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Omron C200H-MC221 Operation Manual

Omron C200H-MC221 Operation Manual

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Cat. No. W314-E1-1
C200H-MC221
Motion Control Unit
OPERATION MANUAL:
INTRODUCTION

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Summary of Contents for Omron C200H-MC221

  • Page 1 Cat. No. W314-E1-1 C200H-MC221 Motion Control Unit OPERATION MANUAL: INTRODUCTION...
  • Page 3 C200H-MC221 Motion Control Unit Operation Manual: Introduction Produced June 1996...
  • Page 5 OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.

  • Page 7: Table Of Contents

    TABLE OF CONTENTS PRECAUTIONS ....... . . 1 Intended Audience .
  • Page 8 TABLE OF CONTENTS SECTION 7 Preparations for Operation ......System Startup Procedures ..........Testing Equipment Configuration .
  • Page 9 Control Unit and includes the sections described below. Please read this manual and the other manuals related to the C200H-MC221 Motion Control Unit careful- ly and be sure you understand the information provided before attempting to install and operate the Mo- tion Control Unit.
  • Page 11 PRECAUTIONS This section provides general precautions for using the Motion Control Units (MC Units) and related devices. The information contained in this section is important for the safe and reliable application of the Motion Control Unit. You must read this section and understand the information contained before attempting to set up or operate a Motion Control Unit.

  • Page 12: Intended Audience

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

  • Page 13: Application Precautions

    Application Precautions Caution The operating environment of the MC Unit can have a large effect on the longev- ity and reliability of the system. Improper operating environments can lead to malfunction, failure, and other unforeseeable problems with the MC Unit. Be sure that the operating environment is within the specified conditions at installa- tion and remains within the specified conditions during the life of the system.

  • Page 15: Introduction

    SECTION 1 Introduction This section describes fundamentals necessary for understanding this manual and for the successful operation of an MC Unit. CW and CCW ............Feedback Pulse .

  • Page 16: Cw And Ccw

    Positive limit Feedback Pulse Standard OMRON servomotors are designed for an advanced A-phase for for- ward rotation and an advanced B-phase for reverse rotation. The MC Unit is de- signed to comply with this phase advancement, allowing OMRON Driver Con- necting Cables to be connected without modification.

  • Page 17: Coordinate Systems

    Applicable Machines Section 1-4 Coordinate Systems Positioning operations using the MC Unit are performed based on two coordi- nate systems: a reference coordinate system and a workpiece coordinate sys- tem. The reference coordinate system is the most fundamental one for positioning operations.

  • Page 18: Wiring Precautions

    Wiring Precautions Section 1-5 Orthogonal Robots One-axis robot Two-axis robot Horizontal Articulated The MC Unit is not designed to perform linear interpolation or circular arc inter- Robots and Cylindrical polation with horizontal articulated robots or cylindrical robots. The MC Unit can, Robots however, perform PTP control with these robots.
  • Page 19 Wiring Precautions Section 1-5 Solenoid Surge absorber Noise may be generated on the power supply line if the same power supply line is used for an electric welder or electrical discharge unit. Provide an insulating transformer and a line filter in the power supply section to remove such noise. It is recommended that twisted-pair cables be used for power supply lines.

  • Page 20: System Configuration

    System Configuration Section 1-6 System Configuration The following diagrams shows an overview of the system configuration of the MC Unit and related devices. MC Unit MC program (G language) Interface area System parameters Position data Support Software Registers Data Teaching X axis Y axis The MC Unit receives commands from the PC through the interface area and...

  • Page 21: Outline Of The Interface Area

    Data Configuration Section 1-8 Outline of the Interface Area The interface area allows data such as commands from the PC, tasks of the MC Unit, and axis status, to be transferred between the PC and the MC Unit. Interface Area MC Unit Starting, stopping, and continuing program...

  • Page 22: Programs And Tasks

    Programs and Tasks Section 1-9 Programs and Tasks The MC Unit can perform up to two tasks. (A task is a unit of execution for a pro- gram.) By executing two tasks at the same time, the MC Unit can perform the same functions as done by two NC controllers.

  • Page 23: Manual And Automatic Operation

    Manual and Automatic Operation Section 1-10 1-10 Manual and Automatic Operation Each task of the MC Unit can be executed either in manual or automatic mode. In the automatic mode, MC programs created in the G language are executed. In the manual mode, manual commands from the PC or the Teaching Box are executed.

  • Page 25: Features

    SECTION 2 Features This section describes the features and functions of the MC Unit. Features ..............Specifications .

  • Page 26: Features

    Features Section 2-1 Features The C200H-MC221 Motion Control Unit is designed to control positioning using servomotors. MC Unit Teaching Box C200H-MC221 CVM1-PRS71 The MC Unit provides the following features. Easy Control through The G language is used to program the MC Unit. Each program is controlled as a Multi-task G Language task completely independent from other tasks.
  • Page 27 Features Section 2-1 General-purpose Input Starting and stopping can be controlled without the use of the PC. The time re- Signals quired until a control command voltage is output is shorter than the time neces- sary to start the Unit by a command from the ladder-diagram program. MC Unit Start/stop Start/stop...

  • Page 28: Specifications

    Specifications Section 2-2 High-speed Response The response speed of the MC Unit will increase if the MC Unit is used in com- bination with the C200HX, C200HG, or C200HE. By using the Intelligent I/O Write instruction with the C200HX, C200HG, or C200HE, position data transfer and program start notice can be executed in a single cycle.

  • Page 29: Outside Dimensions

    Outside Dimensions Section 2-3 Outside Dimensions C200H-MC221 34.5 100.5 (103.7) Dimensions with the Unit Mounted Backplane 200 to 240 Note When mounting this Unit to a C200H PC and using the 3G2A6-PRO15-E Pro- gramming Console, use the third slot or further from the CPU.

  • Page 30: Functions

    Functions Section 2-4 Functions The following tables summarize the capacity and functions of the MC Unit. Item Contents Number of I/O words 20 words (Occupies slots for two Units) External connected devices IBM PC/AT or compatible, Teaching Box (see note 1), and MPG (manual pulse generator) (see note 2) Controlled driver Analog Input Servodriver...
  • Page 31 Functions Section 2-4 Item Contents External I/O Peripheral device One serial channel (selectable) Teaching Box: RS-422 (9,600 bps) Personal Computer: RS-422 (9,600 bps) or RS-232C (9,600 bps) Encoder Line receiver input: For two axes (250 kpps before multiplication) Multiplication factor fixed at 4. (See note 1.) Servodriver relationships The following signals are each provided for two axes: Input:...
  • Page 32 Functions Section 2-4 Item Contents Self-diagnostic function Detection of memory corruption Detection of disconnected lines Error detection function Error counter alarm Overtravel Error counter overrun Immediate stop CPU error Unit number error Communication error Driver alarm (Teaching Box) detection Software limit overrun EEPROM error Z-phase error Flash memory error...

  • Page 33: Servo System Principles And Precautions

    SECTION 3 Servo System Principles and Precautions This section provides information on the servo system, basic mechanisms for positioning, and precautions to be heeded in using the system. Servo System ............Motor Runaway .

  • Page 34: Servo System

    Servo System Section 3-1 Servo System The servo system used by and the internal operations of the MC Unit are briefly described below. Semi-closed Loop System The servo system of the MC Unit uses a semi-closed loop system. This system is designed to detect actual machine movements by rotation of the motor in rela- tion to a target value.
  • Page 35 Servo System Section 3-1 3. When the speed control voltage is received by the servodriver, it rotates the motor at a speed corresponding to the speed control voltage. The rotational speed is in proportion to the speed control voltage. Servodriver Speed Characteristics Rotational speed +N (rpm) Speed control voltage 4.
  • Page 36 Servo System Section 3-1 7. If the motor axis moves slightly due to a drift in the driver or voltage output, the error counter receives a feedback pulse from the rotary encoder and a speed control voltage is output in the reverse direction, causing the motor to rotate toward its original position.

  • Page 37: Motor Runaway

    Motor Runaway Section 3-2 Motor Runaway In a servo system employing a servomotor, faulty or disconnected wiring may cause the servomotor to run out of control. Therefore, careful attention must be paid to preventing faulty or disconnected wiring. When the wiring is correct, the servomotor maintains the stopped position through corrective operations as long as a position loop is formed and servolock is in effect.
  • Page 38 Motor Runaway Section 3-2 Runaway can occur not only from reversed wiring of phases A and B of the feed- back inputs, but also from reversed wiring of the speed control voltage and the ground lines (crossed dotted lines at 2 in the figure above). Runaway Due to The servomotor runs out of control not only when the position loop is not correct- Disconnected Wiring...

  • Page 39: Wiring Check Function

    Wiring Check Function Section 3-3 Wiring Check Function The MC Unit is provided with a wiring check function. This function is designed to check for reverse wiring and disconnected wiring when the power supply switch is turned on in order to prevent motor runaway. Whether or not to a execute wir- ing check can be determined by setting a system parameter.

  • Page 40: Failsafe Circuits

    Failsafe Circuits Section 3-4 Failsafe Circuits To protect against unforeseen problems that may occur during operation, pro- vide failsafe circuits, as those shown below, in the positioning system in which the MC Unit is used. Errors during Positioning As illustrated below, motor runaway may occur during operation without a posi- tion loop being formed for these reasons: ·...
  • Page 41 Failsafe Circuits Section 3-4 Example 1 MC Unit Error Counter Alarm Speed Servodriver bit is turned ON. control voltage Error Ladder counter programming External Immediate Operation output stop input command output In the Example 2, when the Error Counter Alarm Bit is turned ON, the dynamic brake of the motor is actuated by an external output from the PC to stop the mo- tor.

  • Page 43: System Configuration

    SECTION 4 System Configuration This section provides information on the system configuration necessary for operating the MC Unit. Basic System Configuration ..........Items Supplied by the User .

  • Page 44: Basic System Configuration

    Basic System Configuration Section 4-1 Basic System Configuration The following is an example of a system configuration using a SYSMAC C200HX, C200HG, or C200HE PC. The C200H or C200HS PC can be used also. Used to set data · Changing G-language programs or for G-language ·...

  • Page 45: Items Supplied By The User

    Items Supplied by the User Section 4-2 Devices used in the system configuration example are as shown in the following table. Devices Model Motion Control Unit C200H-MC221 One of the following: C200HE-CPUjj-E C200HG-CPUjj-E C200HX-CPUjj-E Power Supply Unit One of the following:...

  • Page 46: Peripheral Devices

    IBM PC/AT or compatible Teaching Box Note This host link is a dedicated communications link between the MC Support Soft- ware and the C200H-MC221. Used for creating an I/O table and a ladder-diagram program, and for monitoring SYSMAC Support Software various data.
  • Page 47 Peripheral Devices Section 4-3 Teaching Box Functions The following table lists the functions of the Teaching Box. Function Description Deceleration stop Decelerates all axes to a stop. Error reset Error reset MC Unit error reset Resets errors that have occurred in the MC Unit. Servodriver error Resets alarms for the servodriver.
  • Page 48 Peripheral Devices Section 4-3 MC Support Software Functions Function Specifications Applicable computer IBM PC/AT or compatible (CPU 80286/80386/80486) Operating environment Memory: Open area of 490K bytes or larger Hard disk: Open area of 1 megabyte or larger Operating system: PC-DOS/MS-DOS Editing programs MC program can be created, modified, or deleted.

  • Page 49: Positioning

    SECTION 5 Positioning This section provides information on position control as performed by the MC Unit. Positioning Controls ............PTP Control .

  • Page 50: Positioning Controls

    Positioning Controls Section 5-1 Positioning Controls The MC Unit offers the following three positioning controls: PTP control CP control (linear interpolation and circular interpolation) Interrupt inching Control programs are created in the G language. Note Refer to Section 6 G Language for information on the G language. PTP Control The PTP control is used to position each axis (X and Y axis) independently from other axes.

  • Page 51: Ptp Control

    PTP Control Section 5-2 PTP Control Positioning each axis independently from the rest of the axes is called PTP con- trol. Each axis moves at the preset seeds: at the acceleration speed for the pre- set acceleration time, the maximum high-speed feed rate, and the deceleration speed for the preset deceleration time.

  • Page 52: Linear Interpolation

    Linear Interpolation Section 5-3 Triangular Control If the travel time is shorter than the sum of acceleration time and deceleration time, movements are controlled by the triangular control shown below. Maximum high- speed feed rate Travel time: short Time Acceleration Constant speed time Deceleration time time...
  • Page 53 Linear Interpolation Section 5-3 Fx and Fy can be expressed as follows: Fx= Lx/L x F Fy= Ly/L x F Where, L is the travel distance in the specified locus, Lx is the travel distance along the X axis, and Ly is the travel distance along the Y axis. Interpolation Acceleration Interpolation acceleration and deceleration times for linear interpolation are de- and Deceleration Times...

  • Page 54: Circular Interpolation

    Circular Interpolation Section 5-4 Circular Interpolation Positioning for circular interpolation is performed using two axis from a starting point to an ending point and traveling through a circular arc. Circular interpolation is achieved by repeating successive linear interpolation Basic Idea along straight lines drawn by dividing a circular arc (in the shape of a polygon).

  • Page 55: Interrupt Inching

    Acceleration and Deceleration Curves Section 5-6 Interrupt Inching Interrupt inching is used to perform speed control until an external signal is input and to perform positioning control for inching with the external signal. Interrupt inching can be performed either at constant speed or two speeds. Constant Speed In the following example, the X axis is moved 100 mm at 200 mm/s.

  • Page 56: Operation Modes

    Operation Modes Section 5-7 Trapezoidal Curve With the trapezoidal curve, acceleration is constant during the acceleration time and deceleration time. Speed Time Constant Acceleration Deceleration time speed time time S Curve With the S curve, acceleration during the acceleration time and deceleration time changes with time.
  • Page 57 Operation Modes Section 5-7 Example: Moves X axis to 100-mm point by PTP control N010 G00 X100 Moves X axis to 200-mm point by PTP control N011 G00 X200 Speed/error counter pulses Speed Error counter pulse Time P: In-position width T: Time required for determining whether positioning is completed or not Positioning is completed when the error counter pulse falls within the in-position zone.

  • Page 58: Override Function

    Override Function Section 5-8 Pass Mode In the pass mode, the shift to the next operation takes Speed place during the interpolation acceleration time, not dur- ing the interpolation deceleration time. Pass time to the next target value Time Ta: Interpolation acceleration time Td: Interpolation deceleration time When the pass mode is selected, the time required for movements is reduced because no interpolation deceleration time is required.

  • Page 59: Backlash Compensation

    Backlash Compensation Section 5-9 Override in CP Control In interpolation control, the designated interpolation feed rate is used as the maximum feed rate. The override for the interpolation feed rate can be set to a value between 0.1% and 199.9%. If the result set by using the override function to over 100% exceeds the maximum interpolation speed, maximum interpola- tion feed rate is used instead.
  • Page 60 Backlash Compensation Section 5-9 Backlash compensation is a function to register the backlash space within a range of 0 to 999 pulses to minimize the positioning errors of machines moving in the forward or reverse direction to the same position as shown in the following. No difference in position between machines Positioning in the forward direction...

  • Page 61: G Language

    SECTION 6 G Language This section introduces the “G” language used for position control with the MC Unit. Introduction ............. 6-1-1 Example Program .

  • Page 62: Introduction

    Introduction Section 6-1 Introduction The G language is used widely in position control and its main feature is that it is very easy to write for programming. Program functions can be entered simply by entering a “G” and a 2-digit numerical code, then adding any needed parame- ters.
  • Page 63 Introduction Section 6-1 Format The following table explains the contents of the MC program. Line MC program blocks Function N000 P001 X Declares program number (001) and the axis being ¡ used (X). N001 G90 Specifies positioning by absolute coordinates. ©...

  • Page 64: G-Language Codes

    Introduction Section 6-1 6-1-2 G-language Codes The following table provides summary and brief description of the G-language functions. Refer to the MC Unit Operation Manual: Details for details on these functions. Code Name Function POSITIONING Positions up to 4 axes simultaneously with PTP control at the maximum speed.

  • Page 65: G-Language Symbols

    G-language Symbols Section 6-2 G-language Symbols The following table lists the symbols used to define parameters in G-language programming. Symbol Meaning Indicates a position data address. There are 2000 addresses ranging from A0000 to A1999. Indicates an indirect register. There are 32 indirect registers ranging from E00 to E31.
  • Page 66 G-language Symbols Section 6-2 For example, when the following program is executed, the contents of A1000 (123.45) will be used for the X-axis data and the contents of A1001 (50) will be used for the M code. Program block Register Position data N010 X(E00)

  • Page 67: Preparations For Operation

    SECTION 7 Preparations for Operation This section provides information on startup procedures, system configuration, and positioning operations using testing equipment, as well as explanations on the interface area necessary for creating ladder-diagram programs. System Startup Procedures ..........Testing Equipment Configuration .

  • Page 68: System Startup Procedures

    System Startup Procedures Section 7-1 System Startup Procedures This section describes positioning control procedures using the testing equip- ment. Refer to the sections shown in parentheses for each step. Descriptions on mechanical design are omitted here. Startup Procedures 1, 2, 3... 1.

  • Page 69: Testing Equipment Configuration

    Items to Be Prepared Prepare the following items. If more than one models is listed, select one of them. The shaded model is the one used in this manual. All the models without manufactures’ names are OMRON products. Controllers Name...

  • Page 70: Positioning Operations

    Positioning Operations Section 7-4 MC Support Software Name Model Personal computer for MC Support IBM PC/AT or compatible Software MC Support Software CV500-ZN3AT1-E (3.5-inch floppy disk) Servomotor Controller Name Model Servodriver Servodriver Prepare the ones that fit the system. Prepare the ones that fit the system. Servomotor Servomotor Power cable...
  • Page 71 Positioning Operations Section 7-4 Switch Box Specifications The switch box used in the testing equipment is illustrated below. A switch box and switches should be prepared by the users. Switch box MANUAL AUTO Changeover switch (Self-holding) Used for selecting either MANUAL or AUTO mode.

  • Page 72: Interface Area

    Interface Area Section 7-5 JOG Switch If any other manual command is not being executed and if the axes are servo- locked, X and Y axes start jogging. The motors remains ON while the switch is pressed. Interface Area This section provides a brief explanation of the interface area necessary for creating a ladder-diagram program that executes the MC program.
  • Page 73 Interface Area Section 7-5 PC Interface (C200H/C200HS) SYSMAC C200H/C200HS C200H-MC221 IR Area I/O Refresh Data Area IR 100 to IR 119 Unit #0 Wd n Output refresh IR 110 to IR 129 Unit #1 Wd n+7 Data is transferred to...
  • Page 74 Interface Area Section 7-5 PC Interface (C200HX/C200HG/C200HE) SYSMAC C200HX/C200HG/C200HE C200H-MC221 IR Area I/O Refresh Data Area IR 100 to IR 119 Unit #0 Wd n Output refresh IR 110 to IR 129 Unit #1 Wd n+7 Data is transferred to...
  • Page 75 Interface Area Section 7-5 Each MC Unit uses two words as a Fixed DM Area (i.e., an initial setting area) between DM 1000 and DM 1999. If an Expansion DM Area is effective, the area occupies 23 words except from DM 1000 to DM 2599.
  • Page 76 Interface Area Section 7-5 Outline of Expansion DM Parameters and a variety of monitor data are allocated to this area to use a vari- Area ety of functions such as data transfer, teaching, and present position presetting functions. This area is valid if the Expansion DM Area is set in the initial setting area.

  • Page 77: Test Operation

    SECTION 8 Test Operation This section describes the procedures involved in conducting tests using test equipment. Mounting the Units ............8-1-1 Mounting Positions .

  • Page 78: Mounting The Units

    Mounting the Units Section 8-1 Mounting the Units The Power Supply Unit, CPU, MC Unit, and Input Unit are all mounted to the CPU Backplane. 8-1-1 Mounting Positions The mounting positions of the Power Supply Unit and the CPU are fixed. The positions of the MC Unit and the Input Unit are not fixed, but for the purposes of this explanation, assume that they are mounted in the positions shown in the fol- lowing illustration.

  • Page 79: Connecting The Computer

    Connecting the Computer Section 8-2 Connecting the Computer Two methods are explained below for connecting the computer running the SYSMAC Support Software and MC Support Software. 8-2-1 Connecting via the Peripheral Bus for SYSMAC Support Software Use a CQM1-CIF02 Connecting Cable (6 meters) to connect the computer and CPU via the peripheral bus.
  • Page 80 Set the slide switch to HOST. 25-pin D-sub connector 20-pin half-pitch 25-pin D-sub connector connector (female) IBM PC/AT or CV500-CIF01 compatible (OMRON) Connect as shown below. Connector for the personal computer IBM PC/AT Computer Female 25-pin Female 25-pin RS-232C Connector...
  • Page 81 Connecting the Computer Section 8-2 RS-232C Wire the following. MC Unit side (20 pins) Personal computer side (9 pins) Connector Connector hood hood Shielded wires (see note) Note Connect the shielded line to the FG (pin 1) at the computer, and to the connector hood at the MC Unit.

  • Page 82: Connecting The Teaching Box

    Connecting the Teaching Box Section 8-3 Connecting the Teaching Box This section explains how to connect the Teaching Box and MC Unit. Connecting Cable Use the connecting cables shown in the following table to connect the Teaching Box to the MC Unit. Model Cable length CV500-CN224...
  • Page 83 Connecting the Teaching Box Section 8-3 4. Insert the other cable connector into the MC Unit connector marked “TOOL.” Peripheral device switch 5. Set the peripheral device switch to T.B. Removing the Connecting Squeeze the lock release buttons located on both sides of the connector, and Cable pull the connector out.

  • Page 84: Wiring I/O Connectors

    Label Normally closed Normally open Common Common Common Emergency CCW limit Origin CW limit stop input input proximity input Common input Common Common +24 V power supply Note OUT1 or OUT2 of the XW2B-20J6-6 are not available for the C200H-MC221.
  • Page 85 Wiring I/O Connectors Section 8-4 I/O Connector Terminals Symbol Name Function +24V 24 VDC input Connects to the + terminal of the 24-VDC external power supply. XCWL(NC) X-axis CW limit input Limits movement of the X-axis in the CW direction. YCWL(NC) Y-axis CW limit input Limits movement of the Y-axis in the CW direction.

  • Page 86: Connecting Servodrivers

    Connecting Servodrivers Section 8-5 Connecting Servodrivers Connect the MC Unit and servodrivers using control cables. The following is an example of the servodriver connections. Connecting Control Cables Servodriver (R88D-UA03L) MC Unit Servodriver (R88D-UA03L) Connect 24-V power supply. Red: +24 V Black: 0 V Control Cables Refer to the MC Unit Operation Manual: Details for information on control...

  • Page 87: Wiring Input Units

    Wiring Input Units Section 8-6 Connecting Power Cables The following are examples using servodrivers. Refer to the applicable servo- and Encoder Cables driver manual for more details. Servodriver Power cable Encoder cable Servomotor Wiring Input Units This section shows how to wire a switch box to an Input Unit. First, prepare a switch box as shown in the following illustration.

  • Page 88: Starting Up The Pc

    Setting Parameters Section 8-8 After the switch box has been prepared, wire it to the Input Unit as shown below. Switch Box Manual Automatic Operation Start Origin C200H- ID212 24 VDC Starting Up the PC This section explains how to set the program type and the PC model, and how to create the I/O table.

  • Page 89: Selection Of Mc Model

    1. Turn on the power supply to the computer, and start up the MCSS. 2. Select “K:MC Models” from the System Setting Menu. MC model Setup <CV500-MC421> ESC: previous [Setup] [MC model] A:CV500-MC421 B:CV500-MC221 C:C200H-MC221 3. Select “C:C200H-MC221” from the MC Model Menu.

  • Page 90: Minimum Unit

    8-8-2 Minimum Unit 1, 2, 3... 1. Select “A:Minimum Setting Unit” from the Machine Parameter Edit screen. Minimum Setting Unit X Machine Specs <C200H-MC221> 2048 2. Select “C.” 8-8-3 Display Unit 1, 2, 3... 1. Select “B:Display Unit” from the Machine Parameter Edit screen.

  • Page 91: Positive And Negative Software Limits

    2. The pulse rate numerator is not changed here, so press either the Down (¯) Key or the Return Key. Move the cursor to the pulse rate denominator value. Pulse Rate X Machine Specs <C200H-MC221> 0.01 2048 3. Enter the pulse rate denominator value (100 in this example). After the cor- rect setting has been made, return to the Machine Parameter Edit screen.

  • Page 92: Reference Origin Offset

    Setting Parameters Section 8-8 8-8-6 Reference Origin Offset 1, 2, 3... 1. Select “A:Reference Origin Offset X Axis” from the Coordinate Parameter Edit screen. <C200H-MC221> X Reference Origin Coord Params ?????????? mm ?????????? mm ?????????? mm (---399999.99 to 399999.99) 2. Enter “0” for the offset value and press the Return Key.

  • Page 93: Maximum Interpolation Feed Rate

    Section 8-8 8-8-9 Maximum Interpolation Feed Rate 1, 2, 3... 1. Select “B:Maximum Interpolation Feedrate” from the Feedrate Parameter Edit screen. Max Interp Feedrate X Feedrate <C200H-MC221> 2048.00 mm/s ?????????? mm/s 409600 mm/s ?????????? mm/s (0.01 to 4096.00) ?????????? mm/s ?????????? mm/s 2.

  • Page 94: Maximum Jog Feed Rate

    Setting Parameters Section 8-8 8-8-12 Maximum Jog Feed Rate 1, 2, 3... 1. Select “E:Maximum Jog Feedrate” from the Feedrate Parameter Edit screen. Max Jog Feedrate X Feedrate <C200H-MC221> mm/s 2048.00 mm/s 2048.00 mm/s 204.80 40960 mm/s (0.01 to 4096.00) 20.48...

  • Page 95: Saving Parameters

    Filenames must be eight characters or less. (The entire path name can be up to 74 characters.) Comments must be 30 characters or less. 1, 2, 3... 1. Select “S:Save Parameter” from the MC Parameter Edit Menu. <C200H-MC221> Parameter Save MC Parameter Edit C:\MCSS\DATA 2.

  • Page 96: Transferring Parameters

    If the same filename already exists, a message will be displayed for con- firmation. To overwrite the existing file, input “Y” and press the Return Key. To cancel the save operation, just press the Return Key. <C200H-MC221> Parameter Save MC Parameter Edit C:\MCSS\DATA\PARAM1.MCQ...
  • Page 97 Transferring Parameters Section 8-10 3. Select “B:Computer FD to MC Unit” from the Transfer Menu. <C200H-MC221> Online Computer to MC Transfer P:MC programs H:MC parameters 4. Select “H:MC Parameters” from the Computer FD to MC Menu. Online MC Parameters Computer to MC <C200H-MC221>...

  • Page 98: Flash Memory Backup Of Parameter

    6. A message will be displayed at the bottom of the screen for confirmation. To transfer the file, enter “Y” and press the Return Key. To cancel the transfer operation, just press the Return Key. The transfer status will be displayed while the file is being transferred. <C200H-MC221> Online MC Parameters Computer to MC C:\MCSS\DATA\PARAM1.MCQ...

  • Page 99: Creating Mc Programs

    Creating MC Programs Section 8-12 3. Select “H:MC Parameter” from the Flash Memory Menu. Online MC parameter Frash memory <C200H-MC221> ESC: previous [Trans/Verify ] [Flash memory] A:All data P:MC program Write MC parameter H:MC parameter OK? (Y/N) N D:Position data 4.
  • Page 100 Creating MC Programs Section 8-12 1, 2, 3... 1. Select “P:Edit MC Programs” from the Main Menu. The MC Program Edit screen will be displayed. Program name Menu name MC Program Edit Ln InsMode Line input mode Program input area Input mode Cursor for program input area Ins Mode...

  • Page 101: Saving Mc Programs

    Saving a Program 1, 2, 3... 1. Press the End Key to display the MC Program Edit Menu. Then select “S:Save Programs.” Program Save MC Program Edit <C200H-MC221> Ln InsMode C:\MCSS\DATA...
  • Page 102 2. Enter the name of the file (SAMPLE, for this example) that is to be saved, and press the Return Key. If the file already exists, the filename can be se- lected from a list by first pressing the End Key to display a list of existing files. <C200H-MC221> Program Save MC Program Edit Ln InsMode C:\MCSS\DATA\SAMPLE.MCP...

  • Page 103: Transferring Mc Programs

    8-14 Transferring MC Programs This section explains how to transfer MC programs to the MC Unit. 1, 2, 3... 1. Select “T:Transfer/Verify” from the Main Menu. Online Transfer/Verify <C200H-MC221> M:Transfer W:Flash Memory Write 2. Select “M:Transfer” from the Transfer/Verify Menu. Online Transfer Transfer/Verify <C200H-MC221>...
  • Page 104 Online MC Programs Computer to MC <C200H-MC221> C:\MCSS\DATA\ 5. Enter the name of the file that is to be transferred (“SAMPLE,” for this exam- ple). If the file already exists, the filename can be selected from a list by first pressing the End Key to display a list of existing files.

  • Page 105: Flash Memory Backup Of Mc Program

    8-15 Flash Memory Backup of MC Program An MC program transferred to the MC Unit is stored as a backup in the flash memory. 1, 2, 3... 1. Select “T:Transfer/Verify” from the Main Menu. <C200H-MC221> Online Transfer/Verify ESC: previous [Trans/Verify ]...

  • Page 106: Creating Ladder-Diagram Programs

    Creating Ladder-diagram Programs Section 8-16 4. A message will be displayed for confirmation. To write the MC program, in- put “Y” and press the Return Key. <C200H-MC221> Online MC program Flash memory ESC: previous [Trans/Verify ] [Flash memory] Write MC prgram...
  • Page 107 Creating Ladder-diagram Programs Section 8-16 Ladder-diagram Program Input the ladder-diagram program shown below. 000000 <Automatic/Manual Bit> 10101 Manual/automatic switch 000001 11103 DIFU (13) 003000 Operation switch (Manual Mode Flag) 003000 11601 11602 <X-axis Servo-lock Bit> 10509 (X-axis (X-axis Busy Flag) Servo-lock Flag) 10509 <X-axis Servo-lock Bit>...

  • Page 108: Checking Operation From The Mcss

    Checking Operation from the MCSS Section 8-17 (Continued from previous page.) 000007 11901 11103 11902 DIFU (13) 003003 Y-- switch (X-axis (Manual (X-axis Busy Flag) Mode Servo-lock Flag) Flag) 000006 Y+ switch 003003 000007 <Y-axis Jog Bit> 10703 Y+ switch Y-- switch 10703 000006...
  • Page 109 MC monitoring is used to check the present position for each axis. To use MC monitoring, start up the MCSS and select “M:MC Monitoring” from the Main Menu. (For more details regarding MC monitoring, refer to the MCSS Operation Manual. Online MC Monitoring <C200H-MC221> 0.01 0.01 0.00 0.00 0.00 0.00...
  • Page 110 Checking Operation from the MCSS Section 8-17 The present position and the number of error counter pulses are changed in the vicinity of “0” on the MC Monitoring Screen. Online MC Monitoring <C200H-MC221> ---0.01 ---0.01 0.02 0.02 ---1 ---3 Checking Origin Search When the Origin Search Key is pressed while in manual mode, an origin search is executed along the X and Y axes.
  • Page 111 Section 8-17 3. Press the End Key from the MC Monitoring screen to display the Monitoring Menu. Online MC Monitoring <C200H-MC221> 0.00 P:Display MC programs 0.00 S:Display MC I/O status Note If steps 3 through 5 are executed before the Start Key is pressed, a message will be displayed at the bottom left of the screen indicating that the program has not been executed.

  • Page 112: Checking Operation From The Teaching Box

    Online MC Program Display MC Monitoring <C200H-MC221> N000 P001 XY *001 SAMPLE PROGRAM N002 G04 5 : N003 G26 X Y N004 G11...
  • Page 113 Checking Operation From the Teaching Box Section 8-18 2. Press “1.” EXT| CHG MODE | T.BOX | LIMITED |SWITCH:-,¯ 3. Press the Down Key. (Pressing the Up and Down Keys switches among the three modes.) EXT| CHG MODE | T.BOX | RESERVED |SWITCH:-,¯...
  • Page 114 Checking Operation From the Teaching Box Section 8-18 3. Press the YES Key. An origin search will be started and the present position monitoring screen will be displayed. ORG|X* 12.00 The asterisk (*) indicates that the origin is not defined. 12.32 ALL| The present position is refreshed for moving axes.
  • Page 115 Checking Operation From the Teaching Box Section 8-18 2. Press a number from 0 to 4 to select the number of axes to be reset. [RT] DRIVER <ALL AXES> RESET ERROR ? YES / NO The specified axis or axes are displayed here. 0: All axes 1: X axis 2: Y axis...
  • Page 116 Checking Operation From the Teaching Box Section 8-18 When the PAUSE Key is pressed, program execution is paused and the pre- vious screen is restored. Program execution is resumed by pressing the START Key. The program cannot be executed while an error is in effect. 5.

  • Page 117: Glossary

    Glossary absolute position A position given in respect to the origin rather than in respect to the present posi- tion. Curves which determine the rate of acceleration to the maximum feed rate and acceleration/deceleration curve the rate of deceleration from the maximum feed rate. auxiliary bit A bit in the Auxiliary Area.
  • Page 118 Glossary CPU Backplane A Backplane used to create a CPU Rack. CPU Rack The main Rack in a building-block PC, the CPU Rack contains the CPU, a Power Supply, and other Units. The CPU Rack, along with the Expansion CPU Rack, provides both an I/O bus and a CPU bus.
  • Page 119 Glossary in position The range within which the system is determined to be at the target position. input The signal coming from an external device into the PC. The term input is often used abstractly or collectively to refer to incoming signals. The mathematical calculation of missing values based pm known values.
  • Page 120 Glossary NO contacts Normally-open contacts. A pair of contacts on a relay that close when the relay is energized. The status of an input or output when a signal is said not to be present. The OFF state is generally represented by a low voltage or by non-conductivity, but can be defined as the opposite of either.
  • Page 121 Glossary such as Programming Consoles, and there are non-dedicated devices, such as a host computer. Discrete signals sent at a certain rate. The Motion Control Unit outputs pulses, pulses each of which designates a certain amount of movement. Such pulses are con- verted to an equivalent control voltage in actual positioning.
  • Page 122 Glossary See watchdog timer. wiring check A check performed automatically at startup to detect wiring problems such as reversed polarity or disconnections. word A unit of data storage in memory that consists of 16 bits. All data areas consists of words. Some data areas can be accessed only by words; others, by either words or bits.

  • Page 123: Index

    42 acceleration/deceleration times, 17, 37 circular interpolation, 40 linear interpolation, 39 DC relay, 4 addresses, position data, specifying, 51 dimensions, C200H-MC221, 15 allocations, words, ladder diagram, 92 directory names, 87 automatic mode, 9 operation, 57 axes, 8 individual control, 17...
  • Page 124 Index I---L overrides, feed rate CP control, 45 PTP control, 44 I/O words, 16 in-position value, 80 interface area, 7 definition, 58 palletizers/depalletizers, 3 internal operations, 20 parameters interpolation input, G language, 48 circular, 16, 40 list, 17 acceleration/deceleration times, 40 saving, 81 triangular control, 40 setting, 74...
  • Page 125 Index switch box, 57 wiring, 73 SYSMAC Support Software, 32, 55 reference coordinate systems, 3 system parameters, 7 reference origin offset, 78 registers, 7 specifying, 51 reverse rotation, 2 robots T. BOX RESERVED, changing, Teaching Box, 98 cylindrical, 4 tasks, 8 horizontal articulated, 4 orthogonal, 4 Teaching Box, 32...
  • Page 126 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. W314-E1-1 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.

  • Page 127: Revision History

    Authorized Distributor: Cat. No. W314-E1-1 Note: Specifications subject to change without notice. Printed in Japan 0696--1M...

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