to check Remedy Origin search An error or warning has Check the contents of the error If there is an error or warning, cannot be exe- been generated. or warning. follow the instructions. cuted.
Page 676 Section 11-1 Troubleshooting Problem Probable causes Item to check Remedy Motor rotation is The parameters are set Check the MC Unit parameters Set the parameters correctly, unstable. incorrectly. with the Support Tool. transfer them to the MC Unit, and write them to flash memory. The Servo Motor power Check the Servo Motor power Correct the wiring.
Page 677 Section 11-1 Troubleshooting Problem Probable causes Item to check Remedy The positioning The in-position range set in Increase the in-position range completed sig- the MC Unit parameters is set in the MC Unit parameters. nal is not output too narrow, and the axis is or is delayed.
Page 678 Section 11-1 Troubleshooting Problem Probable causes Item to check Remedy The motor axis is The gain adjustment is • Perform auto-tuning. vibrating insufficient. (The gain is too • Manually adjust (increase) the unsteadily. low.) gain. The gain cannot be This particularly tends to occur •...
Page 679: Countermeasures
Section 11-2 Countermeasures Problem Probable causes Item to check Remedy The speed drops The minimum pass time is Calculate the travel time by Calculate the minimum pass (comes to a tem- not assured. dividing the travel distance by time plus the operations in porary stop) dur- the speed, and check whether progress, and adjust the target...
Page 680 Section 11-2 Countermeasures Alarm types Alarms are categorized, depending on where they occurred, as shown below. The alarm code corresponding to the type is to be output: Alarm type Details Alarm code Unit-related alarm Alarm related to the entire MC Unit 0001h –...
Page 681 Section 11-2 Countermeasures Alarm Occurrence Sequence When an alarm occurs, it is generated in the following sequence. When a motion task-related alarm occurs: 1,2,3... 1. Task status The bit [Motion task alarm] is turned ON, and the alarm code is set. 2.
Page 682 Section 11-2 Countermeasures Alarm Identification Data Task Status Axis Status Alarm Occurring Motion task 1 Motion task 1 Axis 4 Alarm Occurring Motion task 1 Motion task 2 Axis 4 Motion Task Alarm Alarm Occurring Axis Alarm Motion task 1 Motion Axis 4 Task Alarm Code Axis Alarm Code...
Page 683: Error Indicators
11-3 Error Indicators The LED indicator at the top of the MC Unit’s front panel indicates the follow- ing errors: CJ1W-MCH71 CS1W-MCH71 11-3-1 Errors During Initial Processing The following table shows the errors that occur during the MC Unit’s initializa- tion processing:...
Page 684: Unit-Related Alarm Codes
Section 11-4 Unit-related Alarm Codes 11-3-2 Errors During Normal Operation Status LED: ON: Lit, OFF: Not lit, -: Not change, *: Custom PLC WDT error PLC cyclic service monitor error ON→OFF (Recover) Bus error (PC21 bus error) Power failure (power failure prevision) CPU fatal error CPU non-fatal error Event transmission warning generated...
Page 685 Section 11-4 Unit-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code PLC WDT error 0001h 0000h 0030h WDT error on CPU Unit occurred. Any time System Disabled stop Follow the instructions in the appli- cable PLC manual.
Page 686 Section 11-4 Unit-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Flash memory 0370h 0040h 0040h The following data could not be When Decelera- Disabled error written in the Flash memory. FLASH tion stop saving...
Page 687: Motion Task-Related Alarm Codes
Section 11-5 Motion Task-related Alarm Codes 11-5 Motion Task-related Alarm Codes Motion task alarm codes are common for all tasks, but the alarm code output area is different for each task. The following are the alarms that occur in pro- gram execution.
Page 688 Section 11-5 Motion Task-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Axis reserva- 0372h 2007h 2007h The axis that was declared in a program When a Deceler- Enabled tion disable could not be reserved.
Page 689 Section 11-5 Motion Task-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Speed speci- 0372h 200Ah 200Ah The following operands have exceeded the When a Deceler- Enabled fication error allowable range: command ation 0379h...
Page 690 Section 11-5 Motion Task-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Mode specifi- 0372h 200Eh 200Eh The following operand has exceeded the When a Deceler- Enabled cation error range. command ation 0379h including an...
Page 691 Section 11-5 Motion Task-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Control mode 0372h 2014h 2014h • A position control command (MOVE, etc.) When Deceler- Enabled error or speed control command (SPEED) was TORQUE/ ation 0379h...
Page 692 Section 11-5 Motion Task-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Parameter 0372h 2019h 2019h <PARAM> When Deceler- Enabled setting error PARAM, ation System parameters: 0379h LATCH, stop • Attempted to change a parameter that SPEED are cannot be changed after restoring the executed.
Page 693: Axis-Related Alarm Codes
Section 11-6 Axis-related Alarm Codes 11-6 Axis-related Alarm Codes Axis related alarm codes are common for all axes, but the alarm code output area is different for each axis. Axis-related Alarm Code When an axis-related alarm occurs, the following bits will indicate the status: (Code: 3001h to 30FFh) Word Address...
Page 694 Section 11-6 Axis-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Software limit 037Ah 3006h 3006h • The axis entered the software limit area in Any time Decelera- Enabled negative negative direction during axis movement tion stop direction 0399h...
Page 695 Section 11-6 Axis-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Command 037Ah 300Ch 300Ch A MECHATROLINK command could not be Any time Servo OFF Enabled timeout completed within a fixed period of time (10 0399h seconds).
Page 696 Section 11-6 Axis-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Over travel 037Ah 300Eh 300Eh The limit switch in the direction of the In origin Immediate Enabled already ON search was already ON when a one direc- search stop 0399h...
Page 697 Section 11-6 Axis-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Axis classifi- 037Ah 3015h 3015h Attempted to execute a command that can- When a Decelera- Enabled cation error not be executed as an axis. (The command com- tion stop 0399h...
Page 698: Mlk Device Alarm Codes
Section 11-7 MLK Device Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Excessive 037Ah 3019h 3019h The axis speed has exceeded maximum When a Decelera- Enabled speed com- rapid feed rate during the following com- program tion stop mand...
Page 699 Section 11-7 MLK Device Alarm Codes Word Address Name x+32.00 OB04400 Axis 1 Alarm x+63.00 OB045F0 Axis 32 Alarm d+32 OW0480 Axis 1 Alarm Code (3013h) d+125 OW04DD Axis 32 Alarm Code (3013h) 2. A “detail code” is then stored in the error log to provide details for the MLK device.
Page 700: Servo Driver Warnings
Section 11-8 Servo Driver Warnings 11-8 Servo Driver Warnings The W-series Servo Drivers provide various warnings. The warning, causes, and corrections are given in the following table. Display Name Cause and correction A.91 Overload This warning is given before an overload alarm (A.71 or A.72) is reached. An alarm is likely to occur if operation is continued without any changes.
Page 701: Error Log
Section 11-9 Error Log 11-9 Error Log Up to twenty errors detected and notified on the MC Unit can be stored in the system variable in the MC Unit as the error log. The system variables (error log) will be cleared when the power is restored or the Unit is restarted.
Page 702 In a command: Transfer not possible because there is no Unit for the specified unit number When SNA < 80 Normally, this error does not occur. If it should occur, report to OMRON. D7:OFF D7 to D0:SA1 010D Routing error...
Page 703 Section 11-9 Error Log MC Unit Error Codes In the detailed codes of each error, the alarm code of each error is set. There- fore, all the alarms will be stored in the error log. Error code Error name Detailed code Cause (Hex) 1st byte...
Page 704: Maintenance And Inspection
SECTION 12 Maintenance and Inspection This section describes the maintenance and inspection procedures required to keep the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units in optimum condition. 12-1 Routine Inspection ..........
Page 705: Routine Inspection
Section 12-1 Routine Inspection 12-1 Routine Inspection In order for your MC Unit to continue operating at optimum condition, periodic inspections are necessary. 12-1-1 Inspection Points The main components of the Unit are semiconductors and have a long ser- vice life, but depending on the operating environment, there may be more or less deterioration of these and other parts.
Page 706 • When returning a faulty Unit for repair, make a detailed record of the Unit’s malfunction and take it together with the Unit to your nearest OMRON office or sales representative. • If a contact is not good, put some industrial alcohol on a clean cotton cloth and wipe the surface.
Page 707 Section 12-1 Routine Inspection 8. Read the data, parameters, or programs that are saved in the memory card to the MC Unit through the CPU Unit’s backup operation. 9. Turn OFF the power supply to the PLC. The replacement of the MC Unit is completed. 12-1-4 Procedure for replacing a Servo Driver Follow the procedure below when it is necessary to replace a Servo Driver.
Page 708: A Performance
Appendix A Performance Item Performance (ms) Description Approximately (13 + 0.1 × No. Power ON startup time Time from turning ON the power until the MC of physical axes) × 1000 Unit becomes ready to accept manual operation commands, such as Servo Lock commands. Vir- tual axes are not included in the physical axes.
Page 709 Appendix A Performance Item Performance (ms) Description Slave input response time (MECHA- Min.: 4Ts + 2Tm + Td Time from when a signal is input to the slave I/O TROLINK slaves) Unit and the I/O Unit reads the input until current Max.: 4Ts + 3Tm + Td is output to the Servo Motor.
Page 710 If the communications cycle time exceeds 4 ms, 4 ms is set. Note The formula used in this section applies when P00004 bit 09 is 1 for a CJ1W-MCH71 or CS1W-MCH71 Motion Control Unit with unit version 3.0 or later. If the unit version is 2.0 or earlier, or the unit version is 3.0 or later but P00004 bit 09 is 0, the following formula applies.
Page 711 Appendix A Performance Communica- Unit cycle tions cycle 1 ms 2 ms 3 ms 6 ms 8 ms 4 ms 3 ms:3 ms 3 ms:3 ms 3 ms:3 ms 6 ms:3 ms 8 ms:4 ms 3 ms 4 ms:4 ms 4 ms 4 ms:4 ms 4 ms:4 ms...
Page 712: Built-In Mechatrolink-Ii Communications
Appendix B Main Parameter Settings when Connecting W-series Servo Driver with Built-in MECHATROLINK-II Communications This section describes the parameters that must be set when using the W-series R88D-WN@-ML2 Servo Driver with Built-in MECHATROLINK-II Communications. Standard Settings for W-series Servo Drivers with Built-in MECHATROLINK-II Communications For a W-series R88D-WN@-ML2 Servo Driver with Built-in MECHATROLINK-II Communications, the Servo Driver's default settings are the standard settings for MECHATROLINK communications for I/O signal alloca-...
Page 713 Appendix B Main Parameter Settings when Connecting W-series Servo Driver with Built-in MECHATROLINK-II Communications Required Parameter Settings The following servo parameters are used to control the MC Unit. Make sure that they are set correctly and do not change them. List Parameter No.
Page 714 Appendix B Main Parameter Settings when Connecting W-series Servo Driver with Built-in MECHATROLINK-II Communications Pn801.2 Software Limit Check Using Reference Parameter Parameter name Unit Setting Settings Default Required range settings settings Pn801.2 Software limit check using refer- 0 to 1 0: No software limit check ence using reference...
Page 715 Appendix B Main Parameter Settings when Connecting W-series Servo Driver with Built-in MECHATROLINK-II Communications...
Page 716: 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. W435-E1-05 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
Page 717 Revision History Revision code Date Revised content October 2006 Pages viii to xii: Information added on unit versions. Page 3: Information added on features. Page 5: Information added on Peripheral Devices. Page 10: Information added on data tracing. Page 11: Information added on zone function. Pages 14 and 15: Information added on performance specifications.

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Cj1w-mch71

Omron CS1W-MCH71 Operation Manual

Table of Contents

Section 1 Features and System Configuration

Section 2 Basic Procedures

Section 3 Installation and Wiring

Section 4 MC Unit Internal Data Configuration and Setting

Section 5 Data Transfer and Storage

Section 6 Programming

Section 7 PC Interface Area

PC Interface Area

Establishing the Origin

Other Operations

Program Example

Troubleshooting

Maintenance and Inspection

Revision History

Quick Links

Chapters

Troubleshooting

Related Manuals for Omron CS1W-MCH71

Summary of Contents for Omron CS1W-MCH71