Page 1 Cat.No. W323-E3-1 SYSMAC C500-NC113/C500-NC211 Position Control Units OPERATION MANUAL...
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Page 4: About This Manual
About this Manual: This manual describes the installation and operation of the C500-NC113 (one-axis control) and C500-NC221 (two-axis control) Position Control Units for C-series and CV-series PC. It includes the sec- tions described below. Please read this manual carefully and be sure you understand the information provided before attempting to install and operate the C500-NC113/221 Position Control Unit.
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Page 6: Safety Precautions
It is extremely important that a PC and all PC Units be used for the specified 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 PC System to the abovementioned applications.
Page 7 Operating Environment Precautions Do not operate the control system in the following places. • Locations subject to direct sunlight. • Locations subject to temperatures or humidity outside the range specified in the specifications. • Locations subject to condensation as the result of severe changes in tempera- ture.
Page 8 • Install external breakers and take other safety measures against short-circuit- ing in external wiring. • Do not apply voltages to the Input Units in excess of the rated input voltage. • Do not apply voltages or connect loads to the Output Units in excess of the maximum switching capacity.
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Page 10 Section Features C500-NC113 Position Control Unit (1-axis control) C500-NC211 Position Control Unit (2-axis control) Section Overview The C500-NC113/211 Position Control Unit is a C-series and CV-series Special I/O Unit that receives positioning commands either externally or via Intelligent Write instructions, and uses that data to output control pulses to a stepping mo- tor driver or a servomotor driver.
Page 11 Section Data Communications All data and command communications between the Programmable Controller Between PCU and PC and Position Control Unit use the Intelligent I/O Read and Write instructions. Because the C500-NC113/211 utilizes Intelligent I/O Read and Write instruc- tions, it cannot be operated in situations where these instructions cannot be used.
Page 12: System Configuration
Section System Configuration Stepping Motor Driver The Position Control Unit receives control signals (CW limit, CCW limit, origin, Connection origin proximity, emergency stop, interrupt) from devices and/or a control panel, and outputs pulse signals to a stepping motor driver. C500-NC113/211 Position Control Unit Input NC Support Tool...
Page 13 Section Servomotor Driver The Position Control Unit receives control signals (CW limit, CCW limit, origin Connection proximity) from the devices and/or a control panel, and encoder Z-phase signals from a servomotor driver, and outputs pulse signals and error counter reset sig- nals to the servomotor driver.
Page 14: Basic Operations
Section Basic Operations The C500-NC113 (one-axis) and C500-NC211 (two-axis) Position Control Units control positions and speeds by pulse outputs. For both position and speed con- trol, positioning actions are executed in the acceleration/deceleration trapezoi- dal pattern shown in the following diagram. Up to 500 positioning actions can be stored for each axis.
Page 15 Section Positioning Positioning can be executed with either an absolute value (i.e., to an absolute position from the origin), or with an incremental value (i.e., to a relative position from the present position). In addition, depending on instructions from the PC and interrupt inputs, position- ing can be executed using either “speed control,”...
Page 16 Section Manual Operation There are two kinds of manual operation: jogging and inching. Jogging The jogging operation moves the axis at a designated speed and then stops it. High-speed Jogging Low-speed Jogging HIGH- LOW- SPEED SPEED High-speed jogging speed Low-speed Speed Speed jogging speed...
Page 17 Section Origin Return With a command from the PC, the origin return operation returns the axis to the origin. ORIGIN RETURN Origin return speed Speed Pulse output Time Teaching With a command from the PC, the teaching operation writes the present position to a designated address.
Page 18 Section Override The OVERRIDE command can be used to change the target speed during posi- tioning by applying a speed coefficient. Speed Speed coefficient = 1.5 A x 1.5 Time Deceleration Stop Operation can be decelerated to a stop by means of an interrupt input or a com- mand from the PC.
Page 19 Section Zones A zone is a range of positions which can be defined so that flags are turned ON whenever the present position is within the range. Present position Present position Origin Zone setting Zone Flag Absolute positioning (according to absolute value) Relative positioning (according to incremental value) Position control Interrupt feeding...
Page 20: Control System Principles
Section Control System Principles Data Flow C500-NC113/211 Position Control Unit Stepping motor driver Pulse train Stepping motor Pulse genera- SYSMAC C/CV/CVM1 Series External in- Magnetizing dis- Power am- tribution circuit plifier interface I/O connector RS-232 Personal computer Memory connector Pulse train Servomotor driver Servomotor Error counter...
Page 21 Section Control System Principles Open-Loop System In an open-loop system, the Position Control Unit outputs pulse trains as speci- fied by the PC program to control the angle of rotation of the motor. Because the Unit outputs pulse trains, it is generally used with a stepping motor. The angle of rotation of a stepping motor can be controlled through the number of pulse sig- nals supplied to the motor driver.
Page 22 Section Exchanging Data The Position Control Unit exchanges data with the CPU Unit as shown in the fol- lowing diagram. CPU Unit Position Control Unit Data area I/O allocation I/O allocation I/O refresh Beginning Command (in Program Mode) word n Status Data Internal RAM...
Page 23 Section 3. Commands Commands such as START, ORIGIN SEARCH, and so on, are transferred to the PCU by means of Intelligent I/O Write instructions. The PCU then in- terprets and executes the commands. 4. Status Area Status information such as the positioning action currently being executed is written to the CPU Unit from the PCU by means of the CPU Unit’s Intelligent I/O Read instruction.
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Page 25: Specifications
Section Specifications 2-1-1 General Specifications Item Specification Power supply voltage 5 VDC (from Backplane) 24 VDC (from external power supply) Voltage fluctuation tolerance 4.75 to 5.25 VDC (from Backplane) 21.6 to 26.4 VDC (from external power supply) Internal current consumption 5 VDC at 750 mA max.
Page 26 Section Item Specification Acceleration/ Data 2 to 2,000 pps/1 ms Deceleration Deceleration Data items 100/axis for acceleration and deceleration together. pattern Parameters Backlash 0 to 99,999 pulses compensation Home shift Position compensation --999999 to 999999 pulses --9999.99 to 9999.99 mm --999.999 to 999.999 inch Zone settings Zone Flags turn ON when present position is within specified range.
Page 27 Section Differences between the NC113 and NC211 Item NC211 NC113 Reference Number of controlled axes Interpolation Available (linear interpolation) Not available function LED indicators RUN, XCW, XCCW, YCW, YCCW, RUN, XCW, XCCW, ERROR ERROR I/O signals X-axis signal and Y-axis signal X-axis signal only (connector: 2-pin allocation)
Page 28 Section Output Specifications Item Specification 30 mA at 5 to 24 VDC ±10%\(NPN open collector) Maximum switching capacity 7 mA at 5 to 24 VDC ±10% (NPN open collector) Minimum switching capacity Leakage current 0.1 mA max. Residual voltage 0.6 V max. External power supply 24 VDC +10% (maximum 50 mA) CW/CCW Pulse Output Specifications...
Page 29 Section Mounting the Position Insert the Position Control Unit into the connector of the Backplane and tighten Control Unit the two screws (one at the top and one at the bottom) using the Phillips screw- driver to the torque of 1.2 N Phillips screwdriver Backplane Position Control Unit...
Page 30 Section Indicators Indicator Color Function Green Lit during normal operation. Goes out for errors. Green Lit during output of CW (clockwise) pulses for X axis. XCCW Green Lit during output of CCW (counterclockwise) pulses for X axis. Green Lit during output of CW (clockwise) pulses for Y axis. YCCW Green Lit during output of CCW (counterclockwise) pulses for Y...
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Page 32 Section Basic Connections 3-1-1 Connector Pin Arrangement The following shows the I/O connector arrangement as viewed from the front of the Position Control Unit. Designation Designation Designation X/Y axis (frame ground) for input common (12-24 VDC) X-axis Y-axis Origin (0 V/-Z) Origin (0 V/-Z) X-axis X/Y axis...
Page 33 Section • The leakage current must be less than 1.3 mA when two-wire type sensors are used. • Since a short-circuit in the load or reversely connected power supply polarity may damage internal circuitry, be careful when wiring them. 3-1-2 Wiring Configurations According to Origin Search Mode Select the appropriate origin search mode (0 to 3) in accordance with the motor driver or signal lines to be used.
Page 34 Section Origin Search Mode 2 This mode is used with a servomotor driver. It is the same as mode 1, but uses the positioning completed signal lines. NC113/211 Pulse X axis Servomotor Driver Input 24 VDC power supply Origin prox. Positioning completed Positioning...
Page 35 Section Origin Search Mode Connection Examples Example 1: Origin Search Mode 0 Connection This example shows the use of a stepping motor with an external sensor signal connected to the origin signal. Do not make any connection to the Z-phase input (9 (X)/ 31 (Y)). The following diagram illustrates connection in which only the X axis is used.
Page 36 Section Data Settings Related to Connections (X Axis Only for the NC113) 1, 2, 3... 1. Set the origin search mode. Address 2021 (X axis) Address 6021 (Y axis) Setting Contents Origin type Origin search direction: CCW Origin proximity signal: Yes Origin proximity signal contact: N.O.
Page 37 (X axis only for the NC113.) Note Do not connect anything to the origin signal (10 (X) /32 (Y)). In this example an OMRON Servomotor Driver is used. OMRON R88D-UP...
Page 38 Section Data Settings Related to Connections (X Axis Only for the NC113) 1, 2, 3... 1. Set the origin search mode. Address 2021 (X axis) Address 6021 (Y axis) Setting Contents Origin type Origin search direction: CCW Origin proximity signal: Yes Origin proximity signal contact: N.O.
Page 39 Y axis. Be sure to adjust the settings of the servomotor driver so that the positioning completed signal is OFF when the motor is operating and ON when it is stopped. OMRON R88D-UP C500-NC211 Position Control Unit Servomotor Driver...
Page 40 Section Data Settings Related to Connections (X Axis Only for the NC113) 1, 2, 3... 1. Set the origin search mode. Address 2021 (X axis) Address 6021 (Y axis) Setting Contents Origin type Origin search direction: CCW Origin proximity signal: Yes Origin proximity signal contact: N.O.
Page 41 Section Example 4: Origin Search Mode 3 Connection This is an example using the origin adjustment function of OMRON’s Servomo- tor Driver. The positioning completed signal (INP) is used as both the origin search completion and the positioning completed signal.
Page 42 Section Data Settings Related to Connections 1, 2, 3... 1. Set the origin search mode. (X axis only for the NC113.) Address 2021 (X axis) Address 6021 (Y axis) Setting Contents Origin type Origin search direction: CCW Origin proximity signal: Yes Origin proximity signal contact: N.O.
Page 43: Input Connection Examples
Section Connecting External I/O 3-3-1 Input Connection Examples Inputs (X Axis Only for the NC113) X/Y axis input (12-24 VDC) 560 Ω 1.8 kΩ (1W) 6 (X)/28(Y) External interrupt input (0 VDC) (N.O. input) 1.8 kΩ (1W) 560 Ω 7 (X)/29(Y) Origin proximity input 1.8 kΩ...
Page 44 When not used, leave the N.O. input pins open, and the N.C. input pins con- nected to the power supply. (The NC113 is not provided with the Y axis.) 24 VDC Output power supply power 24-VDC input OMRON C500-NC211 Position Control Unit supply Interrupt input 560 Ω 1.8 kΩ (1W) N.O. input...
Page 45 Y axis.) Origin Input (10-11 (X axis)/32-33 (Y axis)) Position Control Unit 12-24 VDC External sensor such as power supply 9(X)/ OMRON E3S-X3 CE4 (NPN 150 Ω 31(Y) output type) Photoelectric Switch Leave these pins open 1.64 kΩ...
Page 46 Section this signal always turns off while the servomotor is operating, and on when the motor is stopped. 3-3-2 Output Circuitry Outputs (X Axis Only for the NC113) Constant voltage Output power supply, 24 VDC circuit Output power supply, 0 V 2 (X)/24(Y) CW pulse/pulse output 1.6k Ω...
Page 47 Section The pulse output circuitry of the Position Control Unit is provided with two types of terminals: terminals with 1.6 kΩ (1/2 W) resistance and terminals with no re- sistance. Select the terminals in accordance with the power requirements and the specifications of the motor driver to be used.
Page 48 There is approximately 20 ms of output when origin search is completed in Reset Output modes 1 or 2. Position Control Unit 24-VDC power Output power supply OMRON R88D-UP supply 24-VDC Servomotor Driver input 5-VDC 4(X)/26(Y) power supply +ECRST 5...
Page 49 Section Example 4: Origin This example shows output in mode 3. Adjustment Command Output Position Control Unit 24-VDC power Output power supply OMRON R88D-H supply 24-VDC Servomotor Driver input 5-VDC 5(X)/27(Y) power supply HRET 3-3-3 Wiring to Connectors • Use wires with cross-sectional areas of 0.3 mm or less.
Page 50: Wiring Precautions
Section Assembling Connectors Small pan-head screws Case Connector (jack) 3-3-4 Wiring Precautions Operational errors can occur in most electronic control devices if they are sub- jected to electronic noise from nearby power lines or loads. Recovery from such errors is usually very difficult and time consuming. To avoid such noise-gener- ated operational errors and improve system reliability, always observe the fol- lowing precautions in wiring the system.
Page 51 Section • Insert a noise filter into the power supply inlet if noise enters the power line (e.g., when it is connected to the same power supply as an electric welder or an electric spark machine or when there is any supply generating high frequency noise).
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Page 53: Operational Flow
Section Operational Flow The basic procedure used to initially operate the Unit is outlined below. Refer to applicable sections of the manual for details on each of these steps. Item Procedure Refer to: Start Wiring Section 3 Wiring Origin, origin proximity, CW/CCW Wiring external limits, emergency stop, external in- inputs...
Page 54 Section Procedure Item Refer to: Trial run Restart by resetting Section 8 Simple Trial power Operation Change the ORIGIN SEARCH, command data in the manual operation, IR area and start, etc. transfer it to the PCU. Alarm/error LED lit? Error exists Section 7 PCU Status Troubleshooting Read error...
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Page 56 Section Creating and Transferring Data There are two ways to create position control data and transfer it to the Position Control Unit: 1, 2, 3... 1. Create the data using NC Support Tool and then transfer it to the PCU. 2.
Page 57 Section Acceleration/Deceleration Pattern Edit Screen Dwell Time Data Edit Screen...
Page 58 Section Parameter Data Edit Screen Transferring Data From the CPU Unit 1, 2, 3... 1. Create the position control data (positioning actions, parameters, etc.) in ad- vance in the CPU Unit’s DM area, using the Position Control Unit’s internal RAM addresses as the leading addresses. 2.
Page 59 Section 3. Store the data, according to the leading addresses, in the Position Control Unit’s internal RAM. CPU Unit Position Control Unit Allocated I/O WRIT Data Memory Internal RAM words DXXXXX DXXXXX Address N Address N Number words of ad- “m”...
Page 60 Section Be sure to put the address at the beginning and set the words as a block. Address 1 block Number of words configured under that address Address 1 block Number of words configured under that address 1 block Address Number of words configured under that address Note Set the data consecutively, with no gaps.
Page 61 Section Transfer Method Once the data has been created, use the Intelligent I/O Write instruction to trans- fer it to the Position Control Unit. In the following program example, 30 words beginning with DM1000 are trans- ferred to the Position Control Unit which is allocated I/O words 0 and 1. Data transfer Position Control Unit DIFU...
Page 62 Section Data Size Data Address Number* Number of words Positioning actions (500 X axis: 1000 to 1499 X axis: 0 to 499 per axis) Y axis: 5000 to 5499 Y axis: 0 to 499 Accel/decel patterns X axis: 3000 to 3099 X axis: 0 to 99 (100 per axis) Y axis: 7000 to 7099...
Page 63: Setting Speeds
Section Setting Positioning Action Addresses Specify the addresses in the Position Control Unit for which the positioning ac- tions are assigned. The addresses are set in four digits, as follows: X axis: 1000 to 1499 Y axis: 5000 to 5499 Format +0 word Positioning action address (4 digits BCD)
Page 64: Setting Dwell Times
Section Format Acceleration/deceleration pattern +2 word number (2 digits BCD) Example: 20 Setting Dwell Times Dwell time addresses for common use by the X and Y axes are indirectly desig- nated. The patterns are set in two digits, from 00 to 29. The addresses for both axes are as follows: X and Y axes together: 9000 to 9029 For example, if dwell time number 20 is set the dwell time registered at dwell time...
Page 65 Section Terminating Automatic Continuous Bank end Speed control Interrupt feeding Note Completion codes 4 and 5 are not used for interpolation. When employing inter- polation, set the completion code from 0 to 3. Terminating (0) After the current positioning action has been executed according to the target speed and target position that have been set, positioning is stopped and the next positioning action is awaited.
Page 66 Section calculates the deceleration timing so that the target position for the current posi- tioning action is reached at the target speed for the next positioning action.) Target speed Amount of movement to target position Target speed of next positioning action Time Start Timing is calculated for de-...
Page 67 Section Interrupt Feeding (5) Pulse output is maintained at the target speed set for the positioning action. The No Origin Flag turns ON during operation at the target speed. The direction of the pulse output is determined by the sign that has been set for the positioning action.
Page 68 Section Format (Unit: Pulses) Target position (rightmost digits) +4 word Target position (leftmost digits) +5 word Example: 2,715,840 pulses Setting Target Position Attributes Set the target position’s sign, direction, data type (absolute/incremental), and single-axis/interpolation designation with one digit from 0 to 7. For example, if the setting is “4,”...
Page 69 Section Note Either 0 to 3 or 4 to 7 can be used as the Y axis sign during interpolation. This applies only to the NC211. CW direction +9999999 (Absolute value) Present position Incremental value in the CW direction Single-axis end point Interpolation Incremental value end point...
Page 70 Section (3) for just the X axis. If either of these is set, the Y axis will be regarded as being set the same way and the Y-axis completion code will be ignored. Inter- polation is also not possible with either speed control (4) or interrupt feeding (5) set as the completion code.
Page 71 Section 5-3-3 Default Values for Positioning Actions Address Item Setting range Default value (factory setting) 1000 Speed address 00 to 49 Acceleration/deceleration 00 to 99 address Dwell time address 00 to 29 Output code 00 to 499 Completion code 0 to 5 Positioning action 00 to 9999999 Sign...
Page 72 Section 5-4-2 Default Values for Speeds Address Setting range Default value Default value application (pps) (factory setting) (indirect designation) 4000 0 to 250000 5000 Origin return speed, position data speed 4001 0 to 250000 5000 Origin search high speed, position data speed 4002 0 to 250000 Origin search proximity speed...
Page 73 Section 5-5-2 Default Values for Acceleration/Deceleration Patterns Default value (factory Address Setting range Default value application setting) (pps/ms) (indirect designation) Acceleration Deceleration (pps/ms) (pps/ms) 3000 2 to 2000 Origin return acceleration/ deceleration pattern 3001 2 to 2000 Origin search acceleration/ deceleration pattern 3002 2 to 2000...
Page 74 Section • When positioning is performed by the servomotor, some position hunting may occur when the target position is approached, depending on the gain. This ten- dency becomes more pronounced at times of sudden deceleration, or when high speeds are used over short distances, and so on. The effects of such hunting can be minimized by leaving a specified time interval between when the target position is reached and the Busy Flag turns OFF.
Page 75 Section Address No. of words Contents Setting range Default Reference page --999999 to 2010 X-axis home shift 999999 999999 6010 Y-axis home shift 2011 X-axis CW limit 0 to 9999999 9999999 6011 Y-axis CW limit 9999999 2012 X-axis CCW limit 0 to 9999999 9999999 6012...
Page 76 Section Address No. of words Contents Setting range Default Reference page 2019 X-axis zone 6, CW side --9999999 to 9999999 X-axis zone 6, CCW side --9999999 to 9999999 6019 Y-axis zone 6, CW side --9999999 to 9999999 Y-axis zone 6, CCW side --9999999 to 9999999 2020...
Page 77 Section Address No. of words Contents Setting range Default Reference page 2028 X-axis interrupt input signal definition 0, 1 X-axis interrupt input signal type 0, 1 X-axis interrupt input emergency stop 0, 1 parameter 6028 Y-axis interrupt input signal definition 0, 1 Y-axis interrupt input signal classification 0, 1...
Page 78 Section Format +0 word Address +1 word Origin return speed number +2 word Example: 20 +2 word 5-7-2 Initial Speed Number (3 Words) Addresses Axis Address 2001 6001 (NC211 only) This parameter indirectly designates the initial speed addresses for the X and Y axes.
Page 79 Section Format +0 word Address +1 word Initial positioning action number +2 word Example: 20 +2 word 5-7-4 High-speed Jogging Speed Number (3 Words) Addresses Axis Address 2003 6003 (NC211 only) This parameter indirectly designates the high-speed jogging speed addresses for the X and Y axes.
Page 80 Section Format +0 word Address +1 word Low-speed jogging speed number +2 word Example: 20 +2 word 5-7-6 Origin Search High-speed Number Addresses Axis Address 2005 6005 (NC211 only) This parameter indirectly designates the origin search high-speed addresses for the X and Y axes. The setting is made in two digits, from 00 to 49. The indirectly designated addresses for both axes are as follows: X axis: 4000 to 4049 Y axis: 8000 to 8049 (NC211 only)
Page 81 Section This is also the place for setting the origin compensation sign. CW direction CCW direction Format +0 word Address +1 word Origin search proximity +2 word speed number Origin compensation sign 0: CW direction 1: CCW direction Example: 20 +2 word 5-7-8 Origin Search Compensation (3 Words) Addresses...
Page 82 Section For example, if “20” is set for the dwell time number, the dwell time registered at dwell time address 9020 will be executed. For details on how to set dwell times, refer to 5-6 Dwell Times . Format +0 word Address +1 word +2 word...
Page 83 Section Note The data unit (pulses, millimeters, inches) and pulse rate are set in parameter addresses 2026 (X axis) and 6026 (Y axis). Format (for Pulses) Address +0 word +1 word Home shift data +2 word digit digit digit digit Sign +3 word 0: CW...
Page 84 Section Note 1. For digits 10 to 10 , the data unit is pulses. If the data unit was millimeters, then the digits would be 10 to 10 . If the data unit was inches, then the dig- its would be 10 to 10 2.
Page 85 Section Note The data unit (pulses, millimeters, inches) and pulse rate are set in parameter addresses 2026 (X axis) and 6026 (Y axis). Format (for Pulses) +0 word Address +1 word CW data +2 word digit digit digit digit Sign +3 word 0: CW digit...
Page 86 Section Format +0 word Address +1 word Origin search Origin search Origin type (binary) +2 word mode pattern Example In this example, the following settings are in effect: Origin search mode: 0; origin search pattern: 2; origin type: 01111 binary (origin search method: no proximity reversal;...
Page 87 Section 5-7-17 Origin Return and Origin Search Acceleration/Deceleration Pattern Numbers (3 Words) Addresses Axis Address 2023 6023 (NC211 only) • This parameter indirectly designates the acceleration/deceleration pattern ad- dress for origin return operations. The setting is made in two digits, from 00 to 99.
Page 88 Section Format Address +0 word +1 word High-speed jogging +2 word acceleration/deceleration number High-speed jogging speed Acceleration Deceleration Initial speed Initial speed HIGH-SPEED JOG command Example: 20 +2 word 5-7-19 Number of Inching Pulses (3 Words) Addresses Axis Address 2025 6025 (NC211 only) This parameter sets the amount of movement along the designated axis when the INCH command is executed.
Page 89 Section 5-7-20 Unit and Pulse Rate (3 Words) Addresses Axis Address 2026 6026 (NC211 only) • This parameter is used to select the unit in which the data is to be expressed (pulses, millimeters, or inches). The setting is made in one digit, as follows: 0: Pulses 1: Millimeters 2: Inches...
Page 90 Section 5-7-21 Output Pulses (3 Words) Addresses Axis Address 2027 6027 (NC211 only) This parameter sets the output pulse selection in one digit, to either 0 or 1, as follows: 0: CW/CCW output 1: Pulse/direction output Format +0 word Address +1 word Output pulse +2 word...
Page 91 Section Interrupt input Interrupt input Command (X: bit 06 Interrupt input Operation when signal type signal definition of word m+1; Y: bit emergency stop interrupt input 06 of word m+6) signal turns ON Variable (0) Deceleration stop Emergency stop Speed change Fixed (1) Deceleration stop (See note 1.)
Page 92 Section Saving Data The Position Control Unit uses EEPROM for saving data. All data written to the internal RAM is erased when the power is turned off. If any of that data needs to be saved, it must be written to EEPROM before the power is turned off. The data saved to EEPROM is automatically read to internal addresses when the Position Control Unit is powered up.
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Page 94 Section Creating and Transferring Commands This section explains how to give commands such as START, ORIGIN SEARCH, and so on, to the Position Control Unit. When the CPU Unit is in RUN or Monitor Mode 1, 2, 3... 1. Create nine words (five words for the NC113) of command data, beginning with 0001, in the CPU Unit’s DM and IR areas.
Page 95 Section When the PC is in RUN or Monitor Mode 6-2-1 Command Configuration (RUN, Monitor Mode) Commands are configured in nine words of data. X-axis Command Format (Words m+1 to m+4) Word START Initial positioning action Teaching positioning Override: 00 to 20 number (000 to 499) action number (000 to (U i...
Page 96 Section Y-axis Command Format (Words m+5 to m+8) Word START Initial positioning action Teaching positioning Override: 00 to 20 number (000 to 499) (000 499) action number (000 to (000 (U i (Unit x 0.1) 0 1) Initial positioning action 499) (00: Override 1.0) number enable...
Page 97 Section Word Function Initial Positioning Action Number Enable Selects either the data stored in words m+2 (X axis) and m+6 (Y axis) or the data stored in parameter addresses 2002 (X axis) and 6002 (Y axis) for the initial positioning action. •...
Page 98 Section Word Function TEACH • When this bit is turned ON (↑), the present position is written to the positioning action corresponding to the teaching positioning action address in bits 11 to 00 of words m+3 (X axis) and m+7 (Y axis). •...
Page 99 Section Word Function STOP When this bit is turned ON (↑), positioning is decelerated to a stop according to the following acceleration/deceleration patterns: During execution of a positioning action: The pattern set for that positioning action. During origin return: Origin return acceleration/deceleration pattern (X: 2023; Y: 6023) During origin search:Origin search acceleration/deceleration pattern (X: 2023;...
Page 100 Section Word Function External input protect (Word m+4 only) ON: External inputs are disabled. OFF: External inputs are enabled. Even if the external input protect is turned ON, the CW and CCW limit inputs will remain enabled. The following external inputs are protected. •...
Page 101 Section Bits 00 to 02, 09, and 15 are used by the system program, therefore do not use these bits. 6-3-2 Command Details (Program Mode) Function 00 to 02 Reserved for system. Operating Mode Informs the Position Control Unit of the Programmable Controller’s operating mode. OFF: Program Mode ON: RUN or Monitor Mode X: 04...
Page 102 Section Examples of Command Execution Conditions Examples of execution conditions for the various commands are shown below. After all of the command data for a particular command has been set, the Intelli- gent I/O Write command (WRIT) is used to transfer all the data together to the Position Control Unit.
Page 103 Section 6-4-5 CHANGE PRESENT POSITION First confirm that the Busy Flag has been turned OFF, and then turn ON the CHANGE PRESENT POSITION command bit. Leave the CHANGE PRESENT POSITION command bit ON until the Change Present Position Flag turns ON. Note The ladder program example is similar to that for START.
Page 104 Section 6-4-8 INCH First confirm that the Busy Flag has been turned OFF, and then turn ON the INCH command bit. Leave the INCH command bit ON until the Inching Com- pleted Flag turns ON. Timing Chart Program Example CCW direction designated Jogging/inching (0: CW;...
Page 105 Section 6-4-10 READ ERROR When two or more errors occur, READ ERROR is used for reading the second and subsequent errors to word s+1 of the Status Area. Leave the READ ERROR command bit ON until the Error Read Completed Flag turns ON. READ ERROR can be executed even when the Busy Flag is ON.
Page 106 Section 6-4-12 Override Enable To apply an override to all operations from beginning to end, execute START with the override enable bit turned ON. Timing Chart Program Example Override enable Override (Word m+4) condition Override enable condition Override Override (Word m+4, bits 07 to 00) Override enable If the override enable...
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Page 108 Section Status Types The CPU Unit receives two types of status from the Position Control Unit: 1) the information that is transmitted with the I/O refresh, and 2) the detailed PCU in- formation in 15 words (eight words for the NC113) that can be read by the CPU Unit by means of the Intelligent I/O Read instruction.
Page 109 Section Detailed Contents of I/O Refresh Data Function 00 to 02 Reserved for system. Operating mode Indicates the Programmable Controller’s operating mode. OFF: Program Mode ON: RUN or Monitor Mode X: 04 Origin search completion Y: 10 Indicates whether the origin has been established. OFF: Origin not established.
Page 110 Section X-axis Status Area Word Positioning Error Output code Current positioning Present Present Start Completed Flag code action number position position Completed Flag (x 10 (x 10 Bank End Origin Search Completed Flag Flag Origin Stop Origin Reset Flag Flag Alarm Flag Pulse Output Enabled Flag...
Page 111 Section Common Area Word EEPROM Write Completed EEPROM Writing EEPROM Reading Y-axis STATUS Area Word s+10 s+11 s+12 s+13 s+14 Positioning Error Output code Current Present Present Start Completed Flag code positioning action position position Completed Flag number (x 10 (x 10 Bank End Origin Search Completed Flag...
Page 112 Section Detailed Contents of Status Area Words 0 to 7 contain X-axis status, and words 8 to 14 contain Y-axis status. Word Function X: S+0 Positioning Completed Flag Y: S+8 When positioning (terminating or bank end) is completed. When positioning, origin search, or origin return operation is being executed. Remarks •...
Page 113 Section Word Function X: S+0 Teaching Completed Flag Y S 8 Y: S+8 When teaching is completed. When teaching begins. Remarks The Busy Flag (bit 07of word s+0 for the X axis and word s+8 for the Y axis) turns OFF when this bit turns ON.
Page 114 Section Word Function X: S+2 00 to 11 Output Code Y S 10 Y: S+10 Outputs the output code for positioning actions that have been executed. 12, 13 Origin Input Signal, Origin Proximity Input Signal With the rising edge of the signal With the falling edge of the signal Remarks These bits are used to debug the system.
Page 115 Section Word Function X: S+3 Emergency Stop Execution Y S 11 Y: S+11 When an emergency stop signal is received from an external input, regardless of whether or not an operation is in progress. At that time, pulse outputs are prohibited. When the emergency stop signal turns OFF and the pulse output prohibition is cleared (i.e., when bit 04 of words m and m+5 turns ON).
Page 116 Section Word Function X: S+6 Origin Reset Flag Y S 14 Y: S+14 When the interpretation processing is completed after reception of an ORIGIN RETURN command. When the ORIGIN RETURN bit turns OFF. Remarks Retain the ORIGIN SEARCH command until this flag turns ON. Pulse Output Enabled Flag When the interpretation processing is completed after reception of a RELEASE PROHIBIT command.
Page 117 Section Word Function X: S+6 EEPROM Completed Flag Y S 14 Y: S+14 When the interpretation processing is completed after reception of an EEPROM command. When the EEPROM bit turns OFF. Remarks Enabled only for the X axis (word s+6). Retain the EEPROM command until this flag turns Inching Completed Flag When the interpretation processing is completed after reception of an INCH command.
Page 118 Section Word Function X: S+7 EEPROM Writing Completed Flag When EEPROM writing has been completed. When EEPROM writing is started. Writing EEPROM Flag When EEPROM writing is started. When EEPROM writing has been completed. Reading EEPROM Flag When EEPROM reading is started. When EEPROM reading has been completed.
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Page 120 Section Basic Procedures Note The explanations in this section use the X axis of the NC211 as an example. Use the same settings and procedures for the Y axis. Trial Operation Use the trial operation outlined here to check the origin search and jogging op- erations, as well as the external input wiring.
Page 121 Section Actual Operation In this operation, with the Programmable Controller in RUN or Monitor Mode, positioning is executed with settings and commands transferred to the Position Control Unit from the CPU Unit. 1, 2, 3... 1. Transfer the following data settings to the Position Control Unit, by means of NC Support Tool or the CPU Unit.
Page 122 Section Output Pulses Output pulse selection Note If not using NC Support Tool, create the data as in the trial operation and then use a ladder program to transfer the data from the CPU Unit to the Position Con- trol Unit. Examples of data configuration are shown below. Parameter Data In this example, number “03”...
Page 123 Section In the following example diagram, the Position Control Unit is allocated words 00 and 01 in the CPU Unit. To execute ORIGIN SEARCH: To execute JOGGING: Jogging in CW direction Turn ORIGIN SEARCH from OFF to ON. 1: Low-speed jogging 0: High-speed jogging Jogging in CCW direction For example, to execute high-speed jogging in the CW direction, leave 0007...
Page 124 Section 8-3-1 Settings Making Settings From the CPU Unit (Without Using NC Support Tool) Parameters Item Address Setting Meaning X axis, initial positioning action number 2002 1010 X axis, initial speed number 2001 4001 Note Set all related data for other parameters as well. Positioning Actions, Speeds, Acceleration/Deceleration Patterns, Dwell Times Item Address...
Page 125 Section Acceleration/Deceleration Pattern Configuration Dwell Time Configuration Acceleration/deceleration Dwell time address pattern address Fixed at “0001” Fixed at “0002” Acceleration data Dwell time data Deceleration data Parameter Data Configuration Example: Initial speed number Initial speed address Fixed at “0001” Initial speed number Fixed at “00”...
Page 126 Section Issuing Commands Issues command. Command issued. Number of words written Beginning word address 9 wds for writing Allocated I/O Note When axial operations are performed on the Position Control Unit while data is being transferred from the NC Support Tool, axial operation commands may be either accepted or ignored depending on the timing.
Page 127 Section 8-3-3 Ladder Program Examples In these examples, START and ORIGIN SEARCH are executed and data is transferred. CV Series Turns operating mode 0000 Always ON bit (bit 03 of allocated I/O word n) ON. (This bit must be turned ON.) Always ON (190) Status read...
Page 128 Section C500/C1000H/C2000H Always ON Turns operating mode bit (bit 03 of allocated I/O 00003 word n) ON. (This bit must be turned ON.) Always ON Status read READ (88) Status read #015 Number of words read Allocated I/O (n+1) 15 wds Beginning address for reading (destination) ORIGIN SEARCH input...
Page 129 Section C500F/C1000HF Start DIF (40) START High-speed jogging READ (88) #0015 Jog direction DIFU (40) Data transfer WRIT(87) #0012 A: START B: Data transfer C: High-speed jogging D: Jogging direction D100 to D111: Data transfer Command WRIT(87) #0009...
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Page 131 Section Programming Background 9-1-1 Overall Configuration for Exchanging Data The Position Control Unit exchanges data with the CPU Unit as shown in the fol- lowing illustration. Position Control Unit CPU Unit Memory Area Allocated I/O Allocated I/O I/O refresh Command (in Leading n Program Mode) Status...
Page 132 Section Status Area Status information such as the address of the positioning action currently being executed is read from the Position Control Unit to the CPU Unit by the CPU Unit’s Intelligent I/O Read instruction. Note Commands and data cannot be transferred simultaneously by the Intelligent I/O Write instruction.
Page 133 Section Creating Data At the CPU Unit, the data is created in blocks, with a number of words configured under a single leading address. For details regarding address allocations for data, refer to Section 5 Data Configuration . Data Memory Positioning action address: 1000 (X axis) Speed no.: 02 (X-axis address 4002) indirect designation;...
Page 134 Section When transferring the data, there is no need to be concerned with the order of the addresses. The Position Control Unit will check the addresses and store the data in its internal RAM by address. Position Control Unit Any order is okay. Address: 1000 Address 1000...
Page 135 Section 9-1-3 Creating and Transferring Commands Use the method explained below to transfer commands such as START and ORIGIN SEARCH to the Position Control Unit. When CPU Unit is in RUN or Monitor Mode 1, 2, 3... 1. Create nine words (five words for the NC113) of command data in the CPU Unit’s DM or IR areas, beginning with 0001.
Page 136 Section Be sure to turn ON bit 03 of the allocated output word (the operating mode bit). Bit 03 of allocated output word (operating mode bit) Always ON 9 words Various commands WRIT Command 9 words transfer (9 words) Always ON transferred When CPU Unit is in Program Mode 1, 2, 3...
Page 137 Section 9-1-4 Reading PCU Status There are two ways to send PCU status to the CPU Unit. The first way is the “I/O refresh data” method, in which the status is transferred from the Position Control Unit to the CPU Unit with each I/O refresh. The other way is the “Status Area” method, in which the Intelligent I/O Read instruction is used to read the detailed information in the Position Control Unit’s Status Area (15 words for the NC211 or 8 words for the NC113) to the CPU Unit.
Page 138 Section In particular, if a WRIT instruction is immediately followed in the program by a READ instruction for reading the status, as shown in example (a) in the above diagram, the READ instruction will not be executed after the WRIT instruction is executed (i.e., the Equals Flag will not turn ON).
Page 139 Section START Although the settings are explained here in terms of the X axis of the NC211, the procedures are the same for the Y axis. 9-2-1 Data Settings 1, 2, 3... 1. Initial positioning action number: X-axis address 2002 Y-axis address 6002 Set the positioning action number to be used for START in address 2002.
Page 140 Section 9-2-2 Command Settings START (Word m+1, bit 00) Initial positioning action number enable (word m+1/m+5, bit 01) (X/Y axis) Override enable (word m+1/m+5, bit 07) (X/Y axis) STOP (word m+1/m+5, bit 15) (X/Y axis) START Refers to bits 01 and 07 and begins positioning at rising edge when turned For interpolation, select the X axis.
Page 141 Section Override (Word m+4/m+8, bits 07 to 00) (X/Y axis) Set the override as an integer from 00 to 20 (BCD), in units of 0.1. • This setting represents units of (0.1). A setting of 15, for example, represents a value of (1.5).
Page 142 Section The override enable bit is either ON (1) or OFF (0) throughout operation. If this bit is ON, the override is applied. The bit remains set until the next START com- mand is executed. START Word m+1, bit 00 Override enable Word m+1, bit 07 Override setting...
Page 143 Section Operation of CHANGE When the CHANGE OVERRIDE command bit turns ON, all operations use the OVERRIDE new override. To disable the override during operation (i.e., to set the override to 1.0), set the value of the override to 0 or10 and turn ON the CHANGE OVER- RIDE command bit.
Page 144 Section 9-2-3 Executing START Initial Positioning Action START Initial Conditions Initial positioning action positioning action number enable (word m+1, bit 01) m+1 CH, 00 bit (Parameter settings) When powering up. Positioning action number set for initial i i i l After a bank end (completion code 3) positioning action number (X axis: positioning action number (X-axis:...
Page 145 Section Using Completion Codes In this example the starting position and bank end target position are the same. (Example) START START START Position axis Starting position START Positioning action Completion code Positioning action No. 00 0 Terminating Positioning action No. 01 2 Continuous Positioning action No.
Page 146 Section Stop Judgement and Using Dwell Times (Example) When the Origin Search Mode is 0 or 1 When the pulse output is completed, the Positioning Completed Flag turns ON after the dwell time elapses. START Word m+1, bit 00 Automatic Terminating completion code completion code...
Page 147 Section Using Interpolation In this example, the X-axis completion code is 1, so interpolation is executed au- (Example) (NC211 only) tomatically. For positioning action 1004, the X and Y axes are operated indepen- dently based on the completion code (1: automatic) for the last interpolation data (positioning action 1003).
Page 148 Section put a high pulse rate and to suddenly stop pulse output, as shown in the fol- lowing diagrams. When a stepping motor is used, there is a risk that the mo- tor may not follow these changes and thus may not operate properly, so as much as possible use completion code 1 (automatic) instead of 2 (continu- ous) when using a stepping motor.
Page 149 Section 2. When creating the program. When positioning with a continuous completion code, the speed cannot be reversed until the positioning is completed. For example, when positioning is executed as shown in the following diagram, position actions 1001 and 1003 on the X axis, and 5000 and 5002 on the Y axis, cannot be executed because they are reversed.
Page 150 Section 9-2-4 Ending Operations Terminating and Bank When positioning operations with multiple automatic and continuous completion End Completion Codes codes are ended by terminating or bank end completion codes, the Completion flag turns ON and the Busy Flag turns OFF. START Word m+1, bit 00 Positioning...
Page 151 Section Interpolation Operations The Positioning Completed and Bank End flags are valid only for the X axis when (NC211 only) interpolation is used. The Y axis retains its status from before the interpolation. The Y-axis Busy Flag may turn OFF one scan later than the X-axis Busy Flag. START Word m+1, bit 00 Positioning...
Page 152 Section Positioning Completed Flag Word s+0, bit 00 Busy Flag Word s+0, bit 07 Bank End flag Word s+0, bit 01 Current positioning action number Word s+3, bits 10 to 00 Output code Word s+10, bits 11 to 00 Positioning Positioning Positioning Positioning...
Page 153 Section Deceleration Stop When a deceleration stop is executed during positioning, the Positioning Com- pleted Flag does not turn ON. The positioning action number remains the same as the one that was being executed at the time of the deceleration stop, and that positioning action will be the first to be executed when operation is restarted.
Page 154 Section 4. The above example shows the operation when the Origin Search mode is set to 0 or 1. When the mode is set to 2 or 3, after the Positioning Completed input from the servomotor driver turns ON, the Busy Flag turns OFF. ORIGIN SEARCH The ORIGIN SEARCH command is used to establish the origin.
Page 155 Section • Speed addresses 4000 to 4049 (for the X axis) are referenced according to this setting. Origin search speed Origin search speed Acceleration Acceleration Time Initial speed #0 Initial speed number other than 0 Origin Search High Speed Number (X Axis: 2005; Y Axis: 6005) Origin search Address high speed no.
Page 156 Section When There is an Origin Proximity Signal In this example the mode and pattern are both 0. ORIGIN SEARCH Origin proximity signal Origin signal Origin search high speed Origin search proximity speed Speed (pps) Pulse output Acceleration Deceleration Initial speed Time When There is No Origin Proximity Signal In this example the mode and pattern are both 0.
Page 157 Section Origin Search Dwell Time Number (X Axis: 2008; Y Axis: 6008) Origin search Address dwell time no. 2008 Bits 07 to 00 • Set the dwell time number (bits 07 to 00) from 0 to 29 (BCD). • Dwell time addresses 9000 to 9029 are referenced according to this setting. •...
Page 158 Section • When an origin compensation value is set, after operation is stopped by an ori- gin signal input the axis will be moved at proximity speed in the direction indi- cated by the origin compensation sign. In the following example, the sign is CCW so the movement is in the counterclockwise direction.
Page 159 Section 9-3-2 Command Settings ORIGIN SEARCH (Word m+1/m+5, bit 02) (X/Y axis) Wd m+1 Bit 02 ORIGIN SEARCH Origin search operation begins with rising edge when this bit turns ON. 9-3-3 Executing an Origin Search The origin search operation establishes the absolute mechanical origin. The relationships between mode numbers and operations are explained below.
Page 160 Section With an Origin Proximity The presence or absence of an origin proximity signal is determined by the set- Signal ting of the origin type in parameter addresses 2021 (X axis) and 6021 (Y axis). CCW limit Proximity Origin CW limit CCW limit Proximity Origin...
Page 161 Section For example, the shaded areas indicate the rising edge of the origin proximity input. CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit Without an Origin The presence or absence of an origin proximity signal is determined by the set- Proximity Signal ting of the origin type in parameter addresses 2021 (X axis) and 6021 (Y axis).
Page 162 Section Search Pattern 1 1, 2, 3... 1. Origin proximity input: Rising edge (↑) or level 2. Origin input: Falling edge (↓) 3. Search procedure: Ends on falling edge of origin input after rising edge of proximity input has been received. If the search is started at the origin prox- imity, then the direction of movement will be the reverse of the search direc- tion.
Page 163 Section CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit...
Page 164 Section Note With search pattern 1, just as with search pattern 0, the search will be completed with only the origin signal if the search is started at the origin. Search Pattern 2 1, 2, 3... 1. Origin proximity input: Rising edge (↑) or level 2.
Page 165 Section CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit...
Page 166 Section Search Pattern 3 1, 2, 3... 1. Origin proximity input: Rising edge (↑) or level 2. Origin input: Rising edge (↑) 3. Search procedure: Ends on rising edge of origin input after rising edge of proximity input has been received. If the search is started at the origin prox- imity, then the direction of movement will be the reverse of the search direc- tion.
Page 167 Section CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit...
Page 168 Section Search Pattern 4 1. ON ↔ OFF (↑, ↓) 1, 2, 3... 2. Falling edge, (↓) 3. Ends on falling edge of first origin input after proximity input ON/OFF.
Page 169 Section CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit...
Page 170 Section Search Pattern 5 1. ON ← OFF (↑, ↓) 1, 2, 3... 2. Rising edge (↑) 3. Ends on rising edge of first origin input after proximity input ON/OFF.
Page 171 Section CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit...
Page 172 Section Mode 1 The origin response time is 0.1 ms. Connect the encoder’s Z-phase signal to in- puts 9 and 11 for the X axis, and to inputs 31 and 33 for Y axis. Be sure to use the proximity signal. Also refer to the wiring information in Section 3 Wiring . When Origin Proximity Use the origin proximity signal to ensure sufficient deceleration time when origin Reverse is Enabled...
Page 173 Section In this mode, if deceleration has not ended when the origin proximity signal has turned OFF, positioning is stopped by the origin signal input after deceleration has ended. If the deceleration period is short for some reason (such as starting inside the origin proximity area), the Position Control Unit will detect another ori- gin signal.
Page 174 Section When Origin Proximity In this example, origin proximity reverse is not used. Positioning stops when the Reverse is Disabled first origin signal is input after deceleration has ended. Bit 01 (proximity signal) and 04 (proximity reverse) of addresses 2021 (X axis) and 6021 (Y axis) are ON and OFF respectively.
Page 175 Section As in this example diagram, complete the deceleration from origin search high speed to proximity speed (low speed) in the period between the origin proximity signal and the first origin signal. Origin proximity signal Origin signal Pulse output Positioning axis : Number of pulses for deceleration period (p) : Origin search high speed (pps) : Proximity speed (pps)
Page 176 Section Mode 3 Mode 3 makes use of the origin adjustment functions of OMRON Servomotor Driver R88D-H. The servomotor’s positioning completed signal (INP) is used as the origin search completion signal. Do not use an origin, Z-phase, or error counter reset signal.
Page 177 Section Refer also to the examples under Mode 1 for certain precautions concerning the length of the origin proximity signal. In mode 3, if deceleration has not ended by the time the origin proximity signal has turned OFF, the origin adjustment signal is output when deceleration ends.
Page 178 Section For details on calculating the number of pulses during deceleration, refer to Mode 1, When Origin Proximity Reverse is Disabled . Origin proximity signal Z-phase signal Pulse output Stop (Long deceleration) Time Origin adjustment command Pulse output Stop (Short deceleration) Time Origin adjustment command...
Page 179 Section Example 1: Without Origin Compensation Origin proximity signal Origin signal Deceleration Proximity speed Pulse output High speed Time [Status Area flags] Origin Stop Flag word s+0, bit 02 No-origin Flag word s+0, bit 06 Busy Flag Dwell timer word s+0, bit 07 Example 2: With Origin Compensation Origin proximity signal Origin signal...
Page 180 Section Without an Origin Proximity Signal The following two example diagrams both illustrate completion of ORIGIN SEARCH when no origin proximity signal is present. There is an origin com- pensation value set in the second example, but not in the first. Bit 01 (proximity signal) of addresses 2021 (X axis) and 6021 (Y axis) is OFF.
Page 181 Section ORIGIN RETURN The ORIGIN RETURN command returns positioning to the origin. Although the settings are explained here in terms of the X axis, the procedures are the same for the Y axis of the NC211. 9-4-1 Data Settings Initial Speed Number (X Axis: 2001; Y Axis: 6001) Initial Address speed...
Page 182 Section Origin Return Acceleration/Deceleration Pattern Number (X Axis: 2023; Y Axis: 6023) Accel/decel Address pattern no. 2023 Bits 15 to 08 • Set the origin return acceleration/deceleration pattern number from 0 to 99. • Origin return acceleration/deceleration pattern addresses 3000 to 3099 (X axis) are referenced according to this setting.
Page 183 Section 9-4-2 Command Settings ORIGIN RETURN (Word m+1/m+5, bit 03) (X/Y axis) Wd m+1 Bit 03 ORIGIN RETURN Origin return operation begins with rising edge when this bit turns ON. 9-4-3 Executing ORIGIN RETURN Origin return operations can only be performed when the origin position has al- ready been established.
Page 184 Section After the pulse prohibition has been released, the current position will not be known (i.e., no origin), so it will be necessary to execute an origin search before positioning can be resumed. Once the origin search has been executed, the Er- ror Flag will turn OFF.
Page 185 Section If the CW or CCW limit is exceeded, pulse output is possible in only the opposite direction even after the pulse prohibition has been released. The CW limit is ex- ceeded here, so only CCW output is possible. The error code and Error Flag are not cleared.
Page 186 Section Execution Example When the READ ERROR command bit (bit 05 of word m+1/m+5) is turned ON, the error code (word s+1/s+9) in the Status Area is refreshed. The Busy Flag will not turn ON. The error code will be defined when the Read Error Completed bit (words s+6/s+14, bit 04) turns ON.
Page 187 Section 9-7-2 Command Settings The RESET PRESENT POSITION command is set in bit 08 of word m+1/m+5 (X/Y axis). Wd m+1 Bit 08 (RESET PRESENT POSITION) • When bit 08 of word m+1 is turned ON (↑), the present position is changed to the value that was previously set in the parameters.
Page 188 Section Command Settings Bit 09 of word m+1/m+5 (X/Y axis) Wd m+1 Bit 09 (TEACH) When this bit is turned ON (↑), the present position is written as the target position for Wd m+2 the designated positioning action. Bits 11 to 00 TEACH positioning Wd m+3 Set the positioning action number (000 to 499)
Page 189 Section 9-10 • When bit 12 is turned ON (↑), the EEPROM read/write designation (word m+4/m+8, bit 13) is referenced and data is either read from or written to EE- PROM. • The setting of bit 13 determines whether data is to be written to EEPROM from the internal RAM or read to internal RAM from EEPROM.
Page 190 Section 9-10 • Set the LOW-SPEED JOG speed number (bits 07 to 00) from 0 to 49. • Speed addresses 4000 to 4049 are referenced according to this setting. Number of Pulses for Inching (X Axis: 2025; Y Axis: 6025) No.
Page 191 Section 9-10 9-10-2 Command Settings The settings for the manual operation commands are made in bits 14 to 11 of word m+1/m+5 (X/Y axis). Designation High-speed jogging begins HIGH-SPEED JOG when this bit turns ON (↑). JOG/INCH direction LOW-SPEED JOG Low-speed jogging begins when this bit turns ON (↑).
Page 192 Section 9-11 INCH INCH Word m+1, bit 14 Number of pulses for inching Pulse output Time Busy Flag Word s+0, bit 07 Note With manual operations and with the external interrupt commands explained in the following section, the final pulse width may vary slightly depending on the difference between the internal processing time and the pulse output time.
Page 193 Section 9-11 CHANGE SPEED Target speed #3 CHANGE SPEED (command executed) Target speed #1 Acceleration Deceleration Acceleration Target speed #2 Time START Either of the methods described in the following table can be used. When interrupt input signal type is 1. Turning ON (↑) bit 06 of words command m+1 (X axis) and m+5 (Y axis) changes the speed to the speed...
Page 194 Section 9-11 STOP during Positioning Positioning is decelerated to a stop according to the positioning action’s accel- eration/deceleration pattern. The Positioning Completed Flag does not turn ON, and the positioning address does not change (i.e., the address of the positioning action currently being executed remains in effect).
Page 195 Section 9-11 2. Next, in the following example diagram, a STOP is executed. START Word m+1, bit 00 STOP Word m+1, bit 15 (or external interrupt) Stops at target position for action #1. Speed #5 Positioning action #0 Positioning action #0 Pulse output Positioning Time...
Page 196 Section 9-11 When interpolation (only NC211) is used, the operation is decelerated to a stop according to the interpolation data when the Execute Deceleration Stop for ei- ther the X or Y axis turns ON. Restart using the X-axis START command. START Word m+1, bit 00 STOP...
Page 197 Section 9-11 3. When the target position is expressed as an increment, operation will be re- started from the position where it was stopped. Thus the stopping position will differ from when STOP is not executed. START Word m+1, bit 00 STOP Word m+1, bit 15 Moves for amount of...
Page 198 Section 9-11 X Axis: Relative Position Y Axis: Absolute Position Y axis Target position (In- terpolation start) STOP START end Restart X axis Interpolation start X Axis: Absolute Position Y Axis: Absolute Position Target position (In- Y axis terpolation start) START end Restart STOP...
Page 199 Section 9-11 STOP During Origin Return When STOP is executed during an origin return, operation is decelerated to a stop according to the origin return acceleration/deceleration pattern set in ad- dresses 2023 (X axis) and 6023 (Y axis). ORIGIN RETURN Word m+1, bit 03 STOP Word m+1, bit 15...
Page 200 Section 9-11 STOP During High-speed Jogging If STOP is executed during high-speed jogging, feeding will be stopped just as if the HIGH-SPEED JOG command bit (bit 11 of word m+1) were reset to “0.” The command bit, however, will remain at “1.” HIGH-SPEED JOG Word m+1, bit 11 STOP...
Page 201 Section 9-11 STOP During a Positioning Action with Completion Code 5 (Interrupt Feeding) When STOP is executed for the first time during a positioning action with a completion code of 5, positioning will be executed according to whatever data is set for that positioning action (with interrupt feeding).
Page 202 Section 9-11 When STOP is executed for the second time, positioning is interrupted and de- celeration comes to a stop. STOP Word m+1, bit 15 Pulse output Time Execute Deceleration Stop Word s+3, bit 15 Positioning Completed Flag Word s+0, bit 00 The positioning action number and output code will not be updated.
Page 203 Section 9-12 9-12 Zones The ranges for up to eight zones can be set in advance in the parameters. When the present position enters the range set for one of the zones, the flag for that zone will turn ON in the Status Area, and the flag will turn OFF when the present position leaves the zone.
Page 204 Section 9-12 Zones 1 to 7, CW/CCW are set similarly. Address 2014 Zone 1 Address 2015 Zone 2 Address 2016 Zone 3 Address 2017 Zone 4 Address 2018 Zone 5 Address 2019 Zone 6 Address 2020 Zone 7 The CW and CCW sides of Zones 0, 1 and 2 form two sets of data. When the values of all four word are 0, it is assumed that there is no zone setting and no decision is executed.
Page 205 Section 9-13 9-13 Backlash Compensation Backlash compensation can be used to compensate for the amount of mechani- cal play present in gears, particularly when the direction of positioning actions changes. Although this explanation relates to the X axis, the same format is used for the Y axis of the NC211.
Page 206 Section 9-15 9-14 CW/CCW Limits Limits on the CW and CCW sides of the origin can be set internally to restrict operation to within a set range. Internally set value of CCW limit Origin Internally set value of CW limit Positioning axis Operation range Data Settings...
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Page 208 Section 10-1 10-1 Ladder Program Examples Example 1 In this example program, an operation is performed each time a switch is pressed. 00003 The 15 words of the PCU’s Status Area are READ #0015 read to IR words 200 to Always ON 15 words 214.
Page 209 Section 10-1 Example 2 In this example program, data is repeatedly written and positioning actions are executed. The data set in DM 0100 to 0105 and DM 0200 to 0205 is alternately transferred to the Position Control Unit as positioning actions. 0003 A50013 Always ON...
Page 210 Section 10-1 DIFU 10100 DM0000 #0100 #0100 is compared to contents of DM 0000. “E” turns ON if DM 0000 is #0100. A50006 Equals Flag #0200 is compared to contents of DM 0000. DM0000 #0200 “F” turns ON if DM 0000 is #0200. A50006 Equals Flag #0200 DM0000...
Page 211 Section 10-2 10-2 Using Interrupt Feeding In this example, it is assumed that the positioning action’s completion code is set to 5 (interrupt feeding). When an interrupt input is turned from OFF to ON during speed control at the target speed, the present position at that point in time be- comes “0”...
Page 212 Section 10-4 10-3 Using Continuous Operation Speed #02 Speed #04 Target speed: Target speed: 4,000 pps Speed 3,000 pps Acceleration: 200 Deceleration: 300 Speed #01 Target position: Target position: 20,000 pulses 25,000 pulses 1,500 pps Time See note START Positioning action number Note When START is executed after a termi- Completion code...
Page 213 Section 10-5 Settings Parameter Editing Screen Positioning Action Editing Screen Accel- Decel- Position Speed eration eration Completion code No. 10: --- Initial position: #10 4 (Speed control) Initial speed: #02 Speed Editing Screen Acceleration/Deceleration Editing Screen No. 01: 300 (acceleration) No.01: 3,000 02: 1,000 Command...
Page 214 Section 10-7 10-6 Changing the Override During Operation Override: 16 (unit: x0.1) 2,000 x 16 x 0.1 = 3,200 pps Speed #02 Deceleration Speed When override is left at 1.0 Target speed: 2,000 pps Acceleration 800 pps Time Positioning action #10 Override 16 x 0.1 CHANGE OVERRIDE...
Page 215 Section 10-9 10-8 Setting Zones When the present position is within the range set for a zone, the flag for that zone turns ON. Present position Present position Origin Zone setting Zone Flag Settings Zone 1 CW side: --100 Zone 1 CCW side: --400 10-9 Present Position Resetting Example Operation In this example, feeding is executed (using INDEPENDENT START) with a giv-...
Page 216 Section 10-9 Speeds Speed #0 (addresses 4000, 8000): 5,000 pps Speed #1 (addresses 4001, 8001): 5,000 pps Speed #2 (addresses 4002, 8002): 500 pps Acceleration/deceleration pattern Acceleration/deceleration #0 (addresses 3000, 7000): 100 pps/ms, 100 pps/ms Dwell time Dwell time #0 (address 9000): 0 ms 0003 Always ON (A50013)
Page 217 Section 10-10 DIFU 20000 X-axis Positioning Completed DIFU 20800 Y-axis Positioning Completed 20002 X-axis Origin Stop 20802 Y-axis Origin Stop 20007 X-axis Busy Flag 10108 X-axis CHANGE PRESENT 20606 POSITION X-axis Change Present Position Completed 10108 20807 Y-axis Busy Flag 10508 Y-axis CHANGE PRESENT...
Page 218 Section 10-10 Data Settings Set the acceleration/deceleration pattern and dwell time parameters the same as for the example provided in 10-9 Present Position Resetting Example . Positioning Action #1 (Address 1000) Speed number: Acceleration/deceleration pattern: Dwell time: Output code: Completion code: Target position: CW 4,000 pulses (incremental) Positioning Action #2 (Address 1001)
Page 219 Section 10-10 Speeds Speed #0 (address 4000): 2,000 pps Speed #1 (address 4001) 2,000 pps 0003 Always ON (A50013) READ #0015 0001 Always ON (A50013) DIFU Forced origin switch 20007 (Busy) 10108 CHANGE PRESENT POSITION 20606 Change Present Position Completed 10108 10101 Initial position number enable...
Page 220 .& & & 4# 4# # 0 ! ! .9 + ' ! .3.
Page 221 Section 11-1 11-1 Speeds There may be a difference between set values and actual speeds. The reason for that is as follows: Settings between 122 and 250,000 pps: 8,000,000 Actual speed (pps) = INT(8,000,000/set value) where, INT: Nearest integer INT(8,000,000/set value): Divider ratio pps: pulses per second Pulse output (actual speed)
Page 222 Section 11-2 11-2 Trapezoidal Acceleration/ Deceleration An internal calculation process is used to create a trapezoidal figure from speed, acceleration, and deceleration settings. Speed Time When accelerating or decelerating between two speeds, the speed is varied ev- ery unit time in a stepwise fashion. Example: Start speed 0 (pps)
Page 223 Section 11-4 11-3 START Time The time from the moment when the Position Control Unit receives the START command to the moment when the pulse is output is as shown below. The time depends on the combination of positioning actions executed. START Pulse output Time...
Page 224 .& & & # 0 < < < ! < 8& ! ! + ! # 6 ...
Page 225 Section 12-1 12-1 Alarms and Errors Alarms An alarm code is generated if there are any errors in parameter or speed data when the Position Control Unit is powered up or data is read from EEPROM to the PCU’s internal RAM. Errors If operation is attempted with data for which an alarm has been generated, an error code will be generated and further operation will not be possible.
Page 226 Section 12-2 12-2 Alarm/Error Indicators The existence of an alarm or error code is indicated both by the ERROR LED indicator on the front panel (see figure below) and by the flags in the status area. Front Panel LED C500-NC211 Lights when power is turned on and goes out when a PCU hardware error occurs.
Page 227 Section 12-2 Alarm/Error codes X axis: Word S+1 Y axis: Word S+9 X: (S+1) Y: (S+9) Error code (or alarm code) Generally, a new error (or alarm) outputs a single error code. When the READ ERROR command bit (word n+1, bit 05) turns ON, multiple error or alarm codes (or alarm codes) can be read sequentially.
Page 228 Section 12-4 12-3 Alarm Code List Area Item Alarm Code Problem and Correction Jog operations High-speed jog 1000 The speed indicated by the high-speed jog speed number is 0, speed error or there is a BCD error in the speed designated by the number. Correct the settings.
Page 229 Section 12-4 Error Error code Problem Correction Manual CCW limit 5071 The internal CCW limit was reached and Feed clockwise. feeding stopped during execution of HIGH- SPEED JOG, LOW-SPEED JOG, or INCH. • ORIGIN SEARCH cannot be executed be- • Read out alarm code and correct ORIGIN SEARCH 5100 not possible...
Page 230 Section 12-4 Error Error code Problem Correction No Origin signal 6201 There was no origin signal input during ori- Check origin signal wiring and sig- gin search. nal type (N.C. or N.O.). When ORIGIN SEARCH is executed while the CW/CCW limit input is ON, the origin signal is already ON at the initial position.
Page 231 Section 12-4 Error Error code Problem Correction Undefined error 8308 Data outside of the defined range was sent Correct the command or data and by WRIT (the Intelligent I/O Write instruc- send it again. This error will be cleared when correct data is sent. tion).
Page 232 Appendix A Data Memory Coding Sheet Positioning Actions Positioning action address 1 wd Speed No. 1 wd Acceleration/decelera- Dwell time Number 1 wd tion pattern Number Completion 1 wd Output code code Target position (rightmost digits) 1 wd X axis Y axis 1 wd Sign...
Page 233 Appendix A Parameters 15 ↔ 00 Address Contents X axis X-axis CW limit Address 2,000 to 2,029 15 ↔ 00 Address Contents X-axis origin return speed address X-axis CCW limit X-axis start speed address X-axis zone 0, CW side X-axis zone 0, CCW side X-axis start positioning address X-axis high jog speed address...
Page 234 Appendix A 15 ↔ 00 15 ↔ 00 Address Contents Address Contents X-axis origin search X-axis zone 6, CW side acceleration/deceleration X-axis zone 6, CCW side pattern address X-axis high-speed jogging acceleration/deceleration pattern address X-axis zone 7, CW side X-axis zone 7, CCW side Number of pulses for X-axis inching X-axis origin search mode...
Page 235 Appendix A 15 ↔ 00 Address Contents Y axis Y-axis CCW limit Address 6,000 to 6,029 15 ↔ 00 Address Contents Y-axis origin return speed address Y-axis zone 0, CW side Y-axis zone 0, CCW side Y-axis start speed address Y-axis start positioning Y-axis zone 1, CW side address...
Page 236 Appendix A 15 ↔ 00 15 ↔ 00 Address Contents Address Contents Y-axis zone 7, CW side Y-axis high-speed jogging acceleration/deceleration Y-axis zone 7, CCW side pattern address Number of pulses for Y-axis inching Y-axis origin search mode Y-axis origin search pattern Y-axis origin search type Y-axis unit setting RESET PRESENT POSITION...
Page 237 Appendix A Speeds Address 1 wd 1 wd Speed 1 wd X axis Y axis 1 wd Address 4,000 to 4,049 8,000 to 8,049 15 ↔ 00 15 ↔ 00 Address Contents Address Contents...
Page 238 Appendix A Acceleration/Deceleration Patterns 1 wd Address 1 wd Acceleration data 1 wd X axis Y axis Deceleration data 1 wd Address 3,000 to 3,099 7,000 to 7,099 15 ↔ 00 15 ↔ 00 Address Contents Address Contents...
Page 239 Appendix A Dwell Times Address 1 wd 1 wd X/Y axes (shared) Dwell time data 1 wd Address 9,000 to 9,029 15 ↔ 00 15 ↔ 00 Address Contents Address Contents...
Page 240 Appendix B Command and Status Charts X-axis Command Format (Words m+1 to m+4) Word START Initial positioning action Teaching positioning Override: 00 to 20 number (000 to 499) (000 499) action number (000 to (000 (U i (Unit x 0.1) 0 1) Initial positioning action 499)
Page 241 Appendix B Y-axis Command Format (Words m+5 to m+8) Word START Initial positioning action Teaching positioning Override: 00 to 20 number (000 to 499) (000 499) action number (000 to (000 (U i (Unit x 0.1) 0 1) Initial positioning action 499) (00: Override 1.0) number enable...
Page 242 Appendix B X-axis Status Area Word Positioning Error Output Code Current Positioning Present Present Start Completed Flag Code Action Number Position Position Completed Flag (x 10 (x 10 Bank End Origin Search Completed Flag Flag Origin Stop Origin Reset Flag Flag Alarm Flag Pulse Output Enabled...
Page 243 Appendix B Common Status Area Word EEPROM Write Completed EEPROM Writing EEPROM Reading...
Page 244 Appendix B Y-axis Status Area Word s+10 s+11 s+12 s+13 s+14 Positioning Error Output code Current Present Present Start Completed Flag code positioning action Position Position Completed Flag number (x 10 (x 10 Bank End Origin Search Completed Flag Flag Origin Stop Origin Reset Flag Flag...
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Page 250: Revision History
Revision History C500-NC113 (One-axis Control) C500-NC211 (Two-axis Control) Position Control Units Operation Manual A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. W323-E3-1 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.

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