Omron SYSMAC CS1G Operation Manual
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Omron SYSMAC CS1G Operation Manual

Omron SYSMAC CS1G Operation Manual

Motion control unit
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Table of Contents

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Cat. No. W419-E1-04
Programmable Controller
SYSMAC CS-series
CS1W-MCH71
Motion Control Unit

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  • Page 1 Cat. No. W419-E1-04 Programmable Controller SYSMAC CS-series CS1W-MCH71 Motion Control Unit...
  • Page 2 CS1W-MCH71 Motion Control Unit Operation Manual Revised September 2004...
  • Page 4 OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
  • Page 5 Introduction We are flattered that you have purchased OMRON SYSMAC CS-series advanced Motion Control Unit. Motion control Unit CS1W-MCH71 (the abbreviation “MC Unit” is in this mean) is a high performance CPU unit of the programmable controller SYSMAC CS-series that has been produced by OMRON's advanced technology for control and abundant experience.
  • Page 6 The unit version is given to the right of the lot number on the nameplate of the on Products applicable CS-series Advanced Motion Control Units, as shown below. CS-series Advanced Motion Control Unit Product nameplate OMRON CS1W-MCH71 MC UNIT Unit version Example for Unit version 2.0 Lot No. 031001 0000 Ver.2.0 The unit version of the Advanced Motion Control Units begins at version 2.0.
  • Page 7 Unit Version Notation In this manual, the unit version of a Motion Control Unit is given as shown in the following table. Product nameplate Notation used in this manual Special remarks Ver. 2.0 or later number CS-series Advanced Motion Control Unit Ver. 2.0 or later. Information without refer- shown to the right of the ence to specific Unit ver-...
  • Page 8 Version Upgrade Information The following tables outline changes made for the most recent version upgrade for SYSMAC CS- Series Advanced Motion Control Units. Jogging Previous versions Present version (unit Ver. 2.0 or later) The following procedure was required to set or reverse •...
  • Page 9 Latch Status Refresh Time Previous versions Present version (unit Ver. 2.0 or later) After LATCH command execution, the time required The required time has been shortened as follows: from input of the latch signal until the input is reflected 7.5 ms to 37.5 ms in the system variable (variable showing latch comple- tion) was as follows: 14.5 ms to 85.5 ms...
  • Page 10 Deceleration Time During Pass Operation Previous versions Present version (unit Ver. 2.0 or later) The interpolation feed deceleration time was used to • The interpolation time used for the pass operation decelerate to a stop during pass operation. (interpolation feed acceleration time or deceleration Example: time) is used to decelerate to a stop during pass oper- ation.
  • Page 11 Switching from Speed to Position Control Previous versions Present version (unit Ver. 2.0 or later) Speed control switched could be switched to posi- • Speed control can be switched to position control using the tion control using the SPEEDR command only SPEEDR command when the axis feedback speed reaches after the axis feedback speed reached 0.
  • Page 12 TABLE OF CONTENTS PRECAUTIONS ........xix Intended Audience .
  • Page 13 TABLE OF CONTENTS SECTION 5 Data Transfer and Storage......193 Data Transfer and Storage ........... IOWR Instruction to Transfer Data .
  • Page 14 TABLE OF CONTENTS SECTION 11 Troubleshooting ........581 11-1 Troubleshooting .
  • Page 15 TABLE OF CONTENTS...
  • Page 16 About this Manual: This manual describes the installation and operation of the CS1W-MCH71 Motion Control Unit (MC Unit) and includes the sections described below. Please read this manual carefully and be sure you understand the information provided before attempting to install or operate the MC Unit. Be sure to read the precautions provided in the following section.
  • Page 17 xviii...

  • Page 18: Table Of Contents

    PRECAUTIONS This section provides general precautions for using the CS1W-MCH71 Motion Control Unit and related devices. The information contained in this section is important for the safe and reliable application of the CS1W-MCH71 Motion Control Unit. You must read this section and understand the information contained before attempting to set up or operate a CS1W-MCH71 Motion Control Unit.

  • Page 19: Intended Audience

    It is extremely important that a PLC and all PLC Units be used for the speci- fied purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying a PLC System to the above-mentioned appli-...

  • Page 20: Safety Precautions

    Safety Precautions Safety Precautions DANGER Never attempt to disassemble any Units while power is being supplied. Doing so may result in serious electronic shock. Never touch any of the terminals while power is being supplied. Doing so may result in serious electronic shock. Provide safety measures in external circuits (i.e., not in the Programmable Controller or MC Unit) to ensure safety in the system if an abnormality occurs due to malfunction of the PLC or MC unit.

  • Page 21: Application Precautions

    Application Precautions Application Precautions Observe the following precautions when using the MC Unit or the PLC. • Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning. • Always turn off after power supply to the Unit before attempting any of the following. Not turning OFF the power supply may result in malfunction or electric shock.

  • Page 22: Operating Environment Precautions

    Operating Environment Precautions • Do not pull on the cables or bend the cables beyond their natural limit. Doing so may break the cables. • Do not turn off the power supply to the Unit while data is being written to flash memory. Doing so may cause problems with flash memory.

  • Page 23: Conformance To Ec Directives

    Concepts EMC Directives OMRON devices that comply with EC Directives also conform to the related EMC standards to that they can be more easily built into other devices or machines. The actual products have been checked for conformity to EMC standards (see the following note). The customer, however, must check whether the products conform to the standard in the system used by the customer.
  • Page 24 SECTION 1 Features and System Configuration The section introduces the features and system configuration of the CS1W-MCH71 CS-series Motion Control Unit. It also describes product operating principles and provides product specifications. Features ............1-1-1 Overview.

  • Page 25: Features

    Features Section 1-1 Features 1-1-1 Overview The CS1W-MCH71 model is a CS-series Motion Control Unit that can control thirty axes. An internal motion language programming is mounted, so that it can perform the advanced motion control operations. 1. Position Control •...

  • Page 26: Features

    Section 1-1 Features 1-1-2 Features Simple System • Independent control of multiple axes (Up to 30 physical axes; including Architecture virtual axes total is 32) • Each axis can be set as either a physical or virtual axis. • Additional unit is not required. Easiest Information •...

  • Page 27: System Configuration

    System Configuration Section 1-2 System Configuration 1-2-1 System Configuration Example The MC Unit is adopted a high-speed communication pathway to simplify its wiring. It makes it possible to have up to 30 axes for controls. Computer MCH71 Memory card W-series Servo Max.30 axes (nodes)/total length 50 m Sensor/ Valve...

  • Page 28: Peripheral Devices (Models And Specifications)

    Note MECHATROLINK-related products are manufactured by YASKAWA ELEC- TRIC CORPORATION. We, OMRON, can take orders for them. When ordering them through OMRON, follow OMRON's ordering format. (The delivered products will be of YASKAWA BRAND.) Ask our sales representatives about the price at when ordering them through...

  • Page 29: Basic Operations

    Section 1-3 Basic Operations Basic Operations 1-3-1 Applicable Machines The MC Unit was developed for the purpose of motion control using servomo- tors. Even though it depends on the machine accuracy, use an encoder, which is capable to detect 5-10 times more accurate than the machine accuracy. Applicable machines 1,2,3...
  • Page 30 Basic Operations Section 1-3 CP Control CP Control is used to position by designing not only the starting point and the target point, but also the path between these two points. Both linear interpola- tion and circular interpolation are possible. Circular interpolation Center Starting...

  • Page 31: Speed Control

    Section 1-3 Basic Operations 1-3-3 Speed Control Make the motor run at a specified speed. It is also possible to specify the speed change rate. Speed Speed change rate Speed command value 1-3-4 Torque Control The designated torque can be generated. It is also possible to specify the torque change rate.
  • Page 32 Section 1-3 Basic Operations Link operation This function can be used like the link mechanism of a machine. The slave axis synchronizes with the master axis following the specified accel- eration, constant speed, and deceleration areas. (In the diagram below, vertical and horizontal axes indicate speed and time respectively.) Acceleration Constant speed...

  • Page 33: Other Functions

    Section 1-4 Control System Configuration and Principles Travel Distance The travel distance of the master axis is superimposed on the slave axis. Superimpose This function can be used like the differential gear of a machine. Only this section is Speed superimposed.

  • Page 34: Control System Principles

    Performance Specifications Section 1-5 Table Servomotor Command Motion controller Ball screw Actual travel Encoder Decelerator distance The semi-closed loop system is the mainstream in modern servo systems applied to positioning devices for industrial applications. 1-4-2 Control System Principles Internal Operations of the MC Unit MC Unit CS1W-MCH71 I/F board Servo driver...

  • Page 35: Functions And Performance Specifications

    For General I/O: 0-1280 words (Depending on setting) Controlled Devices MECHATROLINK-II below supported • W-series Servo Driver (OMRON) + I/F Unit (YASKAWA) • Various I/O units (YASKAWA) Up to 30 nodes * When MECHATROLINK-II devices are connected up to 16 nodes (within 30m) or 15 nodes (within 50m), a repeater unit is not required.
  • Page 36 Section 1-5 Performance Specifications Item Specifications Control Servo lock/unlock Executes Servo driver lock or unlock operations Jogging Executes continuous feeding independently for each axis, by means of speed set in based on system parameter x override. commands STEP operation Feeds a specified distance for a specified axis. from the CPU Unit Origin search...
  • Page 37 Performance Specifications Section 1-5 Item Specifications External I/O For high-speed One port for MECHATROLINK-II servo communica- tion bus Servo encoder Incremental rotary encoder Absolute rotary encoder (Unlimited length ABS supported with some conditions) Deceleration stop input: 1pt General input: 2pts General output: 2pts External power sup- ply for I/O...
  • Page 38 Section 1-5 Performance Specifications • Maximum number of CPU Bus Units that can be allocated words in the CPU Unit being used • The capacity of the power supply unit used for each rack (CPU Unit and Expansion Rack) and the current consumption of the units mount- ed on the racks.

  • Page 39: Command List

    Section 1-6 Command List The basic concept for immediate value: There are integer and decimal immediate values; the applicable numeric value range for the MC Unit is shown below: Integer: Numeric value without decimal point Minimum value: − 2147483648 Maximum value: 2147483647 Decimal: Numeric value with decimal point Minimum value: −...
  • Page 40 Command List Section 1-6 Item Contents Page Automatic Positioning (PTP) Execute positioning independently for each axis at the specified speed or the speed set in the system parameters. Positioning with lin- Executes linear interpolation at the specified interpolation feed rate for ear interpolation up to 8 axes simultaneously Positioning with cir-...

  • Page 41: Performance

    Section 1-7 Performance Item Contents Page Automatic/ Man- Backlash compensa- Compensates mechanical backlash (mechanical play between driving ual mode tion and driven axes) with the value registered in advance. (This is a func- tion of the servo driver.) Error counter reset Forcibly resets the error counter to 0, and stops axis operation.
  • Page 42 Section 1-7 Performance Item Performance data Description Time lag per axis (Interpolation) Time delay caused when interpolation is per- formed with one motion task. No delay between axes. Time lag per axis (Independent opera- Time delay caused when every motion task with tion) one axis is started simultaneously.
  • Page 43 Section 1-7 Performance Determining Unit Cycle The Unit Cycle can be determined by rounding up the Unit Cycle [us] that was found by the formula (1) or (2) to 1ms/2ms/3ms/4ms/6ms/8ms. Calculation Method for Basic formula for calculating Communications Cycle is shown below: Communications Cycle Communications Cycle [ µ...
  • Page 44 Performance Section 1-7 • Unit Cycle = 1ms: Communication Cycle = 1ms 112 ms ~ 132 ms • Unit Cycle = 2ms: Communication Cycle = 1ms 117 ms ~ 137 ms • Unit Cycle = 2ms: Communication Cycle = 2ms 120 ms ~ 140 ms •...
  • Page 45 Performance Section 1-7...
  • Page 46 SECTION 2 Basic Procedures This section provides an overview of the basic procedures required to use the CS1W-MCH71 Motion Control Unit. Basic Operation Flow ......... . . Overview and Operating Procedure of MC-Miel .

  • Page 47: Basic Operation Flow

    Basic Operation Flow Section 2-1 Basic Operation Flow This Section gives an overview of the procedures required to use CS1W- MCH71. OPR. Operation Flow Reference Setup SECTION 3 Installation and Wiring START 3-2 Installation 3-1 Nomenclature and Functions 3-4 Wiring Install MC Unit Set Unit No.
  • Page 48 Section 2-1 Basic Operation Flow OPR. Operation Flow Reference Trial OPR SECTION 7 PC Interface Area 7-3 Allocations for the CPU Unit 7-4 Interface Specifics SECTION 8 Establishing the Ori- Use Manual Mode to execute Servo Lock Use Manual Mode to execute Jogging Use Manual Mode to execute Origin Search Switch to the Automatic Mode to start the motion program from PLC and operate the system.

  • Page 49: Overview And Operating Procedure Of Mc-Miel

    Unit model CS1W-MCH71, (MC Unit hereinafter) and to monitor the status of the MC Unit. Its features are as follows: Supports eight layers of Using MC-Miel with OMRON’s Communication Unit will enable communica- network tions with the MC Unit over eight layers of network.

  • Page 50: Installing And Uninstalling Mc-Miel

    Overview and Operating Procedure of MC-Miel Section 2-2 Function Function Description classification Edit function Parameter edit Creates, edits, and transfers parameters. Program edit Creates, edits, and transfers programs. Position data edit Creates, edits, and transfers position data. Cam data edit Creates, edits, and transfers cam data.
  • Page 51 Section 2-2 Overview and Operating Procedure of MC-Miel 3. Turn ON PLC. 4. Set allocation area in DM area corresponding to the unit No. (UNIT No.) of the MC Unit using CX-programmer or the Programming Console of PLC. 5. Turn OFF PLC. 6.
  • Page 52 SECTION 3 Installation and Wiring This section describes the names of Unit parts and how to install and wire the CS1W-MCH71 Motion Control Unit. Nomenclature and Functions ........3-1-1 Nomenclature .

  • Page 53: Nomenclature And Functions

    Section 3-1 Nomenclature and Functions Nomenclature and Functions 3-1-1 Nomenclature LED Indicators UNIT No. Setting switch T.B connector, SSI connector (Cannot be used) MECHATROLINK-II connector I/O connector LED Indicators Name Color Status Content Green Motion Control Unit is operating normally. (RUN) Not lit Not recognized by PLC, or MC Unit is broken.

  • Page 54: Area Allocations

    Status Normal operation Reserved for shipping inspection by OMRON (Do not set.) Reserved for shipping inspection by OMRON (Do not set.) Reserved for shipping inspection by OMRON (Do not set.) (See ← note.) Note If the power is turned ON under this setting, the MC Unit will be started after various user settings are set beck to their factory default values.

  • Page 55: Installation

    Section 3-2 Installation The following table describes the allocations. Unit number Bit area Unit number Bit area Words 1500-1524 Words 1700-1724 Words 1525-1549 Words 1725-1749 Words 1550-1574 Words 1750-1774 Words 1575-1599 Words 1775-1799 Words 1600-1624 Words 1800-1824 Words 1625-1649 Words 1825-1849 Words 1650-1674 Words 1850-1874 Words 1675-1699...

  • Page 56: Mounting To The Backplane

    Section 3-2 Installation 3-2-2 Mounting to the Backplane Use the following steps to mount or remove MC Units. 1,2,3... 1. Mount the Unit on the Backplane by hooking the top of the unit into the slot on the Backplane and rotating the Unit downwards. Hook Backplane 2.

  • Page 57: Unit Handling Precautions

    Section 3-2 Installation 3-2-3 Unit Handling Precautions Always turn OFF the CPU Unit before mounting or removing a MC Unit or connecting or disconnecting cables to or from the MC Unit. Place the port connecting cables in a different duct from those for high-voltage lines or power lines to prevent the effects of electrical noise from these lines.

  • Page 58: External I/O Circuitry

    Section 3-3 External I/O Circuitry External I/O Circuitry 3-3-1 MECHATROLINK-II Connector Item Description Connector name MECHATROLINK-II connector Applicable connector USB connector DUSB-ARA41-T11 (DDK) Mating connector USB connector DUSB-APA41-B1-C50 (DDK) *Including shell. Pin arrangement Signal Description (NC) SRD− Send/Receive Data (−) SRD+ Send/Receive Data (+) Shield Ground...

  • Page 59: I/O Circuitry

    Section 3-3 External I/O Circuitry 1 mm Soldering gun Heat-shrink tube Inner diameter:1.5, r=10 4. Pull the heat-shrink tubing back over the soldered area and heat the tubing to shrink it. Heat-shrink tube 3-3-4 I/O Circuitry Connector Interface • 24VDC Digital Output (2 outputs) Circuits Item Specifications...

  • Page 60: Wiring

    Section 3-4 Wiring • 24VDC Digital Input Item Specifications Circuitry 24VDC ±10% Rated Input Volt- Rated Input Cur- 4.06~4.48mA DI_00 2.7 kΩ 1 kΩ ι24VDC ϕ rent Min. ≅9.5V ON Voltage 0.01 µF Max. ≅4.5V OFF Current 2.7 kΩ ON Response 1ms or less Time DI_01...

  • Page 61: Connecting Mechatrolink Devices

    MODEL: JUSP-NS115 (MANUAL NO. SIEPC71080001*)”. 3-5-1 Method of Connecting MECHATROLINK Devices Connection cable To connect MECHATROLINK devices to MC units, use the connecting cables (sold separately) in the table below. Name Model (OMRON) Model (YASKAWA) Length MECHATROLINK-II cable FNY-W6003-A5 JEPMC-W6003-A5 0.5m...

  • Page 62: W-Series Servo Driver

    Section 3-5 Connecting MECHATROLINK Devices The terminating resistance (sold separately) in the table below should be con- nected to the MECHATROLINK-II termination. Name Model (OMRON) Model (YASKAWA) Terminating resistance for MECHA- FNY-W6022 JEPMC-W6022 TROLINK-II Repeater unit When MECHATROLINK-II devices are connected up to 16 nodes (within 30m) or 15 nodes (within 50m), no repeater unit is required.
  • Page 63 Section 3-5 Connecting MECHATROLINK Devices Communications setting Set MECAHTROLINK communications using SW1and SW2. Transmission setting MECHATROLINK communications can be specified using the DIP switches (SW2). See the table below. Any change of the settings becomes valid after turning OFF the power once, then ON again.
  • Page 64 Connecting MECHATROLINK Devices Section 3-5 Example of connecting I/O A typical connecting example with standard settings (default settings) is signals shown here. W driver, NS115 Backup battery ALO1 − (See note 2.) Alarm code output ALO2 Max. operating voltage DC30V +24VIN 3.3 KΩ...

  • Page 65: 24Vdc I/O Module

    Connecting MECHATROLINK Devices Section 3-5 CN1 terminal layout CN1 terminal layout Positioning /COIN- complete output Brake interlock /BK+ output (See note 3.) Brake interlock /BK- output (See note 3.) Servo ready /S-RDY+ output Servo ready /S-RDY- output Servo alarm ALM+ output Servo alarm ALM-...
  • Page 66 Section 3-5 Connecting MECHATROLINK Devices Transmission settings MECHATROLINK communications can be specified using the DIP switch (SW1). See the table below. Note Any change of the settings becomes valid after turning OFF the power once, and then ON again. SW2 (Default setting) Name Setting Content...
  • Page 67 Connecting MECHATROLINK Devices Section 3-5 (IN1 connector) Reserved Reserved 24 VDC DCPWR DCPWR Input 32 Input 31 Input 30 Input 29 Input 28 Input 27 Input 26 Input 25 Input 24 Input 23 Input 22 Input 21 Input 20 Input 19 Input 18 Input 17 Input 16...
  • Page 68 Section 3-5 Connecting MECHATROLINK Devices (OUT1 connector) DCGND2 DCGND2 24 VDC DCPWR2 DCPWR2 Load Fuse Fuse Load Output 32 Output 31 Output 30 Output 29 Output 28 Output 27 Output 26 Output 25 Output 24 Output 23 Output 22 Output 21 Output 20 Output 19 Output 18...

  • Page 69: Counter Module, Pulse Output Module

    Section 3-5 Connecting MECHATROLINK Devices 3-5-4 Counter Module, Pulse Output Module Communications setting For counter modules and pulse output modules, MECHATROLINK communi- cations can be set using the DIP switches. SW (Default setting) Transmission setting MECHATROLINK communications can be specified using the DIP switches (SW) 6 to 8.
  • Page 70 Connecting MECHATROLINK Devices Section 3-5 Counter module (PL2900) Circuit Configuration and signal connection Counter module PHA1 2.7 kΩ PHA1+ 180 Ω Counter 1 Counter 1 phase-A 4.7 kΩ External pulse PHA1 latch 4.7 kΩ PHB1 620 Ω 2.7 kΩ Counter 1 external PHB1+ current...
  • Page 71 Section 3-5 Connecting MECHATROLINK Devices Pulse output module Circuit configuration and signal arrangement (PL2910) Pulse output module CCW1 Overheat input status OVER Excitation timing input status TIMING External power Output current − supply +5 VDC OFF output C-OFF1 5 VDC 0V(5V) Electromagnetic External power supply...
  • Page 72 SECTION 4 MC Unit Internal Data Configuration and Setting This section describes the data configuration uses to set up, operate, and monitor the CS1W-MCH71 Motion Control Unit and related devices. Data Configuration ..........4-1-1 DATA .

  • Page 73: Data Configuration

    Section 4-1 Data Configuration Data Configuration Data Type There are five different types of date for MC Unit. 1,2,3... 1. System parameter Unit parameter Motion task parameter Axis parameter (Allocation, Speed, Position, Origin, Machine & Re- served) 2. Variables System variables Global general variables Input variables Output variables...
  • Page 74 Section 4-1 Data Configuration Classification IORD/IOWR Control Variables WORD Contents Address System parameter Unit 5000h-501Fh 4096 • System parameters are consisted of unit parameters, task parame- Motion task 5020h-511Fh ters and axis parameters. Reserved 5120h-513Fh • The system information used by Reserved 5140h-533Fh the MC Unit, such as number of...

  • Page 75: Data Configuration

    Section 4-2 System Parameters 4-1-2 Data Configuration <Support Tool> <CPU Unit> When IORD instruc- When IOWR instruc- When END refresh tion is executed tion is executed At unit Scanning Global gen- eral variable Position System Servo System Input Output Task Cam data data parameter...

  • Page 76: System Parameters

    Section 4-2 System Parameters Parameters Number IORD/IOWR Functions Addresses (See note 3.) Axes Allocations P1AA01-P1AA09 5340h-55B4h Specifies axis type and device to be used for each axis. (See note 2.) Speed P2AA01-P2AA12 55C0h-5837h Specifies max. rapid feed rate and type of acceleration (See note 2.) and deceleration etc.
  • Page 77 Section 4-2 System Parameters Number Address Name Function Page P00004 5003h Unit function select • Specifies method of specifying the speed in helical circu- lar interpolation under MOVEC command. • Specifies center-positioning method for MOVEC com- mand • Specifies the speed command unit for SPEED com- mand/feedback speed.
  • Page 78 Section 4-2 System Parameters Address Name Function Page M=1-8 M=0-7 P00M08 5027h + Initial modal data 2 Specifies the initial value if PASSMODE/STOPMODE (M * 20h) operating mode specification has been omitted in a motion program. select P00M09 5028h + Initial model data 3 Specifies the initial value if interpolation feed rate (F com- (M * 20h)
  • Page 79 Section 4-2 System Parameters Axis-Speed Parameters Note Abbreviation in the No. column: AA=1-32 (axis number) Abbreviation in the address column: AA=0-31 (axis number − 1) Address Name Function Page AA=1-32 AA=0-31 P2AA01 55C0h + Max. rapid feed rate Sets the maximum speed on machine's side for MOVE (AA * 14h) Command, etc.
  • Page 80 Section 4-2 System Parameters Address Name Function Page AA=1-32 AA=0-31 P3AA08 5847h + Feed forward gain Sets enabled/disabled of feed forward gain specified with (AA * 14h) enabled/disabled input variable. P3AA09 5848h + Position control Specifies the speed to switch from torque control to posi- (AA * 14h) switching speed tion control or from speed control to position control as a...

  • Page 81: Data Configuration And Content Of System Parameters

    Section 4-2 System Parameters Axis-Machine Parameters Note Abbreviation in the No. column: AA=1-32 (axis number) Abbreviation in the address column: AA=0-31 (axis number − 1) Address Name Function Page AA=1-32 AA=0-31 P5AA01 5D40h + Units Sets the units for present positions. (AA * 14h) P5AA02 5D41h +...
  • Page 82 Section 4-2 System Parameters Explanation Specifies the upper limit for No. of tasks to be used. Task No. up to the value set here can be used. Note This setting closely relates to the Unit's processing time. For details, see 1-7 Performance Calculation Method for Unit Cycle on page 19.
  • Page 83 Section 4-2 System Parameters Explanation This parameter is used for setting the following functions. Set the bits corre- sponding to each function. Function and explanation Helical circular interpolation speed (Sets the method for specifying the speed in helical circular interpolation executed with MOVEC com- mand.) 0: Speed on the circumference 1: Tangential speed...
  • Page 84 Section 4-2 System Parameters Explanation Sets whether the general I/O of MC Unit is enabled or disabled. Set the bits corresponding to each input or output. Function and explanation Deceleration stop input Sets whether deceleration stop input signal is enabled or disabled. 0: Disabled 1: Enabled Reserved...
  • Page 85 Section 4-2 System Parameters Function and explanation Motion task 2 Sets whether the input to the Motion task 2 control area (n+5) and the Motion task 2 control data area (m+24 to 25) are enabled or disabled. 0: Normal 1: Ignored Motion task 3 Sets whether the input to the Motion task 3 control area (n+6) and the Motion task 3 control data area (m+26 to 27) are enabled or disabled.
  • Page 86 Section 4-2 System Parameters Function and explanation Function and explanation Axis 1 Axis 17 Sets whether input to Axis 1 control bit area Sets whether input to Axis 17 control bit (x+0) and Axis 1 control data area (d+0) are area (x+16) and Axis 17 control data area enabled or disabled.
  • Page 87 Section 4-2 System Parameters Function and explanation Function and explanation Axis 11 Axis 27 Sets whether input to Axis 11 control bit Sets whether input to Axis 27 control bit area (x+10) and Axis 11 control data area area (x+26) and Axis 27 control data area (d+10) are enabled or disabled.
  • Page 88 Section 4-2 System Parameters • Operation with the number of retrial nodes set After a command is transmitted to all the nodes, the command is trans- mitted again to the nodes where the communications error occurred. Com- Com- Com- Com- Com- mand mand...
  • Page 89 Section 4-2 System Parameters 1966020000: The upper limit of speed resolution is 32767 [command unit/unit scan]. The value 1966020000 is obtained by converting 32767 [command unit/unit scan] to the unit of minutes (32767 × 60 × 1000). Note The setting of this parameter limits the speed changed with override and the speed specified with Operand F.
  • Page 90 Section 4-2 System Parameters Address in MC Name Type Unit Immediate Unit updating P00M04 5023h + Interpolation S-curve filter enabled Data (M * 20h) Data configuration Setting range Initial value 00000000 to 00000001 Hex 00000000 (0) (0 to 1) S-curve filter enabled Explanation Select enabled/disabled of S-curve filter at the interpolation feed rate.
  • Page 91 Section 4-2 System Parameters Distance required for deceleration stop from current speed > Travel dis- tance of the next block (4) There are several acceleration/deceleration times that can be used in the pass operation. For details, see 6-1-5 Axis Movement Operation (page 228).
  • Page 92 Section 4-2 System Parameters 1966020000: The upper limit of speed resolution is 32767 [command unit/unit scan]. The value 1966020000 is obtained by converting 32767 [command unit/unit scan] to the unit of minutes (32767 × 60 × 1000). Address in MC Name Type Unit...
  • Page 93 Section 4-2 System Parameters Variable Bits Name IW0A03 00 to 15 Acceleration/deceleration bank selection for motion task 4 (initial value: 0) IW0A04 00 to 15 Acceleration/deceleration bank selection for motion task 5 (initial value: 0) IW0A05 00 to 15 Acceleration/deceleration bank selection for motion task 6 (initial value: 0) IW0A06 00 to 15 Acceleration/deceleration bank selection for motion task 7 (initial value: 0)
  • Page 94 System Parameters Section 4-2 Address in MC Name Type Unit Immediate Unit updating P1AA02 5341h + MECHATROLINK-II device classi- Data (AA * 14h) fication Data configuration Setting range Initial value 00000000, 00000064 Hex 00000000 (0) (0, 100) Classification Explanation Sets the types of devices connected as MECHATROLINK-II slaves. Setting Explanation 00000000 Hex (0)
  • Page 95 System Parameters Section 4-2 Address in MC Name Type Unit Immediate Unit updating P1AA05 5344h + Axis allocation first address Data (AA * 14h) Data configuration Initial value 00000000 (0) 16 15 Variable type Address Explanation • When using MECHATROLINK-II counter module or pulse output module as a physical axis, the present position of these counters can be output to the present position of the applicable physical axis.Some modules have 2 counters, however, only 1 counter can be specified.
  • Page 96 Section 4-2 System Parameters Axis-Speed Parameters Note Abbreviation in the No. column: AA=1-32 (axis number) Abbreviation in the address column: AA=0-31 (axis number − 1) Address in MC Name Type Unit Immediate Unit updating P2AA01 55C0h + Max. rapid feed rate Data Command unit/ (AA * 14h)
  • Page 97 System Parameters Section 4-2 Address in MC Name Type Unit Immediate Unit updating P2AA03 55C2h + Rapid feed rate Data Command unit/ (AA * 14h) Data configuration Setting range Initial value 00000001 to 7FFFFFFF Hex 00002710 (10000) (1 to 2147483647) Rapid feed rate Explanation Sets the speed (a value with override 100%) on machine's side for when oper-...
  • Page 98 Section 4-2 System Parameters (2) This parameter cannot be changed during operation. Address in MC Name Type Unit Immediate Unit updating P2AA07 55C6h + Manual feed acceleration time Data (AA * 14h) Data configuration Setting range Initial value 00000000 to 0000EA60 Hex 00000064 (100) (0 to 60000) Acceleration time...
  • Page 99 Section 4-2 System Parameters Address in MC Name Type Unit Immediate Unit updating P2AA10 55C9h + Manual feed S-curve filter enabled Data (AA * 14h) Data configuration Setting range Initial value 00000000 to 00000001 Hex 00000000 (0) (0 to 1) S-curve filter enabled Explanation Selects the S-curve filter enable/disable at manual feed rate.
  • Page 100 System Parameters Section 4-2 Explanation Sets the travel distance for STEP operation. Address in MC Name Type Unit Immediate Unit updating P3AA02 5841h + Positive direction software limit Data Command unit (AA * 14h) Data configuration Setting range Initial value 80000000 to 7FFFFFFF Hex 7FFFFFFF (−2147483648 to 2147483647)
  • Page 101 Section 4-2 System Parameters Address in MC Name Type Unit Immediate Unit updating P3AA04 5843h + Software limit enabled/disabled Data (AA * 14h) Data configuration Setting range Initial value 00000000 to 00000003 Hex 00000000 (0) (0 to 3) Software limit enabled/disabled Explanation Sets whether software limit is enabled or disabled.
  • Page 102 Section 4-2 System Parameters Explanation Sets the range for turning ON the positioning completed signal of interpolation feed in Stop mode. Note For details, see 6-1-5 Axis Movement Operation (page 228). Address in MC Name Type Unit Immediate Unit updating P3AA08 5847h + Feed forward gain enabled/dis-...
  • Page 103 Section 4-2 System Parameters Axis-Origin Parameters Note Abbreviation in the No. column: AA=1-32 (axis number) Abbreviation in the address column: AA=0-31 (axis number-1) Address in MC Name Type Unit Immediate Unit updating P4AA01 5AC0h + Origin search method Data (AA * 14h) Data configuration Setting range Initial value...
  • Page 104 Section 4-2 System Parameters Explanation Sets the origin search start direction for the origin search method "1" (Limit reversal). 0: Same as the phase-Z detection direction 1: Opposite to the phase-Z detection direction Note The setting of this parameter is ignored in other origin search methods. Address in MC Name Type...
  • Page 105 Section 4-2 System Parameters Explanation Specifies the signal to determine (latch) an origin. 0: Defines the phase-Z (phase-C) as an origin 1: Defines the external input signal 1 as an origin 2: Defines the external input signal 2 as an origin 3: Defines the external input signal 3 as an origin Note The setting of this parameter is ignored in the origin search method "0: Origin...
  • Page 106 Section 4-2 System Parameters Explanation Sets the offset amount (except for DATUM command) in an origin search. (The present position after an origin search is recognized as the position (the value) preset in this parameter.) Note In the origin search with DATUM command, the setting of this parameter is ignored.
  • Page 107 Section 4-2 System Parameters Explanation Sets the unit for displaying present positions. 0: mm 1: inch 2: deg 3: pulse Units for positioning are specified in the parameters P5AA01 and P5AA02. Ex) Positioning X-axis (ball screw) in 0.01mm unit. Positioning Y-axis (turn table) in 0.01deg unit. Address in MC Name Type...
  • Page 108 Section 4-2 System Parameters Ex) When the decimal point position of the position command value for X- axis is 0.01: MF1000 = 123.4567; MOVE [J01]MF1000; is processed as, MOVE [J01]12345; Address in MC Name Type Unit Immediate Unit updating P5AA03 5D42h + Speed command decimal point Data...
  • Page 109 Section 4-2 System Parameters Note (1) When "pulse" is selected for the unit, the setting of this parameter is ig- nored. (2) When "deg" is selected for the unit, set the value that can be obtained by (360 × 10 position command decimal point position (3) When the following formula is not satisfied, the alarm [3040h: Gear ratio range error] will occur.
  • Page 110 Section 4-2 System Parameters Address in MC Name Type Unit Immediate Unit updating P5AA07 5D46h + Axis feed mode Data (AA * 14h) Data configuration Initial value 00000000 (0) 07 04 Explanation Function and explanation 00 to 03 Reserved 04 to 07 Sets the method of managing the coordinate system for position com- mands.

  • Page 111: Concept Of Parameters

    Section 4-2 System Parameters Address in MC Name Type Unit Immediate Unit updating P5AA09 5D48h + External input signal select 2 Data (AA * 14h) Data configuration Initial value 00000000 (0) Explanation • Specifies the external input signal for each function at a latch request. Function and explanation 00 to 07 X: Specifies the latch input signal for LATCH command (Present...
  • Page 112 Section 4-2 System Parameters Relations between The relations between the command unit on the machine side and pulses on Command Unit and Pulses the motor side can be described by the following formulas: 9001h [No. of encoder pulses/ One motor rotation] × P5AA05 [on Motor] Pulses [on Motor] = Command unit [on Machine] ×...
  • Page 113 Section 4-2 System Parameters Precision of feedback speed 1 and 2: Precision of feedback speed 1 and 2 output to the system variable is as fol- lows: • Precision of feedback speed 1 Feedback speed, based on the unit [pulse/ms], is ultimately converted into the divisions of the "minimum speed"...

  • Page 114: Timing That Enables Transferred System Parameters

    Section 4-3 Variables 4-2-5 Timing that Enables Transferred System Parameters Note Make sure to turn the MC Unit power OFF once, and then ON again after sys- tem parameters have been transferred. The unit parameters and machine parameters will not change unless the power is turned back ON. The parameters that are marked 'Yes' on the immediate updating columns can be changed without the power OFF/ON.
  • Page 115 Section 4-3 Variables V: Variable type T: Data access type hhhh: Addresses of Data (in hexadecimal) b: Bit number for bit-type data access (in hexadecimal) Example) #PL0000 = 10000; MOVE_[J01]#PL0000; Variable Type and Use 4-digit hexadecimal notation for data addresses. Address Range Data addresses indicate the first address of integer data regardless of the access type.

  • Page 116: Position Data

    Section 4-4 Position Data The variables of the same address share the same physical space even though the types are different. Therefore, the memory image after execution of (1) and (2) will be as described in the table below. If the same address is accessed using a different access type, a different value will be read.

  • Page 117: Indirect Specification

    Section 4-4 Position Data Data Range − 2147483648 to +2147483647 (80000000 Hex to 7FFFFFFF Hex) Position Data (Signed 32-bit, lower 16 bits) Position Data (Signed 32-bit, upper 16 bits) Example 1: Position data 12345 (00003039 Hex) 12 11 08 07 04 03 When "Units (P5AA01)"...

  • Page 118: Methods Used To Read, Write And Transfer Position Data

    Section 4-4 Position Data → Not possible @PL0001 = 0001 → Not possible @PL0001 = #PL0100 + 00000001 → Possible #PL0001 = #PL00FF MOVE_[J1]@PL0001 (The same as MOVE_[J1]#PL0100) → Possible #PL0001 = @PL0100 + 00000001 (The same as #PL0012 + 00000001) 4.

  • Page 119: System Variables

    Section 4-5 System Variables System Variables 4-5-1 System Variables System variables are all in read-only area; they cannot be written. When reading with the IORD instruction, the size is always two words (4 bytes). Variable IORD Group Name Description Unit Update timing Address Address...
  • Page 120 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0012 3009 Unit Error log 1: Error code Outputs error code of the Error log Error occurrence SW0013 Error log 1: Detailed Outputs detailed information of Error log Nil Error occurrence Information SW0014...
  • Page 121 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0042 3021 Unit Error log 9: Same as for Error log 1 Same as for Same as for Error Error log 1 log 1 SW0043 SW0044 3022 SW0045 SW0046...
  • Page 122 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0072 3039 Unit Error log 17: Same as for Error log 1 Same as for Same as for Error Error log 1 log 1 SW0073 SW0074 303A SW0075 SW0076...
  • Page 123 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW009C 304E Unit Reserved Reserved Reserved Reserved SW009D SW009E 304F SW009F SW00A0 3050 SW00A1 SW00A2 3051 Unit Total No. of programs Outputs total No. of programs Program Always SW00A3...
  • Page 124 Section 4-5 System Variables Motion Tasks Variable IORD Group Name Description Unit Update timing Address Address SW00B0 3058 Motion Task status 1: Main pro- Outputs the program No. of the Main When a program Task gram No. Program currently being executed is started 0-499, 2000 SW00B1...
  • Page 125 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW00C4 3062 Reserved Reserved Reserved Reserved SW00C5 SW00C6 3063 SW00C7 SW00C8 3064 SW00C9 SW00CA 3065 SW00CB SW00CC 3066 SW00CD SW00CE 3067 SW00CF SW00D0 3068 Motion Task status 2: Same as for Task status 1 Same as for Same as for Task...
  • Page 126 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW00F0 3078 Motion Task status 3: Same as for Task status 1: Same as for Same as for Task task Task status 1 status 1 SW00F1 SW00F2 3079 SW00F3...
  • Page 127 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0124 3092 Reserved Reserved Reserved Reserved SW0125 SW0126 3093 SW0127 SW0128 3094 SW0129 SW012A 3095 SW012B SW012C 3096 SW012D SW012E 3097 SW012F SW0130 3098 Motion Task status 5: Same as for Task status 1: Same as for Same as for Task...
  • Page 128 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0150 30A8 Motion Task status 6: Same as for Task status 1: Same as for Same as for Task task Task status 1 status 1 SW0151 SW0152 30A9 SW0153...
  • Page 129 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0184 30C2 Reserved Reserved Reserved Reserved SW0185 SW0186 30C3 SW0187 SW0188 30C4 SW0189 SW018A 30C5 SW018B SW018C 30C6 SW018D SW018E 30C7 SW018F SW0190 30C8 Motion Task status 8: Same as for Task status 1: Same as for Same as for Task...
  • Page 130 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW01B8 30DC Reserved Reserved SW01B9 SW01BA 30DD Reserved Reserved SW01BB SW01BC 30DE Reserved Reserved SW01BD SW01BE 30DF Reserved Reserved SW01BF SW01C0 30E0 Reserved Reserved SW01C1 SW01C2 30E1 Reserved Reserved...
  • Page 131 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW01EC 30F6 Reserved Reserved Reserved Reserved SW01ED SW01EE 30F7 SW01EF SW01F0 30F8 SW01F1 SW01F2 30F9 SW01F3 SW01F4 30FA SW01F5 SW01F6 30FB SW01F7 SW01F8 30FC SW01F9 SW01FA 30FD SW01FB SW01FC...
  • Page 132 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW020E 3107 Axis Axis 1 status: Com- Outputs command speed Command Unit scan mand Speed 1 unit/min SW020F SW0210 3108 Axis 1 status: Com- Outputs the command speed (% specifi- 0.01% of Unit scan mand Speed 2...
  • Page 133 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0228 3114 Axis Axis 1 status: Com- Outputs the latest command No. Unit scan mand execution status See Command Code in Command Exe- cution Status on page 142 SW0229 Axis 1 status: Accelera- Outputs acceleration/deceleration sta-...
  • Page 134 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW0230 3118 Axis Axis 2 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0231 SW0232 3119 SW0233 SW0234...
  • Page 135 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW0260 3130 Axis Axis 3 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0261 SW0262 3131 SW0263 SW0264...
  • Page 136 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0290 3148 Axis Axis 4 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0291 SW0292 3149 SW0293 SW0294...
  • Page 137 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW02C0 3160 Axis Axis 5 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW02C1 SW02C2 3161 SW02C3 SW02C4...
  • Page 138 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW02F0 3178 Axis Axis 6 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW02F1 SW02F2 3179 SW02F3 SW02F4...
  • Page 139 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0320 3190 Axis Axis 7 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0321 SW0322 3191 SW0323 SW0324...
  • Page 140 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW0350 31A8 Axis Axis 8 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0351 SW0352 31A9 SW0353 SW0354...
  • Page 141 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0380 31C0 Axis Axis 9 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0381 SW0382 31C1 SW0383 SW0384...
  • Page 142 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW03B0 31D8 Axis Axis 10 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW03B1 SW03B2 31D9 SW03B3 SW03B4...
  • Page 143 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW03E0 31F0 Axis Axis 11 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW03E1 SW03E2 31F1 SW03E3 SW03E4...
  • Page 144 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW0410 3208 Axis Axis 12 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0411 SW0412 3209 SW0413 SW0414...
  • Page 145 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW0440 3220 Axis Axis 13 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0441 SW0442 3221 SW0443 SW0444...
  • Page 146 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0470 3238 Axis Axis 14 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0471 SW0472 3239 SW0473 SW0474...
  • Page 147 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW04A0 3250 Axis Axis 15 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW04A1 SW04A2 3251 SW04A3 SW04A4...
  • Page 148 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW04D0 3268 Axis Axis 16 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW04D1 SW04D2 3269 SW04D3 SW04D4...
  • Page 149 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0500 3280 Axis Axis 17 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0501 SW0502 3281 SW0503 SW0504...
  • Page 150 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW0530 3298 Axis Axis 18 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0531 SW0532 3299 SW0533 SW0534...
  • Page 151 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0560 32B0 Axis Axis 19 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0561 SW0562 32B1 SW0563 SW0564...
  • Page 152 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0590 32C8 Axis Axis 20 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0591 SW0592 32C9 SW0593 SW0594...
  • Page 153 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW05C0 32E0 Axis Axis 21 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW05C1 SW05C2 32E1 SW05C3 SW05C4...
  • Page 154 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW05F0 32F8 Axis Axis 22 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW05F1 SW05F2 32F9 SW05F3 SW05F4...
  • Page 155 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0620 3310 Axis Axis 23 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0621 SW0622 3311 SW0623 SW0624...
  • Page 156 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0650 3328 Axis Axis 24 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0651 SW0652 3329 SW0653 SW0654...
  • Page 157 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0680 3340 Axis Axis 25 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0681 SW0682 3341 SW0683 SW0684...
  • Page 158 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW06B0 3358 Axis Axis 26 status Same as for Axis 1 0status Same as for Same as for Axis Axis 1 status 1 status SW06B1 SW06B2 3359 SW06B3 SW06B4...
  • Page 159 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW06E0 3370 Axis Axis 27 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW06E1 SW06E2 3371 SW06E3 SW06E4...
  • Page 160 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0710 3388 Axis Axis 28 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0711 SW0712 3389 SW0713 SW0714...
  • Page 161 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0740 33A0 Axis Axis 29 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0741 SW0742 33A1 SW0743 SW0744...
  • Page 162 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW0770 33B8 Axis Axis 30 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0771 SW0772 33B9 SW0773 SW0774...
  • Page 163 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW07A0 33D0 Axis Axis 31 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW07A1 SW07A2 33D1 SW07A3 SW07A4...
  • Page 164 System Variables Section 4-5 Variable IORD Group Name Description Unit Update timing Address Address SW07D0 33E8 Axis Axis 32 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW07D1 SW07D2 33E9 SW07D3 SW07D4...
  • Page 165 System Variables Section 4-5 Command Code in In the system parameter "Command execution status (SW0228 for axis 1)", Command Execution one of the command codes in the table below will be displayed. Status They are used to monitor the execution status of the operation in the program. Classification Command name Command...

  • Page 166: I/O Variables

    Section 4-6 I/O Variables Address Abbreviation Name ON/OFF SW021D P_OT Forward rotation drive prohibit Input 0: OFF 1: ON N_OT Reverse rotation drive prohibit Input 0: OFF 1: ON Origin search deceleration limit switch 0: OFF input 1: ON Encoder phase-A input 0: OFF 1: ON Encoder phase-B input...

  • Page 167: I/O Variables Overview

    I/O Variables Section 4-6 4-6-1 I/O Variables Overview CPU Unit CIO Area/DM/EM Input variable Address (Size) I/O Connecter External input connecter IW0000 16word Input terminal CIO Area Word Output for CPU ST #1 input Bus Unit (Unit, task control) IW0010 16word Output terminal CIO Area Word Input for CPU Bus Unit (Unit, task status)
  • Page 168 Section 4-6 I/O Variables Input variable Size PC21 Bus Classification Access Cyclic area m+22 − m+37 IW0360-IW036F Motion task 1-8 Control data IW0370-IW043F Reserved x − x+31 IW0440-IW045F Axis 1-32 Control bit IW0460-IW047F Reserved d − d+31 IW0480-IW049F Axis1-32 Control Data IW04A0-IW04BF Reserved IW04C0-IW04DF...
  • Page 169 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0010 00-15 MECHATROLINK- MECHATROLINK-II Input MECHATROLINK-II Input Axis1 II Input Axis 1 Axis1 CH1 IW0011 MECHATROLINK-II Input MECHATROLINK-II Input Axis1 Axis1 CH2 IW0012 MECHATROLINK-II Input MECHATROLINK-II Input Axis1 Axis1 CH3 IW0013...
  • Page 170 I/O Variables Section 4-6 Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW00E0 00-15 MECHATROLINK- Same as for MECHA- Same as for MECHATROLINK-II II InputAxis14 TROLINK-II Input Axis1 Input Axis1 IW00EF IW00F0 00-15 MECHATROLINK- Same as for MECHA- Same as for MECHATROLINK-II II InputAxis15 TROLINK-II Input Axis1...
  • Page 171 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0300 Unit Control Bits Unit alarm reset 0: No 1: Does not turn ON Unit alarm bit ↑ : Clears the alarm occurring on the unit level : No System Parameter Save...
  • Page 172 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0301 00-15 Unit Control Bits Teaching Axis Setting 1-16 0: No 1: Specifies the axis as teaching object ↑ : No ↓ : No IW0302 00-15 Teaching Axis Setting 17-32...
  • Page 173 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0340 Motion Task 1 Motion Task Alarm Reset 0: No Control 1: Does not turn ON Motion task alarm bit ↑ : Clears alarm occurring on motion task level ↓...
  • Page 174 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0360 00-15 m+22 Motion Task 1 Motion Task 1 Program No. Specifies program No. to be exe- Control Data cuted by Motion Task 0-499 IW0361 00-15 m+23...
  • Page 175 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0440 Axis 1 Control Bits Axis Alarm Reset 0: No 1: Does not turn ON Axis alarm bit ↑ : Clears alarm occurring on axis level, and clears alarm at MECHATROLINK-II slaves ↓...
  • Page 176 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0440 Axis 1 Control Bits JOG/STEP Direction 0: JOG and STEP operation in + direction 1: JOG and STEP operation in - direction ↑ : No ↓...
  • Page 177 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0441 00-15 Axis 2 Control Bits Same as for Axis 1 Same as for Axis 1 IW0442 Axis 3 Control Bits Same as for Axis 1 Same as for Axis 1 IW0443 Axis 4 Control Bits Same as for Axis 1...
  • Page 178 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW0481 00-15 Axis 2 Control Axis 2 Override Same as for Axis 1 Data IW0482 Axis 3 Control Axis 3 Override Same as for Axis 1 Data IW0483 Axis 4 Control...
  • Page 179 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW04A0 00-15 Axis 1 Control Reserved Reserved Data IW04A1 00-15 Axis 2 Control Reserved Reserved Data IW04A2 Axis 3 Control Reserved Reserved Data IW04A3 Axis 4 Control Reserved Reserved...
  • Page 180 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW04BF 00-15 Axis 32 Control Reserved Reserved Data IW04C0 00-15 Axis 1 Control Feed forward Correction Sets feed forward correction Data value to be used in phase control (unit: 0.01%, % to correction value 100%) IW04C1...
  • Page 181 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW04DD 00-15 Axis 30 Control Axis 30 Feed forward Cor- Same as for Axis 1 Data rection IW04DE Axis 31 Control Axis 31 Feed forward Cor- Same as for Axis 1 Data rection...

  • Page 182: List Of Output Variables

    Section 4-6 I/O Variables 4-6-3 List of Output Variables Output variables Input variable Size PC21 Bus Classification Access Cyclic area OW0000 MC Unit external output terminal OW0001-OW000F Reserved OW0010-OW020F MECHATROLINK-II output Axis 1-32 OW0210-OW02FF Reserved n+12 − n+15 OW0300-OW0303 Unit status bits OW0304-OW030F Reserved m+38 −...
  • Page 183 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0010 00-15 MECHATROLINK- MECHATROLINK-II Output MECHATROLINK-II Output Axis 1 Axis 1 CH1 Output Axis 1 OW0011 MECHATROLINK-II Output MECHATROLINK-II Output Axis 1 Axis 1 CH2 OW0012 MECHATROLINK-II Output MECHATROLINK-II Output Axis 1...
  • Page 184 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW00C0 00-15 MECHATROLINK- Same as for MECHA- Same as for MECHATROLINK-II TROLINK-II Output Axis 1 Output Axis 1 OW00CF Output Axis 1 CH12 OW00D0 00-15 MECHATROLINK- Same as for MECHA-...
  • Page 185 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW01D0 00-15 MECHATROLINK- Same as for MECHA- Same as for MECHATROLINK-II TROLINK-II Output Axis 1 Output Axis 1 OW01DF Output Axis 1 CH29 OW01E0 00-15 MECHATROLINK- Same as for MECHA-...
  • Page 186 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0303 n+15 Unit Status Unit Ready 0: Unit is not ready to receive commands 1: Unit is ready to receive com- mands Unit Alarm 0: No alarm 1: An alarm occurred on Unit level F-ROM Save Completed...
  • Page 187 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0310 00-15 m+38 Unit Status Data Unit Alarm Code Outputs the alarm code for alarm occurring on Unit level OW0311 00-15 m+39 Teaching Address Monitor- Outputs an address currently being the teaching object OW0312...
  • Page 188 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0360 00-15 m+42 Motion Task 1 Sta- Motion Task Alarm Code Outputs the alarm code for alarm tus Data occurring on motion task level OW0361 00-15 m+43...
  • Page 189 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0440 x+32 Axis 1 Status Bits Axis Alarm 0: No alarm on axis or MECHA- TROLINK-II slave 1: An alarm occurred on axis or MECHATROLINK-II slave Machine Origin 0: Machine coordinate system FB...
  • Page 190 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0441 00-15 x+33 Axis 2 Status Bits Same as for Axis 1 Status Same as for Axis 1 Status Bits Bits OW0442 x+34 Axis 3 Status Bits Same as for Axis 1 Status Same as for Axis 1 Status Bits Bits...
  • Page 191 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW0460 00-15 Reserved Reserved Reserved OW047F OW0480 00-15 d+32 Axis 1 Status Data Axis Alarm Code Output the alarm code for alarm occurring on axis or MECHA- TROLINK-II slave OW0481 00-15...
  • Page 192 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW04A7 00-15 d+71 Axis 14 Status Same as for Axis 1 Status Same as for Axis 1 Status Data Data Data OW04A8 d+72 OW04A9 d+73 OW04AA d+74...

  • Page 193: Present Position Preset

    Section 4-7 Present Position Preset Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW04DA 00-15 d+122 Axis 31 Status Same as for Axis 1 Status Same as for Axis 1 Status Data Data Data OW04DB d+123 OW04DC d+124 OW04DD...

  • Page 194: Servo Parameter

    Servo Parameter Section 4-8 Execution condition DIFU Preset data is set in DM area. Specify the address for the present position preset of Axis 1. IOWR #4000 Specify the first word of the transfer source in which the preset value has D0100 been set.

  • Page 195: Data Configuration And Contents Of Servo Parameters

    Servo Parameter Section 4-8 3. To edit the parameters offline, read "MCH data file" stored in the personal computer. 4. If servo driver parameters are saved in the MC Unit, press the "Unit a PC" button to read the parameters from the Unit. 5.
  • Page 196 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper Support tool constant No. limit limit initial value able ∆ Pn001 Advanced function selection switch 1 0000H 1122H 0000H ∆ Stopping method in case Stops the motor using the dynamic brake of servo-OFF or servo (DB).
  • Page 197 Servo Parameter Section 4-8 Type User Name Size Unit Lower Upper Support tool constant No. limit limit initial value able ● Pn003 Advanced function selection switch 3 0000H 00FFH 0002H ● Analog monitor 1 Motor rotation speed Rotary: 1V/1000r/min, Linear: 1V/1000mm/s Speed command Rotary: 1V/1000r/min, Lin- ear: 1V/1000mm/s Torque/thrust command: 1V/100%...
  • Page 198 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper Support tool constant No. limit limit initial value able ● Pn103 Inertia ratio 10000 ● Pn104 Speed loop gain 2 2000 ● Pn105 Speed loop integration time constant 2 2 0.01ms 51200 2000...
  • Page 199 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper Support tool constant No. limit limit initial value able ● Pn11D Reserved ● Pn11E Reserved ● Pn11F Position integration time constant 2000 ● Pn120 Reserved 0.01ms 51200 ● Pn121 Reserved ●...
  • Page 200 Servo Parameter Section 4-8 Type User Name Size Unit Lower Upper Support tool constant No. limit limit initial value able ● Pn401 Torque/Thrust filter time constant 0.01ms 65535 ● Rotary Pn402 Forward torque limit ● Rotary Pn403 Reverse torque limit ●...
  • Page 201 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper Support tool constant No. limit limit initial value able ∆ Sequence Pn50A Input signal select 1 0000H FFFFH 2881H related con- Input signal allocation Custom setting stant mode Do not set. (It is automatically set to 1.) /S-ON signal mapping Do not set.
  • Page 202 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper Support tool constant No. limit limit initial value able ∆ Sequence Pn50E Output signal select 1 0000H 3333H 3001H related con- ∆ /COIN signal mapping Not used stant Output from SO1 (CN-25, 26) output termi- nal.
  • Page 203 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper Support tool constant No. limit limit initial value able ∆ Sequence Pn511 Output signal select 5 0000H FFFFH 6541H related con- ∆ /DEC signal mapping Input from SI0 (CN1-40) input terminal. stant Input from SI1 (CN1-41) input terminal.
  • Page 204 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper Support tool constant No. limit limit initial value able ● Pn600 Regenerative resistor capacity (set the 1000 capacity when connecting an external regenerative resistor) ● Pn601 Reserved constant 1000 ●...
  • Page 205 Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper Support tool constant No. limit limit initial value able ❍ Accelera- Pn80A First-stop linear acceleration constant. 10000 65535 tion/ deceler- Com- ation mand unit /s ❍ Pn80B Second-stop linear acceleration con- 10000 65535 stant.

  • Page 206: Motor Parameters

    Section 4-8 Servo Parameter Type User Name Size Unit Lower Upper Support tool constant No. limit limit initial value able ❍ Command Pn814 Final travel distance for external posi- Com- − 2 − 1 supplement Pn815 tioning mand unit ❍ Pn816 Origin return mode setting 0000H...
  • Page 207 Section 4-8 Servo Parameter In the initial value column, the upper value is in hexadecimal and the lower value in parenthesis is in decimal. Name Configuration and explanation Type Initial Unit Immediate value updating 9001 No. of encoder 00000000 pulses No.
  • Page 208 Section 4-8 Servo Parameter Name Configuration and explanation Type Initial Unit Immediate value updating 9006 Max. rapid Data 0000 (0) 100r/min speed Max. speed • Sets the max. speed of the motor. Note Selecting the motor model automati- cally sets this parameter. Note Entering numerical value cannot change this parameter.

  • Page 209: Setting Method Using Combination Of W-Series And Ns115

    Section 4-8 Servo Parameter Name Configuration and explanation Type Initial Unit Immediate value updating 900C Multi-turn limit Data FFFF (65535) Multi-turn • Sets the No. of multi-turns of an absolute encoder. When using an axis as an infinite length axis, make sure to set the same value set in Pn205 of the servo driver.
  • Page 210 Section 4-8 Servo Parameter User constant Name Content Setting Remark Pn50D /ZCLAMP, /INH, /G-SEL, /P-DET Disable 8888 Determined constant Pn002.3 Full-closed encoder usage Expansion constant Pn005 Advanced function select switch 5 Expansion constant Pn206 No. of Full-closed encoder pulses Expansion constant Pn511 Input signal select 5 Expansion constant...
  • Page 211 Section 4-8 Servo Parameter Full-closed Control The full-closed control setting can be performed using the following user con- stants. Type User’s Name Size Unit Lower Upper Support tool constant No. limit limit initial value able ∆ Function Pn002 Advanced function select switch 2 0000H 4112H 0000H...
  • Page 212 Section 4-8 Servo Parameter Setting for Reverse Rotations Motor rotation direction Phase relations of the Pn000.0 setting Pn002.3 setting Full-closed PG input phase seen from the load side full-closed PG input relations during CCW during forward rotation during forward rotation direction rotation seen from command the load side...

  • Page 213: Cam Data

    Section 4-9 CAM Data Input Signal Select 5 Through the following user constants setting, it is possible to allocate the sig- nals in the table below to the CN1 input signals. Type User’s Name Size Unit Lower Upper Support tool constant No.
  • Page 214 Section 4-9 CAM Data Data Size Range Length Cam table No. 2 byte 1-32 Fixed length No. of data sets 2 byte 1-16,000 Title 64 byte ASCII Password 8 byte ASCII CAM data size 4 byte 12-128,004 (Byte size below decimal point) Decimal point posi- 2 byte 0-65535...
  • Page 215 Section 4-9 CAM Data...
  • Page 216 SECTION 5 Data Transfer and Storage This section describes how to transfer data between the CPU Unit and the CS1W-MCH71 Motion Control Unit and how data is stored. Data Transfer and Storage ........5-1-1 Data Transfer Overview .

  • Page 217: Data Transfer And Storage

    Section 5-1 Data Transfer and Storage Data Transfer and Storage 5-1-1 Data Transfer Overview The following methods are available for transferring data between CPU and MC Units. 1,2,3... 1. Download or upload data from Support tool Programs, system parameters, servo parameters, position data, Cam data created with Support tool, can be downloaded to or uploaded from the MC Unit.

  • Page 218: Data Storage Overview

    Section 5-1 Data Transfer and Storage 5-1-2 Data Storage Overview Transferred data and parameters are written to the internal memory of the MC Unit where they will be used for operation, but they will be lost if the MC Unit is turned OFF or the MC Unit is restarted from the CPU Unit.
  • Page 219 Section 5-1 Data Transfer and Storage Yes: Possible No: Not possible Save: Saved in Flash Memory Data Content Data config- Read/Write/Save uration Support Tool (See note 1.) IOWR/IORD Read Write Save Read Write Save Programs Programs for MC Unit Cam data Data for Electronic Cam Variables Position data...

  • Page 220: Transfer And Storage Of Servo Parameters

    Section 5-1 Data Transfer and Storage 5-1-4 Transfer and Storage of Servo Parameters The following table shows the methods for transferring and saving servo parameters. Trigger Operation Object Support tool Read RAM of the servo driver RAM of the MC Unit IORD instruction of the CPU Unit RAM of the servo driver Support tool...
  • Page 221 Section 5-1 Data Transfer and Storage 2. Reading from MC Unit Using FINS Commands The servo parameters are read from the RAM of the MC Unit. Support Tool Servo Driver MC Unit Servo Parameters Servo Parameters Servo Parameters Flash ROM EEPROM Servo Parameters Servo Parameters...
  • Page 222 Section 5-1 Data Transfer and Storage 4. Writing by Support Tool • The servo parameters will be written in both the MC Unit and servo driver. • The written servo parameters will be the object of Flash ROM save. • Writing is executed regardless of whether it is immediately enabled or enabled when the power is turned ON.
  • Page 223 Section 5-1 Data Transfer and Storage 5. Writing by IOWR Instruction • The servo parameters are written in the RAMs of both the MC Unit and the servo driver. • Writing is executed regardless of whether it is immediately enabled or enabled when the power is turned ON.
  • Page 224 Section 5-1 Data Transfer and Storage 6. Writing by PARAM Command • This is just a temporary writing, so it will not be the object of Flash ROM save. • Only the servo parameters in the RAM of the servo driver will be overwrit- ten.
  • Page 225 Section 5-1 Data Transfer and Storage 8. Saving by Allocated IF Area Saves the servo parameters of the MC Unit to servo driver’s EEPROM and MC Unit’s Flash ROM. MC Unit Servo Driver Support Tool Allocated IF Area Servo Parameters Servo Parameters Flash ROM EEPROM...

  • Page 226: Iowr Instruction To Transfer Data

    Section 5-2 IOWR Instruction to Transfer Data IOWR Instruction to Transfer Data 5-2-1 Overview Position data, system parameters, and servo parameters can be written to the MC Unit by executing the CPU Unit’s IOWR instruction. Present position pre- set is also executed by IOWR instruction. CPU Unit MC Unit Ladder program...

  • Page 227: Iowr: Intelligent I/O Write

    Section 5-2 IOWR Instruction to Transfer Data 5-2-2 IOWR: Intelligent I/O Write IOWR @IOWR Operand Description C: Control code MC Unit address (Hex) Specifies the first address in the MC Unit where data will be written (in hexadecimal). S: First source word First source word Specifies the first word in the CPU Unit from which data is to be transferred.

  • Page 228: Flags

    Section 5-2 IOWR Instruction to Transfer Data 5-2-3 Flags Name Symbol Error Flag • The total No. of words transferred in D is not • The conditions other than the ones between 0000 and 0008 Hex. described on the left •...
  • Page 229 Section 5-2 IOWR Instruction to Transfer Data Ladder Program Example Execution Condition DIFU (Work Bit) Set the following position data with D00100 as the first address in DM Area. Specifies the address PL0456 Hex as the first position data in the MC Unit IOWR #0456 Specifies the first word of transfer source...
  • Page 230 Section 5-2 IOWR Instruction to Transfer Data Example 3) Write the servo parameters using IOWR instruction • To write the servo parameters, the servo parameter axis has to be speci- fied in advance. Write the axis No. in 6000h of IORD/IOWR control code (address in the MC Unit).
  • Page 231 Section 5-2 IOWR Instruction to Transfer Data Ladder Program Example The parameter axis for the servo driver is set to the values in D0100 and D0101. 2-word data in D0110 and D0111 are written in the servo driver parameter No. Pn000. I0.00 DIFU W500.00...
  • Page 232 Section 5-2 IOWR Instruction to Transfer Data Timing Chart in Executing The following describes the timing and processing when IOWR instruction is IOWR Instruction executed. (Address Specification) Transferred data IOWR instruction Fomat check 1. Data check and processing 2. Multiple scans Depending on the No.

  • Page 233: Iord Instruction To Transfer Data

    Section 5-3 IORD Instruction to Transfer Data IORD Instruction to Transfer Data 5-3-1 Overview Position data, system variables, system parameters, and servo parameters can be read by executing the CPU Unit’s IORD instruction. CPU Unit MC Unit [Ladder program] IORD C: Control code Address Internal Memory Area...
  • Page 234 IORD Instruction to Transfer Data Section 5-3 Operand Description C: Control code MC Unit address (Hex) Specifies the first address of the data in the MC Unit to be read. D: No. of transferred words/ Transfer source unit No. No. of transferred words (Hex) Transfer source unit No.

  • Page 235: Flags

    IORD Instruction to Transfer Data Section 5-3 5-3-3 Flags Name Symbol Error Flag • The No. of transferred words in D is not • The conditions other than the ones between 0000 and 0008 Hex. described on the left. • The unit number data in D is not between 8000 and 800F Hex.
  • Page 236 Section 5-3 IORD Instruction to Transfer Data Ladder Program Example Execution Condition (Work bit) DIFU Specifies the address PL0456 Hex as the first position data address in the MC Unit IORD #0456 the No. of transferred words: 8 words #00088000 transfer destination unit No.: 0 (Four position data x 2 words = 8 words) D00100...
  • Page 237 IORD Instruction to Transfer Data Section 5-3 • Setting values for specifying the servo parameter axis are to be [Axis No. - 1] as shown below: Axis No. Setting value for axis specification • IORD/IOWR control addresses (addresses in the MC Unit) corresponding to the parameter Nos.
  • Page 238 Section 5-3 IORD Instruction to Transfer Data Ladder Program Example The parameter axis of the servo driver is set to the values in D0100 and D0101. The value in the parameter Pn000 of the servo driver is read and stored in D0110 and D0111. I0.00 DIFU W500.00...

  • Page 239: Saving Data

    Section 5-4 Saving Data Timing Chart in Executing The following describes the timing and processing when executing IORD IORD Instruction (Address instruction. specification) Transferred data Determined IORD instruction Format check 1. Data Processing 3. Data check 2. Multiple scans 1,2,3... 1.

  • Page 240: Data Saving Procedure

    Saving Data Section 5-4 5-4-2 Data Saving Procedure The PC Interface Area (bit area) is used to save the transferred data in MC Unit. Procedure Saving parameters: n+0 word Bit 01 Saving position data: n+0 word Bit 02 Status Flash save completed: n+15 word Bit 02 Refer to SECTION 7 PC Interface Area (page 339) for details.
  • Page 241 Section 5-4 Saving Data...
  • Page 242 SECTION 6 Programming This section describes how to program CS1W-MCH71 Motion Control Unit operation, including the program configuration and the specific commands used in programming. Program and Task Configuration ........6-1-1 Program and Task Configuration .

  • Page 243: Program And Task Configuration

    Section 6-1 Program and Task Configuration Program and Task Configuration 6-1-1 Program and Task Configuration The "programs" are written by the user to control the application using the MC Unit. The "tasks" are units for work to execute the programs. The MC Unit can have up to 8 motion tasks for axis control.

  • Page 244: Task Execution Format

    Program and Task Configuration Section 6-1 Exchanging Data Between It is possible to exchange data between tasks through the global general vari- Tasks able. Since exchanging data between motion tasks is also possible through the global general variable, a simplified interlock can be provided. MC Unit CPU Unit MECHATROLINK-II Device...

  • Page 245: Advancement Of The Motion Program

    Program and Task Configuration Section 6-1 The Unit Scan cycle is to be integral multiple of the MECHATROLINK-II (MLK) communications cycle. All of the running motion tasks are executed in task- number order in each Unit Scan cycle. Motion Motion Motion Motion The Unit Scan cycle...
  • Page 246 Section 6-1 Program and Task Configuration • Single Execution Command In a motion task, two single execution commands cannot be executed si- multaneously in one Unit Cycle. However, it is possible to execute it along with a multiple execution command or to execute it in another branch dur- ing parallel branch execution.
  • Page 247 Program and Task Configuration Section 6-1 Stepping in the Stop Mode In the stop mode, the motion program advances following the 'Basic Concept' in the previous page. Nevertheless, in the 'Single Block Operation Mode', regardless of SINGLE/ MULTI, one block is executed at a time. Operation image: It takes three cycles to execute one single execution command and the maxi- mum number of simultaneous executions is set to four.
  • Page 248 Section 6-1 Program and Task Configuration Stepping in Pass Mode When a movement command is being executed in Pass Mode, execution of the next block starts when deceleration starts for the current block. Even with single execution commands, two blocks will be executed simultaneously in one cycle.
  • Page 249 Section 6-1 Program and Task Configuration Stepping When Parallel When parallel branch is executed, the branched program steps per sequence. Branch is executed The execution of commands within the same scan is restricted by system parameters just as it is in the Stop Mode. When the number of parallel branches written in the motion program is smaller than the maximum number of simultaneous executions, the number of commands that can be executed simultaneously in a sequence can be obtained by dividing the maximum num-...

  • Page 250: Program System

    Program and Task Configuration Section 6-1 Operation Image (2): It takes three cycles to execute one single execution command and the maxi- mum number of simultaneous executions is set to four. The number of parallel branches is set to two. (In this case, the number of simultaneous executions per branch is two.) Command Command Cycle...

  • Page 251: Axis Movement Operation

    Section 6-1 Program and Task Configuration • A program can contain up to 800 blocks. Block 2 ≤ N ≤ 800 • A block contains a command, a semi-colon, and a comment (this may be omitted). Command Comment • An NSTOP command, and an ABL/INC command, can be added at the beginning of a block.
  • Page 252 Section 6-1 Program and Task Configuration • S-curve acceleration/deceleration can be realized by multiplying move- ment averaging filter and trapezoidal acceleration/deceleration. S-curve Waveform Speed Trapezoidal Waveform Time S-curve time constant = Delay until operation reaches the intended speed • Enable/disable or S-curve time constant for S-shape acceleration/deceler- ation can be set using the following system parameters: Name Usage...
  • Page 253 Section 6-1 Program and Task Configuration Speed P2AA01 Time P2AA05 P2AA06 Case 2: Interpolation Commands (MOVEL, MOVEC, and MOVETRAV) 1) P00M06 (pass mode) = 0 or 1 The rates of acceleration and deceleration will be maintained while moving in a triangular curve. F speed: Speed specified in the interpolation command P00M02: Interpolation feed acceleration time P00M03: Interpolation feed deceleration time...
  • Page 254 Section 6-1 Program and Task Configuration Speed P00M01 Time P00M02 P00M03 • Relations between Axis Operation Function and Acceleration/Decelera- tion Classifica- Function Acceleration time Deceleration time Time or S-curve filter select tion Acceleration / S-curve filter time Deceleration constant Axis move- MOVE P2AA05: Rapid feed P2AA06: Rapid feed...
  • Page 255 Section 6-1 Program and Task Configuration Classifica- Function Acceleration time Deceleration time Time or S-curve filter select tion Acceleration / S-curve filter time Deceleration constant Axis opera- MOVELINK Calculated with oper- Calculated with oper- Depending on the tion start and A and other travel and D and other travel travel distance.
  • Page 256 Section 6-1 Program and Task Configuration The following table shows the relations between each command and operat- ing modes. Command Function Stop Mode Pass Mode Remark ❍ × MOVE POSITIONING ❍ MOVEL LINEAR INTERPOLATION ❍ MOVEC CIRCULAR INTERPOLATION ❍ × DATUM ORIGIN SEARCH ❍...
  • Page 257 Section 6-1 Program and Task Configuration Ex) Correct Notation Incorrect Notation MOVEL [J01] 100 [J02] 200; MOVEL [J01] 100 [J02] 200; MOVEL [J01] 200 [J02] 300; #IWOA00=1; Not an interpolation command, so op- eration will not be continuous. MOVEL [J01] 300 [J02] 400; MOVEL [J01] 100 [J02] 200;...
  • Page 258 Section 6-1 Program and Task Configuration Speed 200000 100000 Time P00M06 Acceleration Passing time (Tp) Deceleration time (Ta) time (Td) Value Meaning Interpolation acceleration time + Pass mode with P00M02 P00M02 P00M03 fixed acceleration disabled Interpolation deceleration time + Pass mode P00M02 P00M03 P00M03...
  • Page 259 Section 6-1 Program and Task Configuration #IW0A00=2; Selects task 1 bank 2 acceleration/deceleration time MOVE [J01] 20000 F200000; Passes using the selected acceleration/de- celeration time END; Note P00111 to P00120 are task parameters. They can be set in advance from per- sonal computer Support Software.
  • Page 260 Section 6-1 Program and Task Configuration Input Variables The following variables are used to specify banks for each task. If a value not between 0 and 10 is specified, the acceleration and deceleration times in P00M02 and P00M03 will be used. Bits Name Setting...
  • Page 261 Section 6-1 Program and Task Configuration P00M06 Acceleration Passing time (Tp) Deceleration time (Ta) time (Td) Value Meaning Interpolation acceleration time + Pass mode with Previously Previously selected bank Previously fixed acceleration disabled selected bank selected bank Interpolation deceleration time + Pass mode P00M02 Previously selected bank Previously with fixed acceleration disabled...
  • Page 262 Section 6-1 Program and Task Configuration Interpolation Feed Rate Interpolation Feed Rate The feed rate for the axis movement commands MOVEL, MOVEC, and MOVETRAV can be set in the Operand F in motion programs. Overwriting the value in F can change the feed rate though it is not valid during operations. During motion program execution, the previously specified interpolation speed will be held until the newly set speed is enabled.
  • Page 263 Section 6-1 Program and Task Configuration 100% 100% 100% Ignored during Move start deceleration command Task override Axis movement 100% output MOVEL command Commands using the The following six commands use the counter latch function: Counter Latch Function Command Purpose for using Role of latch signal counter latch function DATUM: Origin search...
  • Page 264 Program and Task Configuration Section 6-1 With variables in the following table, whether or not the counter latch has been completed can be confirmed: Variable Specifications Remark Output variables: 0: Started to execute function that Relation to SW022A Axis status bits: requires counter latch 0: SW022A = 0, 1, 2 bit 10 [Counter latch...
  • Page 265 Program and Task Configuration Section 6-1 Simultaneous Commands The operations when several commands are executed simultaneously on the (Overlap) to the Same One same one axis are as follows: Axis Command executed Classification Axis movement Axis operation Axis Setting simultaneously operation cancel Function/Name...
  • Page 266 Section 6-1 Program and Task Configuration Command executed Classification Axis movement Axis operation Axis Setting simultaneously operation cancel Function/Name Command currently being Executed Function/Name Command Stepping Travel distance ADDAX Master superimpose ADDAX Slave Speed control SPEED Completed Not Completed Torque control TORQUE Completed Not Completed...
  • Page 267 Program and Task Configuration Section 6-1 Meaning Only latch cancel can be executed. Other cases will be as follows: When exe- cuted in parallel, the alarm [2016: Same axis specification multiplicity] will occur and the program will be interrupted. When executed in series, the alarm [301A: Counter latch resource violation] will occur and the program will be interrupted.
  • Page 268 Section 6-1 Program and Task Configuration Note As in the following cases, however, the operation is stopped (or started) with- out executing SPEEDR or TORQUER command. Therefore, the speed change rate or torque change rate specified in the previous SPEED or TORQUE command is used.

  • Page 269: Synchronous Command

    Section 6-1 Program and Task Configuration 6-1-6 Synchronous Command There are five different types of synchronous commands. • MOVELINK: Link operation start • CAMBOX: Electronic cam, synchronous • CONNECT: Electronic shaft • SYNC: Trailing synchronization • ADDAX: Travel distance superimpose Master Axis •...
  • Page 270 Program and Task Configuration Section 6-1 ADDAX: The latest interrupted synchronization is re-executed. Note While a program is being stopped, synchronization is also being stopped. Therefore, there will be some position deviation between axes if the axis is moved. Precautions in Using The precautions are as follows: Synchronous Commands 1,2,3...
  • Page 271 Section 6-1 Program and Task Configuration An example is shown using the following parameters. Parameter setting value [J01] [J02] Axis parameter P5AA02 Position command decimal point position P5AA04 Command unit/1 machine rotation 36000 100000 P5AA05 Gear ratio 1 (motor rotation speed) P5AA06 Gear ratio 2 (machine rotation speed) Motor parameter...
  • Page 272 Section 6-1 Program and Task Configuration Program Task 1 PROG P0001 Q00000005; Declaration of the program (1)MOVELINK [J01]2000 [J02]1000 A200 D200 Q1; Synchronizes J01 with (2)#MW0000 = 0055; Writes "55" to global variable 0000 (3)MOVE [J03]1500; Moves J03 to the position 1500 (4)WAIT #SW0228 == 0000;...

  • Page 273: Modal Data

    Section 6-1 Program and Task Configuration 6-1-7 Modal Data Data that is selected by the following commands, and that can be omitted later in the program, is called modal data. Group Command Description ABL/INC Interprets the specified position either as an absolute value specification or as an incremental value specifica- tion.

  • Page 274: 6-1-10 Conditional Expression

    Section 6-1 Program and Task Configuration 6-1-10 Conditional Expression Conditional expressions can be used for the following commands. Command Function WAIT Wait for Condition to be Met STOPOP Optional End Conditional Branching WHILE Repeat While Conditional expressions are shown in the following table. Immediate values or variables are the only the objects of comparison.
  • Page 275 Section 6-1 Program and Task Configuration B: Bit type, W: Word type, L: Long type, F: Real-number type, @: Indirect specification Classifi- Function Com- Notation Operand Range Immediate Variable cation mand example value Inte- Deci- point Simple Assign #MW- = #MW- 1st Term Write Arithmetic...
  • Page 276 Section 6-1 Program and Task Configuration Classifi- Function Com- Notation Operand Range Immediate Variable cation mand example value Inte- Deci- point Logic #MW- = #MW- 1st Term Write opera- (Logical | #MW-; 2nd Term LONGMIN- Inte- Read tions LONGMAX 3rd Term LONGMIN- Inte- Read...
  • Page 277 Section 6-1 Program and Task Configuration Classifi- Function Com- Notation Operand Range Immediate Variable cation mand example value Inte- Deci- point Functions Decimal FRAC #MF- = 1st Term Write FRAC#MF-; 2nd Term Within the opera- Read tion numerical value range Sign #MF- = 1st Term...

  • Page 278: 6-1-12 Data Used For Operand

    Section 6-1 Program and Task Configuration Classifi- Function Com- Notation Operand Range Immediate Variable cation mand example value Inte- Deci- point BCD → BIN BIN Data #MW- = 1st Term Write Opera- BIN#MW-; 2nd Term In BCD format, Inte- Read tions Word type: 0 to 9999...

  • Page 279: 6-1-13 Virtual Axis

    Section 6-1 Program and Task Configuration • Decimal number: Value with decimal point Minimum value: − 2147483648. Maximum value: 2147483647. Maximum number of decimals: 30 digits Maximum number of digits excluding 0: 10 digits (Negative value: 2147483648, Positive value: 2147483647) <Example>...

  • Page 280: 6-1-14 I/O Axis

    Section 6-1 Program and Task Configuration Function item Specifications Present value monitor Present coordinate system FB position = Present coordinate system command position Machine coordinate system FB position = Machine coordinate system command position Present coordinate system command posi- Same as for the real axis tion Machine coordinate system command posi- Same as for the real axis...

  • Page 281: 6-1-15 Parameters Having Influence On Axis Operation

    Section 6-1 Program and Task Configuration Function item Specifications IORD/IOWR of Servo PARAM command Alarm [2019h: Parameter setting error] will occur and the program parameters is stopped. IORD/IOWR command Error completion Support tool Same as for axes without allocation, only reading from the MC Unit can be performed normally.

  • Page 282: 6-1-16 Coordinate System

    Section 6-1 Program and Task Configuration Section Name Axis machine P5AA06 Gear Ratio 2 (Machine Rotation Speed) Axis machine P5AA07 Axis Feed Mode Axis machine P5AA08 External Input Signal Select 1 Axis machine P5AA09 External Input Signal Select 2 6-1-16 Coordinate System There are two types of coordinate systems.

  • Page 283: Command Overview

    Section 6-2 Command Overview When returning to the main program from the sub-program, all the modal data is inherited. Parallel Branching If parallel branching has been executed using the PARALLEL command, the offset value and coordinate system select for all the branches are inherited. The offset value and coordinate system select that have been changed in a branch will affect other branches as well.
  • Page 284 Section 6-2 Command Overview Classifica- Command/func- Code Applicable Summary Completion condi- tion tion name task tion (Proceed to next block) Motion Axis opera- LINK OPERATION MOVELINK Synchronizes the slave to the Depends on the link tion master based on travel distance option.
  • Page 285 Section 6-2 Command Overview Classifica- Command/func- Code Applicable Summary Completion condi- tion tion name task tion (Proceed to next block) Motion Control PROGRAM START PROG Indicates the start of program. Program start pro- cessing completed. PROGRAM END Indicates the end of program. Program end pro- cessing completed.

  • Page 286: Command Format

    Section 6-2 Command Overview Classifica- Command/func- Code Applicable Summary Completion condi- tion tion name task tion (Proceed to next block) Motion Simple ASSIGN Assigns values to variables. Result assigned. arithmetic Performs addition. Result assigned. operations − SUBTRACT Performs subtraction. Result assigned. MULTIPLY Performs multiplication Result assigned.
  • Page 287 Section 6-2 Command Overview Classifica- Name Format tion Axis move- Positioning MOVE_[<axis name>]<position command value>---8--- ment Linear interpolation MOVEL_[<axis name>]<position command value>---8---{F<Interpolation feed rate>}; Circular interpolation Center position specification: MOVEC_Q<rotation direction> [<horizontal axis name>]<horizontal axis position command value>[<vertical axis name>]<vertical axis position command value> I<horizontal axis center command>...
  • Page 288 Section 6-2 Command Overview Classifica- Name Format tion Setting Target position MOVEMODI_[<axis name>]<changed target position>---8---; change Absolute specifica- ABL; tion ABL_<other command>; Incremental specifi- INC; cation INC_<other command>; Parameter value set- PARAM_P<parameter number>=<parameter setting value>; ting PARAM_[<axis name>]<servo parameter number>=<parameter setting value>; Pass Mode PASSMODE;...
  • Page 289 Section 6-2 Command Overview Classifica- Name Format tion Control Program start PROG_P<program number> Q<axis declaration>; Program end END; Sub-program call GOSUB_P<sub-program number>; Sub-program End RETURN; Dwell time DWELL_T<dwell time>; Wait for condition to WAIT_<conditional expression>; be met Optional end STOPOP_<conditional expression>; Conditional branch- IF_<conditional expression>;...
  • Page 290 Section 6-2 Command Overview Classifica- Name Format tion Functions Absolute value <variable>= ABS<numerical value>; Sine <variable>= SIN<numerical value>; Cosine <variable>= COS<numerical value>; Tangent <variable>= TAN<numerical value>; ARC Sine <variable>= ASINE<numerical value>; ARC Cosine <variable>= ACOS<numerical value>; ARC Tangent <variable>= ATAN<numerical value>; Square root <variable>= SQR<numerical value>;...

  • Page 291: Command List (Operand List)

    Section 6-2 Command Overview 6-2-3 Command List (Operand List) The following table describes the operands that are used in commands. Operand Command: Meaning of the value Remark Axis name MOVE: Position command value These operands require distinction of axis names. MOVEL: Position command value MOVEC: Position command value DATUM: Origin offset...
  • Page 292 Section 6-2 Command Overview Operand Command: Meaning of the value Remark MOVEC: Horizontal axis center position Indicates the first auxiliary position command. MOVETRAV: Rotations at starting edge MOVELINK: Link start position CAMBOX: Link start position LATCH: Latch check start position MOVEC: Vertical axis center position Indicates the second auxiliary position com- mand.

  • Page 293: Program Number And Axis Declaration

    Section 6-2 Command Overview 6-2-4 Program Number and Axis Declaration The program number and axes to be used in the program are specified in PROG command (Program Start). Refer to Program Start (PROG) on page 313. Format PROG_P <Program Number> {Q <Axis Declaration>}; Program Number The table below shows the relations between the program number and main program/sub-program for motion tasks.

  • Page 294: Command Details

    Command Details Section 6-3 Command Details 6-3-1 Expression in This Section This section provides detailed descriptions of the commands. Command for- mats, operands and application are described and programming examples are provided. Function Name Positioning (MOVE) Positioning is performed with PTP control on up to eight axes simultaneously Function Overview at rapid feed rate.
  • Page 295 Command Details Section 6-3 Format MOVE_[<axis name>]<position command value> ---8---; Ex: MOVE_[J01]100.01 [J02]-100.02; Operand Position command value Axis name: 01 to J32 Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation −2147483648 to Position command Yes (See...
  • Page 296 Section 6-3 Command Details Linear Interpolation Positioning is performed on up to eight axes with linear interpolation at the (MOVEL) specified interpolation feed rate. Command type Single execution command Format MOVEL_[<axis name>]<position command value> ---8--- {F<interpolation feed rate>}; Ex: MOVEL_[J01]100.01 [J02]-100.02 F10000.25; Operand Position command value Axis name: J01 to J32...
  • Page 297 Command Details Section 6-3 Combined speed Time Axis n speed Time Axis m speed Time Motion task status data: Previous Next MOVEL command block Executing block No. Axis n status bit: Axis operating Axis n status bit: Positioning completed Axis m status bit: Axis operating Axis m status bit: Positioning completed...
  • Page 298 Section 6-3 Command Details Format Center position specification: MOVEC_Q<rotation direction> [<horizontal axis name>]<horizontal axis posi- tion command value> [<vertical axis name>]<vertical axis position command value> I<horizontal axis center command> J<vertical axis center command> {[<linear axis name>]<linear axis command value>}{L<number turns>}{F<interpolation feed rate>}; Radius specification: MOVEC_Q<rotation direction>[<horizontal axis name>]<horizontal axis posi- tion command value>...
  • Page 299 Section 6-3 Command Details Radius Specification Axis name: J01 to J32 Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation 1, −1 Rotation direction Yes (See Yes (See note 1.) note 2.) −2147483648 to Horizontal axis posi- Yes (See...
  • Page 300 Command Details Section 6-3 Vertical axis Center Start position Radius End position Horizontal axis • When [Number of turns] is specified, multiple rotations will occur. In addi- tion, multiple rotations can be specified only for center position specifica- tion. For radius specification, programs cannot be loaded (because the center position cannot be determined If the start position = the end posi- tion for radius specification.) •...
  • Page 301 Section 6-3 Command Details • In radius specification, if [Radius] is positive, the center angle will be 180 degrees or smaller. If [Radius] is negative, the center angle will be 180 degrees or greater. Radius < 0 180 degrees or greater End position 180 degrees or smaller...
  • Page 302 Section 6-3 Command Details Description • DATUM command performs the origin search for the specified axis. • Specifying the offset will set the origin of the machine coordinate system after an origin search to other than zero. (Specify zero to set it to zero.) •...
  • Page 303 Section 6-3 Command Details • Operation patterns are specified in the parameter [P4AA01: Origin search method], and there are four different origin search methods as shown below: Origin search Function method Origin at power ON The position when the power is turned ON is defined as the origin.
  • Page 304 Section 6-3 Command Details Interrupt feeding When the signal specified in the parameter [P5AA08: External Input signal (MOVEI) select 1] is turned ON, positioning is performed moving the specified axis for the specified feed amount. Command type Single execution command Format MOVEI_[<axis name>]<position command value>...
  • Page 305 Section 6-3 Command Details • If the Fixed feed amount specified is smaller than the distance required from the signal input to the stop after deceleration, return operation is per- formed for the excessive distance after completion of deceleration stop. Speed Fixed feed amount (the negative speed indicates...
  • Page 306 Section 6-3 Command Details • The actual positioning time can be found using the following expression: [Actual positioning time] = Positioning time + [P2AA05: Rapid feed accel- eration time] × [Speed of each axis]/[P2AA03: Rapid feed rate] • In specifying deceleration, the parameter [P2AA06: Rapid feed decelera- tion time] is ignored.
  • Page 307 Section 6-3 Command Details Traverse This command is provided for traverse, winding machine operations. (MOVETRAV) Command type Single execution command Format MOVETRAV_Q<operating mode> [<winding axis name>]<winding axis rota- tions> [<traverse axis name>]<traverse axis winding width> L<number of layers> {I<rotations at starting edge>}{J<rotations at ending edge>}{F<winding axis speed>};...
  • Page 308 Section 6-3 Command Details Description Traverse axis winding width Number of layers Winding axis Traverse axis • Description of Operating mode is shown below. It cannot be specified with variables. When linked traverse is specified, only the blocks in the same operating mode can be linked.
  • Page 309 Section 6-3 Command Details • In the linked traverse, up to 5 blocks are interpreted per unit scan. If more than 5 blocks are linked, the time [(No. of linked blocks/5) × Unit scan] will be required for the interpretation (i.e. from completion of executing the previous block to start of the linked traverse operation.
  • Page 310 Section 6-3 Command Details • If either the global variable or position data is used for CAM table, phase and displacement are to be specified as double-length integer type data. Global general variable Position data Starting data number → MLmmmm PLmmmm = mmmm Phase...
  • Page 311 Section 6-3 Command Details Data No. Phase Displacement 3000 13600 3500 16400 4000 18400 4500 19600 5000 20000 5500 19600 6000 18400 6500 16400 7000 13600 7500 10000 8000 6400 8500 3600 9000 1600 9500 10000 25000 12000 10000 20000 8000 15000 Displacement...

  • Page 312: Command For Axis Operations/Operation Cancel

    Section 6-3 Command Details • When specifying the starting and ending points, the restriction varies depending on the used data as shown below: Data Restriction CAM data Even with the starting and ending points specified, the other data will not be ignored. Therefore, the conditions mentioned above have to be met even for the unused area.
  • Page 313 Section 6-3 Command Details Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation −2147483648 to Link start position Yes (See Yes (See No (See 2147483647 note 1.) note 2.) note 5.) Master axis classifi- 0 or 1 Yes (See...
  • Page 314 Section 6-3 Command Details Interval Master axis Slave axis Constant Master axis travel [Slave axis travel distance]- Slave axis travel distance in acceleration - Slave axis speed distance- Master travel distance in deceleration axis travel distance in acceleration- Mas- ter axis travel dis- tance in deceleration Decelera- Master axis travel...
  • Page 315 Section 6-3 Command Details • [Master axis classification] determines whether to synchronize the slave axis with the master axis command value or feedback value. Master axis Master axis value to classification synchronize with 0 or omitted Command value Feedback value •...
  • Page 316 Section 6-3 Command Details × 102) Figures below the decimal point are to be omitted. (6) When CAM table is specified: The greatest CAM data number in CAM ta- When specified with the global variable: 8188 (1FFC Hex) When specified with the position data: 10238 (27FE Hex) (7) There is no influence.
  • Page 317 Section 6-3 Command Details Note The bit image is shown below: 0/1 = Slave axis travel distance output is completed/ When command execution is started 0/1/2 = When command execution is started/ When latch for master axis is detected/ When master axis reaches Link start position 0/1 = Repeat/Only for one cycle from the starting to ending data number •...
  • Page 318 Section 6-3 Command Details • When these conditions are not met, "CAM (Electronic cam, single axis)" and "CAMBOX (Electronic cam, synchronous)" commands may cause the axis to stop operating, or to operate in an unexpected way. To avoid acci- dents, make sure that the conditions are met. Note The position data and global general variable can be used while being over- written real-time.
  • Page 319 Section 6-3 Command Details • During the command execution, the command code "0017h" is output to the system variable "Command execution status" (SW0228 for Axis 1). (For details of command codes, see 4-5 System Variables Command Code in Command Execution Status on page 142.) Master axis 1 Master axis 2 Slave axis...
  • Page 320 Section 6-3 Command Details 2. The slave axis will start trailing operation when the marker sensor sig- nal is input. The trailing operation will be completed once the slave axis synchronizes with the position of the master axis (Marker sensor ON position + catch-up position offset).
  • Page 321 Section 6-3 Command Details Operand Axis name: J01 to J32 Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation Travel distance for 0 to Yes (See Yes (See No (See deceleration stop 2147483647 note 1.) note 2.)
  • Page 322 Section 6-3 Command Details Ex: ADDAX_[J02] [J01]; ADDAXR_[J02]; Operand Axis name: J01 to J32 Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation Master axis classifi- 0 or 1 Yes (See Yes (See cation note 1.)
  • Page 323 Section 6-3 Command Details See the following example: ADDAX [J02] [J01]; PARALLEL N2; MOVE [J01]1000.; JOINT; ← J02 is the slave axis in the superimposition. Posi- MOVE [J02] 500; tioning only up to 500. is not sufficient for in-posi- tion, which means that the MOVE command cannot be completed.
  • Page 324 Section 6-3 Command Details The minimum command unit is 0.01%. The actual value = ((Decimal immediate value or Variable of real number type) × 10 Figures below the decimal point are to be omitted. (4) There is no influence. ABL specification is always used. Description •...
  • Page 325 Section 6-3 Command Details • If MOVE command is executed without SPEEDR command, the mode can be switched from the speed control mode to the position control mode. To change the speed of SPEED command being executed to the rapid feed rate of MOVE command smoothly, the system automatically reads the position loop gain before starting execution of SPEED com- mand except for the following cases: 1) When the position loop gain before execution of SPEED command is...
  • Page 326 Section 6-3 Command Details Torque Control/ The axes Torque can be controlled in Torque Control mode. Torque Control cancel (TORQUE/TORQUER) Command type Single execution command Format TORQUE_[<axis name>]<torque command value> ---8--- T<torque change rate>; TORQUER_[<axis name>] ---8--- T<torque change rate>; Ex: TORQUE_[J01]100.00 [J02]100.00 T100;...
  • Page 327 Section 6-3 Command Details • During the command execution, the command code "001Bh" is output to the system variable "Command execution status" (SW0228 for Axis 1). (For details of command codes, see 4-5 System Variables Command Code in Command Execution Status on page 142.) Axis 1 Axis 2 TORQUER command...

  • Page 328: Setting Command

    Section 6-3 Command Details 6-3-4 Setting Command Target Position The target position of the positioning command currently being executed is Change (MOVEMODI) changed. Command type Multiple execution command Format MOVEMODI_[<axis name>]<changed target position> --8--; Ex: MOVEMODI_[J01]100.00 [J02]200.00; Operand Axis name: J01 to J32 Operand Setting range Decimal...
  • Page 329 Section 6-3 Command Details Positioning up to this point is performed with target Speed position change command. Target position change command Rapid feed rate Original travel distance Time Motion task status data: Executing block number Previous MOVE command block Next Axis status bit: Positioning completed Axis status bit:...
  • Page 330 Section 6-3 Command Details Change Parameter The setting of the specified parameter is changed. Value (PARAM) Command type Single execution command Format PARAM_P<parameter number> = <parameter setting value>; PARAM_[<axis name>]<servo parameter number> = <parameter setting value>; Ex: PARAM P1=2; Operand Axis name: J01 to J32 Operand Setting range...
  • Page 331 Section 6-3 Command Details For example, when changing the interpolation feed speed for motion task parameters with a unit cycle of 2 ms, the execution time will be 24 to 44 ms. Pass Mode The operating mode is switched to Pass Mode. (PASSMODE) Command type Multiple execution command...
  • Page 332 Section 6-3 Command Details Machine Coordinate Coordinate system is switched to the machine coordinate system. System Select (ORIGIN) Command type Single execution command Format ORIGIN; Ex: ORIGIN; Operand Description • Coordinate values after ORIGIN command are treated as values on the machine coordinate system.
  • Page 333 Section 6-3 Command Details Machine coordinate Workpiece coordinate system system Positioning to (20000, 15000) WORK command not executed (15000) After WORK command execution 15000 (9000) 12000 4000 (14000) (20000) -3000 10000 20000 Workpiece Coordinate The offset value of the workpiece coordinate system is changed. System Offset Change (OFFPOS) Command type...
  • Page 334 Section 6-3 Command Details • The workpiece coordinate system offset value specified will be enabled when WORK command is executed. It means that the offset value will not be reflected in the operation until WORK command is executed again when using the coordinate system specified with Workpiece coordinate system number.
  • Page 335 Section 6-3 Command Details Specification Operation End position is omitted Accepting section: End position and before End position Lower limit Upper limit Start position<End posi- Accepting section: Start position and after, End position and before tion Lower limit Start position End position Upper limit Start position>End posi-...

  • Page 336: Control Command

    Section 6-3 Command Details • Especially, be cautious of temporary power interruption since it is impossi- ble to know when it happens. Should it happen on the MC unit, make sure to clear the latch check range by setting the servo driver so that its power is also restored when it happens, or by using the following programs when restarting the MC Unit: 1,2,3...
  • Page 337 Section 6-3 Command Details Ex: PROG_P1000 Q0000000F; Operand Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation Program number 0 to 1999 Axis declaration 00000000 to FFFFFFFF [hex] Description • Program is started and axes to be used in the program are declared. •...
  • Page 338 Section 6-3 Command Details • END command cancels axis operation commands (MOVELINK/CAM- BOX/CONNECT/ADDAX/SYNC/ SPEED/TORQUE) being executed. • In execution of axis operation commands other than the above, END com- mand execution will be completed after the axis status bits [Positioning completed] (x+32, bit06 for Axis 1) for all the axes operated with the pro- gram are turned ON (1).
  • Page 339 Section 6-3 Command Details Sub-Program End Sub-program is ended. (RETURN) Command type Single execution command Format RETURN; Ex: RETURN; Operand Description • Sub-program is ended and the operation returns to the program that called the sub-program. • If RETURN command is not present in a sub-program, the program can- not be loaded.
  • Page 340 Section 6-3 Command Details The formats of conditional expressions are shown in the following table. Immediate values and variables are the only comparison objects. If a different data type is used, an alarm will occur in pre-analysis. Conditional Format Expression Equal to (Immediate value or Variable)==(Immediate value or Variable) Not equal to...
  • Page 341 Section 6-3 Command Details • Checking the conditional expression will be completed when execution of [Block to end the operation midway] is completed. • Commands that can be interrupted are all the axis movement commands, DWELL command, and WAIT command. •...
  • Page 342 Section 6-3 Command Details Conditional expression False True ELSE Processing 1 Processing 2 ENDIF Repeat While While the conditional expression is being satisfied, processing between (WHILE...WEND) WHILE and WEND is repeatedly executed. Command type WHILE: Multiple execution command WEND: Multiple execution command Format WHILE_<conditional expression>;...
  • Page 343 Section 6-3 Command Details WHILE Conditional expression True False Processing WEND Repeat FOR Processing is repeated for the specified number of times. (FOR...NEXT) Command type FOR: Multiple execution command NEXT: Multiple execution command <Default value setting> ( ← can be omitted) Format FOR_W<work registers for repeat count>...
  • Page 344 Section 6-3 Command Details Work registers for repeat count ≥ Repeat end value False True Processing NEXT Add No. of increments steps to work registers for repeat count. Parallel Execution Processing is branched and executed in parallel. (PARALLEL...JOINT... JWAIT) Command type PARALLEL: Single execution command JOINT: Single execution command...
  • Page 345 Section 6-3 Command Details • The number of parallel branches can be specified with Number of branches. The maximum number of branches for the Unit is specified in the parameter [P00002: Number of parallel branches]. If Number of branches exceeds the parameter setting, the alarm [200Dh: Count specification error] will occur.
  • Page 346 Section 6-3 Command Details EX: SWITCH #DW0000; CASE 0; ABL MOVE [J03]-100.00 [J04]-50.00; BREAK; CASE 1; INC MOVE [J01]-200.00 [J02]50.00; BREAK; DEFAULT; INC MOVE [J01]0.00 [J02]0.00 [J03]0.00 [J04]0.00; SEND; Operand Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect...
  • Page 347 Section 6-3 Command Details SWITCH CASE CASE DEFAULT Processing 1 Processing 2 Processing n BREAK BREAK SEND No Operation (Single) No processing will occur. (NOPS) Command type Single execution command Format NOPS; Ex: NOPS; Operand Description • No processing will occur, however, NOPS command functions as a single execution command.
  • Page 348 Section 6-3 Command Details Timing chart J01 operation (MOVE) Value of #IW0B00 NOPS command Note Without NOPS command, the value of #IW0B00 changes on the timing described below: Program PROG P0001 Q00000001; Program declared MOVE [J01]200000; J01 moved to the position 200000 #IW0B00 = 0055;...
  • Page 349 Section 6-3 Command Details Program PROG P0001 Q00000001; Program declared PARALLEL N2; #PL0000 = #IL0B00 * 1000; Result of (IL0B00 x 1000) assigned to PL0000 #PL0001 = #IL0B02 * 500; Result of (IL0B02 x 500) assigned to PL0001 MOVEL [J01]#PL0000 F#PL0001; J01 moved to the position PL0000 at the speed PL0001 JOINT;...

  • Page 350: Simple Arithmetic Operation

    Section 6-3 Command Details 6-3-6 Simple Arithmetic Operation ASSIGN (=) Values are assigned for the specified variable. Command type Multiple execution command Format <First term> = <Second term>; Ex: #MF1000 = 123.45; Operand Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long...
  • Page 351 Section 6-3 Command Details Simple Arithmetic This command executes the specified simple arithmetic operations. Operations (+, −, *, /, %, ^) +, − , *, /, %, and ^: Not executed as an independent command (no type). Command type Format <First term>...

  • Page 352: Logic Operation

    Section 6-3 Command Details Precaution for Handling the Data Types 1,2,3... 1. Bit type • When the bit type is used, all the operands must be the bit type. • The integer immediate values 0 and 1 are treated as the bit type. 2.
  • Page 353 Section 6-3 Command Details • The table below shows the result of logic operations. Second Third term Logical OR Logical AND Logical exclusive term (OR) (AND) OR (XOR) Precaution for Handling the Data Types 1,2,3... 1. Bit type • When the bit type is used, all the operands must be the bit type. •...

  • Page 354: Function

    Section 6-3 Command Details • Operation is performed in the type of the highest priority, and the op- eration result will be stored after being converted to the type on the left. • The integer immediate value is treated as long word type, and the dec- imal immediate value is treated as real number type.
  • Page 355 Section 6-3 Command Details TAN (TANGENT), ASIN (ARC SINE), ACOS (ARC COSINE), FRAC (DECI- MAL) Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation First term Variable Second term Operation numerical value range (See note.) Note...

  • Page 356: Bit Operation

    Section 6-3 Command Details Notation Function Description ACOS ARC COSINE Finds the arc cosine of the specified data. (Units: [deg]) The specified data is real number type only. ATAN ARC TANGENT Finds the arc tangent of the specified data. (Units: [deg]) The specified data is real number type only.

  • Page 357: 6-3-10 Data Operation

    Section 6-3 Command Details • If the logic operation expression is false, SET or RESET command does not turn ON or OFF the specified bit. • When the logic operation is executed on each corresponding bit with the logic operator on the right side and if there is any bit having the result of 1, it is considered to be true.
  • Page 358 Section 6-3 Command Details Note Setting range when viewed as BCD data. Description • BIN command converts the specified value (BCD data) into binary (BIN code). • BIN command can be used only for integer data. 1234 (BCD) 1234 (binary) BIN to BCD (BCD) The BCD command converts the BIN data into the BCD data.
  • Page 359 Section 6-3 Command Details Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation Transfer destination Variable first data Number of trans- System vari- ferred data able:1 to (2048 - address) Global general variable:1 to (8192 - address) Input variable:1...
  • Page 360 Section 6-3 Command Details Operand Operand Setting range Decimal Variable specification INC/ ABL influ- Word Long Real Indirect ence word number specifi- cation First cleared data Variable Number of cleared Global general data variable:1 to (8192- address) Input variable:1 to (4096- address) Output vari- able:1 to (4096-...
  • Page 361 Section 6-3 Command Details...
  • Page 362 SECTION 7 PC Interface Area This section describes the interface area in the CPU Unit used to control and monitor the CS1W-MCH71 Motion Control Unit. Overview ........... . . 7-1-1 Data Exchange Area Overview .

  • Page 363: Overview

    Section 7-1 Overview Overview CPU Unit can control MC Unit with the following three different methods of data I/O. 1,2,3... 1. Data exchange with allocated PC area words. 2. Data exchange with allocated DM area words. 3. Data exchange with allocated Custom area words . 7-1-1 Data Exchange Area Overview CPU Unit...

  • Page 364: About I/O Refresh

    Section 7-1 Overview Area Brev- Direction Usage Remark No. of No. of words min. words max. Custom I/O Area Setting General I/O A General I/O Setting General I/O B General I/O Setting General I/O C General I/O Setting General I/O D General I/O Setting General I/O E...
  • Page 365 Section 7-1 Overview Unit Number Bit area Unit Number Bit area Word 1550-1574 Word 1750-1774 Word 1575-1599 Word 1775-1799 Word 1600-1624 Word 1800-1824 Word 1625-1649 Word 1825-1849 Word 1650-1674 Word 1850-1874 Word 1675-1699 Word 1875-1899 CPU Bus Unit Allocated DM Area Words 100 words are allocated for each Unit starting from D30000.
  • Page 366 Section 7-1 Overview Area Brevity CPU Unit’s Addresses Custom I/O Area Depends on General I/O area range setting (m+4, m+5) CIO, WR, DM, EM Depends on General I/O area range setting (m+6, m+7) CIO, WR, DM, EM Depends on General I/O area range setting (m+8, m+9) CIO, WR, DM, EM Depends on General I/O area range setting (m+10, m+11) CIO, WR, DM, EM...

  • Page 367: Cpu Unit's Influence

    Section 7-1 Overview On the MC Unit, the custom I/O area can be treated as I/O variables in the motion program. When transfer direction is [MC Unit _ CPU]: Output variable When transfer direction is [CPU _ MC Unit]: Input variable Area Input variable Output variable...

  • Page 368: Operating Mode

    Section 7-2 Operating Mode The MC Unit operates as shown in the table below when the operating mode of the CPU Unit is changed: CPU Unit operating mode MC Unit operation change RUN Mode or MONITOR Mode All the axes decelerate and stop. →...

  • Page 369: Manual Mode

    Section 7-2 Operating Mode • The mode can be set for each axis. ON (1) is Automatic Mode and OFF (0) is Manual Mode. • In Manual Mode, operations of the MC Unit are controlled directly from the CPU Unit using the PC interface areas. •...
  • Page 370 Section 7-2 Operating Mode The following functions can be executed simultaneously with other functions: Name of bits Specification Axis Override Enable Enables the axis override value. JOG/STEP Direction Specifies the JOG, and STEP operation direction. Axis Machine Lock Starts axis machine lock. Manual/Automatic Mode Switches between Manual and Automatic modes.

  • Page 371: Automatic Mode

    Section 7-2 Operating Mode The following table shows whether deceleration stop can be executed or not and whether the Busy flag turns ON or stays OFF when the functions listed vertically on the left are being executed. Additionally, whether the functions listed vertically on the left can be executed under various conditions or not is shown: Condition...
  • Page 372 Section 7-2 Operating Mode 2. Specify the program number to be executed. Set the program number to be executed in the motion task control data [Motion program number (word m+22)] of motion task control data. 3. Set the Start Mode for restarting the motion program interrupted in the mid- dle of execution.
  • Page 373 Section 7-2 Operating Mode In case of ABL specification ABL MOVE [J1] 2000 [J2] 0; _ When this block is interrupted ABL MOVE [J1] 3000 [J2] 0; Start Mode Operation Start point Interruption End point Start point End point Resumes pro- gram from mid- way of the block indicated by Exe-...
  • Page 374 Section 7-2 Operating Mode MC Units manufactured before 2 February 2004 (Lot No. 040202xxxx) • Axis 1 is set to a turntable. • Axis 1 is set as an infinite length axis. • The command value for axis 1 is set between 0 ° and 359 ° . •...
  • Page 375 Section 7-2 Operating Mode In case of ABL specification ABL MOVE [J1] 2000 [J2] 0; _ When this block is interrupted ABL MOVE [J1] 3000 [J2] 0; Start Mode Operation Block stop Resumes pro- Start point End point Start point End point gram from mid- way of the block...
  • Page 376 Section 7-2 Operating Mode Ladder program example The procedure to execute the motion program is described as a ladder pro- to execute motion gram below. programs Note that, however, the following ladder program contains the circuits of only the minimum requirements to execute a motion program. Therefore, it is nec- essary to add circuits depending on the actual requirement for actual opera- tions.
  • Page 377 Section 7-2 Operating Mode Related PC Interface Area The list below is for the motion task 1. the list for motion tasks 2-8 is the same List as motion task 1. Classification Word Variable Name Specifications Motion task 1 IW0340 Motion program start 0: Nil Control bit 1: Nil...
  • Page 378 Section 7-2 Operating Mode Ladder Program Example Ladder program example and timing chart for the program operation with axis and Timing Chart movement (including deceleration stop) are shown below. In this example, Axes 1 and 2 are operated with motion task 1 and the Motion task 1 Control bit [Deceleration stop] is used for stopping.
  • Page 379 Section 7-2 Operating Mode Word Allocation Example The word allocation for the ladder program above is shown below (Unit num- ber: 0): Description in ladder program Axis 1 Axis 2 R1 to R3 (Work bit) W50001 to W50003 x+0.15, x+1.15 (Manual/Automatic W20015 (See note.) W20115 (See note.) Mode) n+4.02 (Start Mode 1)
  • Page 380 Section 7-2 Operating Mode Timing Chart In Automatic Mode (R1) In Servo lock status (R2) Command enable Level H (R3) Program setting button Start button Pause button Start Mode 1 (n+4.02) Motion program start (n+4.01) Motion program completed (n+17.02) Motion program operating MC Unit and CPU Unit •...

  • Page 381: Allocations For The Cpu Unit

    Section 7-3 Allocations for the CPU Unit • If the output time of the signal output from either Unit (CPU or MC) is shorter than the processing cycle of the other Unit to which the sig- nal is input, the latter Unit may not be able to detect the change of the signal.
  • Page 382 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Unit control bit IW0300 Unit Alarm Reset 0: Nil 1: Does not turn ON the bit [Unit Alarm] ↑: Clears the alarm occurring on Unit level ↓: Nil System Parameter 0: Nil Save...
  • Page 383 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications IW0301 00-15 Teaching Axis Set- 0: Nil ting 1-16 1: Specifies axis as teaching object ↑: Nil ↓: Nil IW0302 00-15 Teaching Axis Set- 0: Nil ting 17-32 1: Specifies axis as teaching object ↑: Nil ↓: Nil...
  • Page 384 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Motion task 3 IW0342 00-15 Same as for Motion Same as for Motion Task 1 Control bit Task 1 Motion task 4 IW0343 00-15 Same as for Motion Same as for Motion Task 1 Control bit Task 1...
  • Page 385 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Unit status bit n+15 OW0303 00 Unit Ready 0: Unit is not ready for accepting commands 1: Unit is ready for accepting commands Unit Alarm 0: No alarm occurring on Unit level or Unit Alarm Reset is ON 1: Alarm occurring on Unit level Flash Save Com-...
  • Page 386 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Motion task 1 n+17 OW0340 00 Motion Task Alarm 0: No alarm occurring on motion task level or Status bit Motion Task Alarm Reset is ON 1: Alarm occurring on motion task level Motion Program 0: Motion task is not executing program operation Operating...

  • Page 387: Dm Area Words For Unit (20 Words, Cpu Unit_Mc Unit)

    Section 7-3 Allocations for the CPU Unit 7-3-2 DM Area Words for Unit (20 Words, CPU Unit_MC Unit) DM Output Area for the Unit (CPU → MC Unit, 20 Words) Default Setting Area Classification Word Variable Name Specifications Unit area range 00-15 Bit Area Type Specifies area type on CPU Unit...
  • Page 388 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications General I/O F m+14 Same as for General I/O A area range settings area range set- m+15 tings General I/O G m+16 Same as for General I/O A area range settings area range set- m+17 tings...
  • Page 389 Section 7-3 Allocations for the CPU Unit The custom bit area is allocated, as shown below, starting from word 0064Hex (100) of CIO area in PLC. Control bit Status bit Axis 01 Axis 02 Axis 31 Axis 32 Ex2: 0002 00C8 The custom bit area is allocated, as shown below, starting from word 00C8Hex (200) of CIO area in PLC.
  • Page 390 Section 7-3 Allocations for the CPU Unit 03: DM area (custom address) Specifies DM area of PLC starting from the specified first address (m+3). 04: EM area (custom word) Specifies EM area of PLC starting from the specified first address (m+3).
  • Page 391 Section 7-3 Allocations for the CPU Unit General I/O Area Settings (with PORT_A) Word Name Timing for enabling the setting PORT Area Type, No. of Transferred Words, Direction Specification When the power is turned ON, or when MC Unit is restarted PORT Area First Address Data configuration Setting range...
  • Page 392 Section 7-3 Allocations for the CPU Unit For details of bank and file memory of EM area, refer to “SYSMAC CS Series CS1G/H-CPU __ -EV1, CS1G/H-CPU __ H Programmable Controllers Opera- tion Manual (Cat. No. W339-E1-@@)”. • First address (word m+5) When CIO (0001), WR (0002), DM (0003), or EM area (0004) is specified for the operation data area in the area type specification (word m+4 bit08 to 14), the first address is to be specified.
  • Page 393 Section 7-3 Allocations for the CPU Unit On PLC Direction On MC Unit → PORT_D EM 10000 to 10159 IW 0CE0 to 0D7F PORT_E Not used- → PORT_F CIO 0010 to 0019 IW 0E20 to 0E29 ← PORT_G DM 32000 to 32159 OW 0EC0 to 0F5F ←...
  • Page 394 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Motion task 1 m+42 OW0360 00-15 Motion Task Alarm Outputs the code of the alarm occurring on motion Status data Code task level. m+43 OW0361 00-15 Executing Motion Outputs the program No.

  • Page 395: Custom Bit Area

    Section 7-3 Allocations for the CPU Unit 7-3-3 Custom Bit Area Custom Bit Area (CPU → MC Unit, 32 words) Classification Word Variable Name Specifications Axis 1 Control bits IW0440 Axis Alarm Reset 0: Nil 1: Does not turn ON the bit [Axis Alarm] ↑: Clears the alarm occurring on axis level and MLK slave alarm ↓: Nil...
  • Page 396 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Axis 1 Control bits IW0440 ABS Origin Setting 0: Nil 1: Nil ↑: Sets the absolute encoder origin ↓: Nil Axis Override Enable 0: Disables axis override value (override 100% is used) 1: Enables axis override value ↑: Nil...
  • Page 397 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Axis 26 control bits x+25 IW0459 00-15 Same as for Axis 1 Same as for Axis 1 Axis 27 control bits x+26 IW045A 00-15 Same as for Axis 1 Same as for Axis 1 Axis 28 control bits x+27...
  • Page 398 Section 7-3 Allocations for the CPU Unit Custom Bit Area (MC Unit → CPU, 32 words) Classification Word Variable Name Specifications Axis 1 Status bits x+32 OW0440 00 Axis Alarm 0: No alarm occurring on axis or MLK slave or Axis Alarm Reset is ON.

  • Page 399: Custom Data Area

    Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Axis 3 Status bits x+34 OW0442 00-15 Same as for Axis 1 Same as for Axis 1 Axis 4 Status bits x+35 OW0443 00-15 Same as for Axis 1 Same as for Axis 1 Axis 5 Status bits x+36...
  • Page 400 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Axis 14 Control data d+13 IW048D 00-15 Axis 14 Override Same as for Axis 1 Control data Axis 15 Control data d+14 IW048E 00-15 Axis 15 Override Same as for Axis 1 Control data Axis 16 Control data d+15 IW048F 00-15...
  • Page 401 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Axis 3 Status d+38 OW0486 00-15 Same as for Axis 1 Same as for Axis 1 Status data data Status data d+39 OW0487 d+40 OW0488 Axis 4 Status d+41 OW0489 00-15...
  • Page 402 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Axis 19 Status d+86 OW04B6 00-15 Same as for Axis 1 Same as for Axis 1 Status data data Status data d+87 OW04B7 d+88 OW04B8 Axis 20 Status d+89 OW04B9 00-15...
  • Page 403 Section 7-3 Allocations for the CPU Unit Custom Area (CPU ← → MC Unit, 8 Areas × 160 words) Classification Word Variable Name Specifications General I/O A IW0B00 00-15 General I/O A Reflects the data from general output A Word 1-160 (CPU_MC Unit), or sets the data to be output to IW0B9F general input A (MC Unit_CPU)

  • Page 404: Interface Specifics

    Section 7-4 Interface Specifics Interface Specifics This section provides detailed information on each bit in the PC IF Area and the functions of data in allocated DM Area. Response Time For each bit, description of ‘Timing Chart’ is provided. [T1] indicates the Unit Scan while [Tu] indicates being not fixed.
  • Page 405 Section 7-4 Interface Specifics Name Specifications Unit Alarm 0: No Alarm occurring on Unit level or the bit [Unit Alarm Reset] is ON 1: Alarm occurring on unit level Unit Alarm Code Output the code of the alarm occurring on Unit level •...
  • Page 406 Section 7-4 Interface Specifics Alarms are reset on the basis of each type. Therefore, execute the alarm reset over the Unit, Task, and Axis to clear an alarm occurring on the MC Unit with- out fail. Timing Chart Basic operation (Alarm Occurring): Alarm Identification: Alarm Occurring Alarm Identification:...
  • Page 407 Section 7-4 Interface Specifics Alarm that cannot be reset occurs: When the bit [Unit Alarm] is turned OFF, whether reset has been accepted or not will be checked. When [Unit Alarm Reset] is turned OFF, [Unit Alarm] bit will be turned ON. Unit Control Bit: Unit Alarm Reset Alarm Identification:...
  • Page 408 Section 7-4 Interface Specifics Alarm occurs when [Unit Alarm Reset] has been ON: Another alarm occurs when [Unit Alarm Reset] has been ON. [Unit Alarm] will not turn ON when an alarm occurs while [Unit Alarm Reset] is ON. When the bit [Unit Alarm] is turned OFF, whether reset has been accepted or not will be checked.
  • Page 409 Section 7-4 Interface Specifics Status Condition Name Specifications Flash Save Com- 0: Neither parameter nor position data save is completed pleted 1: Parameter or position data save is completed (including error completion) • When saving is completed (normal completion or error completion), the bit [Flash Save Completed] will turn ON.
  • Page 410 Section 7-4 Interface Specifics The timing chart will be the same as the above even at error completions. Use the bit [Unit Alarm] to confirm normal completion or error completion. (Confirm with the alarm as it seldom happens.) If [System Parameter Save] is turned OFF before completion: Turning OFF after reception will not interrupt saving.
  • Page 411 Section 7-4 Interface Specifics System Parameter Program Example DIFU Work bit Position Data Save condition n+0.02 Position Data Save n+15.02 Flash Save n+0.02 Completed Position Data Save Timing Chart Basic Operation: When [Flash Save Completed] is turned ON, [Position Data Save] will be turned OFF.
  • Page 412 Section 7-4 Interface Specifics Function • To use the actual positions on an application in motion programs as posi- tion data, the present positions are stored in position data. • Generally, there are following 2 operations: • Teaching Condition Setting: The axis and address of teaching object will be specified when the bit [Teaching Condition Setting] is turned ON.
  • Page 413 Section 7-4 Interface Specifics • The bit [Teaching Address] will return to zero if the address after incre- ment in teaching execution exceeds 10239 (27FFh). Status Condition Name Specifications Teaching Warning 0: Teaching condition setting, execution completed success- fully 1: Condition error, Command disabled, No origin, or Address overflow Teaching Condition 0: When the bit [Teaching Condition Setting] is OFF...
  • Page 414 Section 7-4 Interface Specifics Effect of Other Functions Classification Items Effect Physical status Servo axis No effect Virtual axis No effect I/O axis No effect Counter axis No effect Control status In Position control No effect In Speed control No effect In Torque control No effect Status bits...
  • Page 415 Section 7-4 Interface Specifics Program Example DIFU Work bit Teaching Condition Setting n+15.04 Teaching Axis MOVL Setting #00000001 Teaching Condition n+0.03 Setting Completed Teaching Storing Teaching Condition First Address Setting #0000 Setting m+20 n+0.03 Teaching Condition Setting DIFU Work bit Teaching Execution Condition n+0.04 Teaching Type...
  • Page 416 Section 7-4 Interface Specifics Timing Chart Teaching Condition Setting (Normal completion): Completed normally, and the address monitor is updated. Changing only the address after the rise of [Teaching Condition Setting] cannot be accepted. Unit Control Bit: Teaching Condition Setting Unit Control Bit: Number of Teaching Axis Setting axes = 8...
  • Page 417 Section 7-4 Interface Specifics Teaching Condition Setting (Error Completion): Error occurs because the Error occurs because address is 10240 or higher. No. of axes is zero. Unit Control Bit: Teaching Condition setting Unit Control Bit: No. of axes = 0 No.
  • Page 418 Section 7-4 Interface Specifics Teaching Execution (Normal completion): Completed normally, and The feedback position is stored. the address will be incremented. Unit Control Bit: Teaching Execution Unit Control Bit: Teaching Type Unit Status Bit: Teaching Warning Unit Status Bit: Teaching Execution Completed Unit Status Data: 1000h...
  • Page 419 Section 7-4 Interface Specifics Teaching Execution (Error completion): Completed with error because The feedback position is not stored. no origin has been defined. Unit Control Bit: Teaching Execution Unit Control bit: Teaching Type Unit Status Bit: Teaching Warning Unit Status Bit: Teaching Execution Completed Unit Status Data:...
  • Page 420 Section 7-4 Interface Specifics Command and Operation Name Specifications Servo Parameter 0: Nil Save 1: Nil ↑: Saves servo parameters in the Flash ROM and EEPROM. ↓: Nil • Servo parameters will be saved when the bit [Servo Parameter Save] is turned ON.
  • Page 421 Section 7-4 Interface Specifics Timing Chart Basic Operation: When [Flash Save Completed] is turned ON, [Servo Parameter Save] will be turned OFF. When [Servo Parameter Save] is turned OFF, [Flash Save Completed] will be turned OFF. Unit Control Bit: Servo Parameter Save Unit Status Bit: Flash Save Completed Data in Flash Memory...
  • Page 422 Section 7-4 Interface Specifics Command and Operation Name Function Present Value Moni- Selects data to be output to present value monitor. tor Select 0: Zero output Outputs 0. 1: Feedback position (coordinate system currently being selected) Outputs feedback position on the selected coordinate system. 2: Feedback position (machine coordinate system) Outputs feedback position on the machine coordinate system.
  • Page 423 Section 7-4 Interface Specifics Name Function Servo Axis Virtual Axis I/O axis, Counter axis Present Value Selects from the following 11 to output Always zero Monitor ← 0: Zero Value range: 0, Unit: Nil 1: Feedback position (selected coordinate system) Same value as for Value range: −2147483648 to 2147483647, Unit: Command unit...

  • Page 424: Unit Status Bits

    Section 7-4 Interface Specifics Classification Item Effects Status Bits Busy No effect In Servo Lock No effect No Origin No effect Axis Operating No effect Positioning Completed No effect Positioning Completed (No.2) No effect Axis Machine Lock Status No effect Command Disabled/Enabled When OFF: [Present Value Monitor] = 0 When ON: No effect...
  • Page 425 Section 7-4 Interface Specifics • The bit [Unit Ready] will be turned ON after the power is turned ON, the initial processing is completed, and the motion task becomes ready to receive commands. • During normal operations, the bit [Unit Ready] will be turned OFF when an alarm that requires the system stop occurs.
  • Page 426 Section 7-4 Interface Specifics Status Condition Name Specifications External Forced Stop 0: No forced stop request from something (FINS, etc.) other Request than input variable 1: There is a forced stop request from something (FINS, etc.) other than input variable. External Forced Stop 0: No forced stop request, or processing for the stop Status...

  • Page 427: Motion Task Control Bits

    Section 7-4 Interface Specifics 7-4-3 Motion Task Control Bits Words Variables Bits Name IW0340 Motion Program Start (Task 1) Output n+11 IW0347 Motion Program Start (Task 8) 02-03 Start Mode (Task 1) Start Mode (Task 8) Function Specifying a program number and starting the motion task can execute the motion program that was stored in the MC Unit.
  • Page 428 Section 7-4 Interface Specifics • In [Start Mode] = 1, the operation at resuming an interrupted program var- ies depending on the command being executed as shown below: Command Operation MOVE/MOVEL/MOVEC/ See 7-2-3 Automatic Mode (page 348). MOVEI/MOVET MOVETRAV/MOVELINK/ When interrupted midway of a block, resumes to fin- CAMBOX (1 cycle) ish the remaining travel distance.
  • Page 429 Section 7-4 Interface Specifics • [Executing Motion Block Number (Multiple execution command)] indicates the block number of the multiple execution command currently being exe- cuted. It will be updated only when a command execution is started. If program operation is interrupted or completed, the value immediately before will be held.
  • Page 430 Section 7-4 Interface Specifics Program Example <Example of starting the program (program No. 1) using Axes 1 and 2 with motion task 1> x+0.15 Axis 1 Automatic/Manual Mode Automatic/Manual x+1.15 Switch Axis 2 Automatic/Manual Mode In Automatic Mode x+32.15 x+33.15 Axis 1 In Automatic Mode Axis 2 In Automatic Mode In Servo Lock...
  • Page 431 Section 7-4 Interface Specifics Timing Chart Turning ON [Motion Program Number] during operation is ignored. Turning ON [Motion Program Start] during operation is ignored. Start Mode and Program Number at the rise of Executing Motion Program the bit [Motion Program Start] are referenced. Number is held even after operation completion.
  • Page 432 Section 7-4 Interface Specifics Transition of Executing Motion Block Number: Programs to be executed Row No. PROG P100 Q00000003; MOVE [J01]1000 [J02]1000; #MW1000 = 1000; #MW1000 = 2000; #MW1000 = 3000; ABLMOVE [J01]#MW1000 [J02]#MW1000; END; The 3 to 5 rows are executed in one scan, so only the 5th row executed at the end of the scan will remain as data.
  • Page 433 Section 7-4 Interface Specifics Command and Operation Name Specifications Motion Program 0: Nil Start 1: Nil ↑: Starts the motion program following the specified Start Mode. ↓: No Start Mode 0,3: Reads program number and executes the program from top. 1: Executes the program from the block indicated by Executing Motion Block Number.
  • Page 434 Interface Specifics Section 7-4 Command Operation SPEED: Decelerates to zero speed, and switches to Position Con- Speed Control trol Mode. After position loop is formed, the operation will be stopped. TORQUE: Reduce torque to zero, and switches to Position Control Torque Control Mode.
  • Page 435 Interface Specifics Section 7-4 Timing Chart Programs to be executed Row No. PROG P100 Q00000003; ABL MOVEL [J01]1000 [J02]1000; The bit [Deceleration Stop] is turned ON during execution of this block. #MW1000 = 1000; #MW1000 = 2000; #MW1000 = 3000; ABL MOVEL [J01]#MW1000 [J02]#MW1000;...
  • Page 436 Section 7-4 Interface Specifics Stop in Pass Mode: Programs to be executed Row No. PROG P100 Q00000003; PASSMODE; MOVEL [J01]1000; The bit [Deceleration Stop] is turned ON after MOVEL [J02]1000; having stated the execution of this block. END; Executing Motion Program Number and Executing Motion Block Number will be held after completion of deceleration stop.
  • Page 437 Interface Specifics Section 7-4 Stop in Speed or Torque Control: Program to be executed Row No. PROG P100 Q00000003; The bit [Deceleration Stop] is turned ON SPEED [J01]1000 T100; after having started execution of this block. MOVEL [J02]1000; END; [J01] Speed Time Motion Task Control Bit: Deceleration Stop...
  • Page 438 Section 7-4 Interface Specifics Name Specifications Start Mode 0,3: Reads program number and executes the program from top. 1: Executes the program from the block indicated by Executing Motion Block Number. Operation at resuming interrupted pro- grams varies depending on the command used or stopping status.
  • Page 439 Section 7-4 Interface Specifics Status Condition Name Specifications Motion Program 0: Motion task is not executing program operation. Operating 1: Motion task is executing program operation (turned OFF after completion of deceleration or block stop) Motion Program 0: When starting program operation Operation Com- 1: END command was executed.
  • Page 440 Interface Specifics Section 7-4 Timing Chart Basic Operation: Program to be executed Row No. PROG P100 Q00000003; ABL MOVE [J01]1000 [J02]1000; The bit [Block Stop] is turned ON #MW1000 = 1000; during execution of this block. #MW1000 = 2000; #MW1000 = 3000; ABL MOVE [J01]#MW1000 [J02]#MW1000;...
  • Page 441 Section 7-4 Interface Specifics Stop in Pass Mode: Program to be executed Row No. PROG P100 Q00000003; PASSMODE; MOVEL [J01]1000; The bit [Block Stop] is turned ON MOVEL [J02]1000; after starting execution of this block. END; Although the 3 block is currently being executed, execution of the 4 block has already been started.
  • Page 442 Section 7-4 Interface Specifics Stop in Speed or Torque control mode: Program to be executed Row No. PROG P100 Q00000003; The bit [Deceleration Stop] is turned ON SPEED [J01]1000 T100; after starting execution of this block. MOVEL [J02]1000; END; [J01] speed Time Motion Task Control Bit: Block Stop...
  • Page 443 Section 7-4 Interface Specifics Command and Operation Name Specifications Motion Program 0: Nil Start 1: Nil ↑: Starts motion program operation following the specified Start Mode ↓: No Start Mode 0,3: Reads program number and executes the program from top. 1: Executes the program from the block indicated by Executing Motion Block Number.
  • Page 444 Interface Specifics Section 7-4 Name Specifications Executing Motion Outputs the program number of the program currently being Program Number executed in motion task or temporarily being stopped. Executing Motion • Outputs the block number of the single execution command Block Number currently being executed with motion task, or temporarily (Single execution being stopped.
  • Page 445 Interface Specifics Section 7-4 Timing Chart Basic Operation: Program to be executed Row No. PROG P100 Q00000003; ABL MOVE [J01]1000 [J02]1000; #MW1000 = 1000; #MW1000 = 2000; #MW1000 = 3000; ABL MOVE [J01]#MW1000 [J02]#MW1000; END; Stopping at the end of the block makes the bit [In Block Stop] turn ON. After block stop completion, Executing Motion Program Number and Executing Motion Block Number will be held.
  • Page 446 Section 7-4 Interface Specifics Word Variable Name IW0340 Task Override Enable (Task 1) Output n+11 IW0347 Task Override Enable (Task 8) Function • Override is the function to change the feed rate specified in the motion program or parameter to the user-specified speed with % specification. •...
  • Page 447 Interface Specifics Section 7-4 Effect of Other Functions Effect on Other Functions Speed of the functions with axis movement is affected. Program Example Override Data Setting #0000 Task Override Enable Condition m+23 n+4 to 11.07 Task Override Enable Timing Chart Basic Operation: The bit [Task Override Enable] is turned OFF.
  • Page 448 Section 7-4 Interface Specifics Relation between Task Override and Axis Override: Program Example MOVEL Operation of (1) MOVEL [J01]10000; ---(1) MOVE [J01]3000; ---(2) MOVEL Speed is affected by [Task Override]. MOVEL Speed is not affected by [Axis Override]. MOVE Operation of (2) MOVE Speed is not affected by [Task Override].
  • Page 449 Section 7-4 Interface Specifics Command and Operation Name Specifications Motion Task Alarm 0: Nil Reset 1: Does not turn ON the bit [Motion Task Alarm]. ↑: Clears the alarm occurring in motion task. ↓: Nil Turning ON the bit [Motion Task Alarm Reset] can reset alarms on the motion task level.
  • Page 450 Interface Specifics Section 7-4 Program Example DIFU Work bit Alarm Reset Condition n+0.00 Unit Alarm Reset n+15.01 Unit Alarm n+0.00 Occurring Unit Alarm Reset n+4 to 11.01 Task Alarm Reset n+17 to 24.00 Task Alarm n+4 to 11.01 Occurring Task Alarm Reset x+0 to 31.00 Axis Alarm Reset x+32 to 63.00...
  • Page 451 Section 7-4 Interface Specifics Timing chart Basic Operation (Alarm Occurring): Alarm Identification: Alarm Occurring Alarm Identification: Motion Task Alarm Occurring Motion Task Status Bit: Motion Task Alarm Motion Task Status Data: XXXX Motion Task Alarm Code Internal Alarm Status Basic Operation (Alarm Reset): When the bit [Motion Task Alarm] is turned OFF, whether reset has been accepted or not will be checked.
  • Page 452 Section 7-4 Interface Specifics When an alarm that cannot be reset occurs: When the bit [Motion Task Alarm] is turned OFF, whether reset has been accepted or not will be checked. The bit [Motion Task Alarm] will be turned ON when the bit [Motion Task Alarm Reset] is turned OFF.
  • Page 453 Section 7-4 Interface Specifics Another alarm occurred while the bit [Motion Task Alarm Reset] is ON. When an alarm occurs while the bit [Motion Task Alarm Reset] is ON, the bit [Motion Task Alarm] will not be turned ON. When the bit [Motion Task Alarm] is turned OFF, whether reset has been accepted or not will be checked.
  • Page 454 Section 7-4 Interface Specifics Effect of Other Functions Effect on Other Functions System Parameter ON/OFF of the bit [Speed Clamp Warning] is determined by the following sys- tem parameters: Parameter No. Name P00M01 Maximum interpolation feed rate P2AA01 Maximum rapid feed rate Timing Chart Basic Operation: The override exceeded 100% and the bit...

  • Page 455: Axis Control Bits, Axis Status Bits

    Section 7-4 Interface Specifics • The bit [Deceleration Stop] or [Block Stop] is ON. • [Motion Program Number] is not between 0-499. • The motion program specified by [Motion Program Number] does not exist (It has not been loaded). • The bit [Command Disable/Enable] of the axis specified by PROG com- mand is OFF.
  • Page 456 Section 7-4 Interface Specifics Command and Operation Name Specifications Deceleration Stop 0: Nil 1: Prohibits JOG, STEP, and Origin Search in Manual Mode. ↑: Deceleration stop (JOG, STEP, and Origin Search) ↓: Nil • When the bit [Deceleration Stop] is turned ON, the operation of each func- tion in the table below will be stopped with deceleration.
  • Page 457 Section 7-4 Interface Specifics Timing Chart Jog operation cannot be executed because Turning OFF the bit thee bit [Deceleration Stop] has been ON. [Deceleration Stop] after deceleration has been already started will not make the axis to accelerate again. Axis Control Bit: Axis Control Bit: Deceleration Stop Word...
  • Page 458 Section 7-4 Interface Specifics • Once the bit [Servo Lock] is turned ON, the processing will not be inter- rupted (i.e. the bit [In Servo Lock] will turn ON) even if the bit [Servo Lock] is turned OFF before the rise of the bit [In Servo Lock]. •...
  • Page 459 Section 7-4 Interface Specifics Timing Chart Basic Operation: Turning OFF the bit [Servo Lock] will not cause Servo Unlock. Turning OFF the bit [Servo Unlock] will not cause Servo Lock. Axis Control Bit: Servo Lock Axis Control Bit: Servo Unlock Axis Status Bit: In Servo Lock Servo Unlock:...
  • Page 460 Section 7-4 Interface Specifics Command and Operation Name Specifications 0: Nil 1: Continues JOG operation ↑: Starts JOG operation ↓: Stops JOG operation JOG/STEP Direction 0: Sets the direction of JOG and STEP operation to positive direction 1: Sets the direction of JOG and STEP operation to negative direction ↑: Nil ↓: Nil...
  • Page 461 Section 7-4 Interface Specifics Classification Item Effect Status Bits Busy JOG cannot be executed when In Servo Lock JOG cannot be executed when OFF. No Origin No effect Axis Operating JOG cannot be executed when Positioning Completed No effect Positioning Completed (No.2) No effect Axis Machine Lock Status No effect...
  • Page 462 Section 7-4 Interface Specifics Timing Chart ■ Pre-Ver. 2.0 MC Units, or MC Units with Ver. 2.0 or Later with P00004 bit 05 set to 0 Basic Operation: The bit [Positioning Completed] is not included Direction cannot be changed in completion condition. after the JOG operation has been started.
  • Page 463 Section 7-4 Interface Specifics Timing Chart ■ MC Units with Ver. 2.0 or Later with P0004 bit 05 set to 1 Basic Operation: The bit [Positioning Change the rotation direction Completed] is not included using the JOG/STEP Direction Bit. in completion condition. Speed Time Axis Control Bit:...
  • Page 464 Interface Specifics Section 7-4 • When the axis completes to move for the specified travel distance, it auto- matically decelerates to stop. (The travel distance for the deceleration stop is included in the specified travel distance.) • [Axis Override] is applied to the speed. For details of timing, etc., see “Relation between Task Override and Axis Override”...
  • Page 465 Interface Specifics Section 7-4 Classification Item Effect Status Bits Busy STEP cannot be executed when ON. In Servo Lock STEP cannot be executed when OFF. No Origin No effect Axis Operating STEP cannot be executed when ON. Positioning Completed No effect Positioning Completed (No.2) No effect Axis Machine Lock Status...
  • Page 466 Section 7-4 Interface Specifics Timing Chart Basic Operation: STEP operation travel distance The bit [Positioning The direction cannot be Completed] is not included changed after STEP in completion condition. operation has been started. Speed In order to complete the operation, check if the bit [Positioning Completed] is turned ON, and then turn OFF the bit [STEP...
  • Page 467 Interface Specifics Section 7-4 Premature completion: Actual travel distance STEP operation travel distance Speed The bit [Busy] will be turned OFF when the axis operation is completed because the bit [STEP Operation] has been turned OFF. Time Axis Control Bit: STEP Operation Axis Control Bit: JOG/STEP Direction...
  • Page 468 Section 7-4 Interface Specifics Command and Operation Name Specifications Origin Search 0: Nil 1: Continues Origin search ↑: Starts Origin search ↓: Stops Origin search Origin search operation will be started when the bit [Origin Search] is turned ON. Even if the machine origin is not detected, the axis decelerates to stop when the bit is turned OFF.
  • Page 469 Section 7-4 Interface Specifics Classification Item Effect Status Bits Busy Origin search cannot be exe- cuted when ON. In Servo Lock Origin search cannot be exe- cuted when OFF. No Origin No effect Axis Operating Origin search cannot be exe- cuted when ON.
  • Page 470 Interface Specifics Section 7-4 Program Example DIFU Work bit Origin Search Condition Axis Status x+32 to 63 words x+0 to 31.06 Origin Search Bit 02 Bit 05 Bit 14 Bit 03 Bit 15 Bit 04 Bit 00 Busy Axis Axis Not In Servo In Manual No Origin Alarm...
  • Page 471 Section 7-4 Interface Specifics Premature completion: When origin search operation is The bit [Positioning completed] is included started, the bit [No Origin] will in the completion conditions. be turned ON. The origin is not determined due to premature completion. Origin search operation Operation Axis Control Bit: Origin Search...
  • Page 472 Section 7-4 Interface Specifics Command and Operation Name Specifications Machine Origin Return 0: Nil 1: Continues Machine origin return (PTP) ↑: Starts Machine origin return (PTP) ↓: Stops Machine origin return (PTP) The machine origin return operation will be started when the bit [Machine Ori- gin Return] is turned ON.
  • Page 473 Section 7-4 Interface Specifics Classification Item Effect Status Bits Busy Machine origin return cannot be executed when ON. In Servo Lock Machine origin return cannot be executed when OFF. No Origin Machine origin return cannot be executed when ON. Axis Operating Machine origin return cannot be executed when ON.
  • Page 474 Section 7-4 Interface Specifics Timing Chart Basic operation: There must be an origin already The bit [Positioning completed] determined when starting the operation. is included in the completion conditions. Machine origin return operation Operation Axis Control Bit: Machine Origin Return Axis Status Bit: Machine Origin Axis Status Bit:...
  • Page 475 Section 7-4 Interface Specifics Premature completion: There must be an origin The bit [Positioning Completed] is already determined when included in the completion conditions. starting the operation. The axis cannot reach the machine origin due to the premature completion. Machine origin return operation Operation Axis Control Bit: Machine Origin Return...
  • Page 476 Section 7-4 Interface Specifics • When the bit [In Servo Lock] is OFF: The error counter reset processing will be executed when the bit [Error Counter Reset] is turned ON. Note Actually, Errors are not generated. When the bit [Axis Operating] is OFF: •...
  • Page 477 Section 7-4 Interface Specifics Program Example DIFU Error Counter Work bit Reset Condition Work bit x+32 to 63.13 x+32 to 63.00 Command Positioning x+0 to 31.08 Disabled/Enabled Completed Error Counter Reset x+32 to 63.05 Axis Operating Timing Chart Basic operation 1 (The bit [Error Counter Reset] is turned OFF after checking the bit [Positioning Completed].): The bit [Axis Operating] is OFF.
  • Page 478 Section 7-4 Interface Specifics Basic operation 2 (The bit [Error Counter Reset] is turned OFF without check- ing the bit [Positioning Completed].): The bit [Axis Operating] is OFF. Therefore, the error counter reset processing is immediately started. Because the bit [Error Counter Reset] is turned Error amount OFF, processing will be interrupted and the bit [Positioning Completed] will not turn ON.
  • Page 479 Section 7-4 Interface Specifics Execution when the bit [Axis Operating] is ON (in Manual Mode): Waits until the bit [Axis Operating] is turned OFF, and executes the error counter reset. Speed Time Axis Control Bit: Axis Control Bit: Error Counter Reset Axis Status Bit: Busy Axis Status Bit:...
  • Page 480 Section 7-4 Interface Specifics Execution when the bit [Axis Operating] is ON (in Automatic Mode): Waits until the bit [Axis Operating] is turned OFF, and executes the error counter reset. Speed Time Motion Task Control Bit: Motion Program Start Axis Control Bit: Error Counter Reset Axis Status Bit: Busy...
  • Page 481 Section 7-4 Interface Specifics Status Condition Name Specifications Machine Origin 0: Machine coordinate system FB position is outside of origin in-position range. 1: Machine coordinate system FB position is within origin in- position range. Busy 0: Not executing any of the functions listed below. 1: Executing one of the functions listed below, or the com- mand bit is ON.
  • Page 482 Section 7-4 Interface Specifics Program Example DIFU Work bit Forced Origin Condition Axis Status x+32 to 63 words x+0 to 31.09 Forced Origin Bit 02 Bit 05 Bit 06 Bit 13 Bit 14 Bit 15 Busy Axis Positioning Command Axis Not In Manual/ Operating Completed...
  • Page 483 Section 7-4 Interface Specifics Function The present position will be defined as the machine origin when the bit [ABS Origin Setting] is turned ON and the positional relation between the origin and ABS encoder value is saved into the flash ROM. With this function, the need for origin searches when switching ON the ABS encoder will be eliminated.
  • Page 484 Section 7-4 Interface Specifics Classification Item Effect Status Bits Busy ABS origin setting cannot be exe- cuted when ON. In Servo Lock No effect No Origin No effect Axis Operating ABS origin setting cannot be exe- cuted when ON. Positioning Completed ABS origin setting cannot be exe- cuted when OFF.
  • Page 485 Section 7-4 Interface Specifics Timing Chart The bit [Positioning Completed] must be ON when starting ABS origin setting. Axis Control Bit: ABS Origin Setting Axis Status Bit: Machine Origin Axis Status Bit: Busy Axis Status Bit: No Origin Axis Status Bit: Axis Operating Axis Status Bit: Positioning Completed...
  • Page 486 Section 7-4 Interface Specifics • The relations between each command and override are shown in the table below: Classification Function/Name Command Override Remark Axis Movement Positioning MOVE Axis Override Linear Interpolation MOVEL Task Override Circular Interpolation MOVEC Task Override Origin Search DATUM Axis Override Applicable only for origin search...
  • Page 487 Section 7-4 Interface Specifics Program Example Override Data Setting #0000 Axis Override Enable Condition d+31 x+0 to 31.11 Axis Override Enable Timing Chart Basic Operation: The bit [Axis Override Enable] is turned OFF. Therefore, override 100% is used. The bit [Axis Override Enable] is turned ON, so [Axis Override] is enabled.
  • Page 488 Section 7-4 Interface Specifics Relation between Task Override and Axis Override: Program Example MOVEL Operation of (1) MOVEL [J01]10000; ---(1) MOVEL Speed is influenced by [Task Override]. MOVE [J01]3000; ---(2) MOVEL Speed is not influenced by [Axis Override]. MOVE Operation of (2) MOVE Speed is not influenced by [Task Override].
  • Page 489 Section 7-4 Interface Specifics • When Axis machine lock status is cancelled, the command position returns to the position (Feedback present position) before the machine lock status. • The Axis machine Lock function works on each axis independently. Therefore, make sure to take caution when the operation (interpolation, etc.) involves multiple axes.
  • Page 490 Section 7-4 Interface Specifics Classification Item Effect Status Bits Busy No effect In Servo Lock No effect No Origin No effect Axis Operating Axis machine lock state will not be changed when ON. Positioning Completed No effect Positioning Completed (No.2) No effect Axis Machine Lock Status No effect...
  • Page 491 Section 7-4 Interface Specifics Timing Chart Basic Operation: The bit [Axis Machine Lock Status] will be changed (turned ON/OFF) after the bit [Axis Operating] is turned OFF. Command speed Time Feedback speed Time Axis Control Bit: Axis Machine Lock Axis Status Bit: Axis Machine Lock Status Axis Status Bit: Axis Operating...
  • Page 492 Section 7-4 Interface Specifics Operation in Speed or Torque Control: In Speed or Toque Control, it is not guaranteed that the axis will not move when the command output is stopped. Therefore, the bit [Axis Machine Lock Status] is not changed (turned ON/OFF). Due to the same reason, while the bit [Axis Machine Lock Status] is 1 (ON), commands are output not as Speed or Torque command, but as Position command.
  • Page 493 Section 7-4 Interface Specifics Status Condition Name Specifications Busy 0: Not executing any of the functions listed below. 1: Executing one of the functions listed below, or the com- mand bit is ON. JOG, STEP, Origin Search, Machine Origin Return, Error Counter Reset, Forced Origin, and ABS Origin Setting Axis Not Used/Used 0: Axis is not being used.
  • Page 494 Interface Specifics Section 7-4 Function In Manual/Automatic Mode OFF (Manual) ON (Automatic) Axis Control Bit: Manual/Automatic Can be executed Can be executed Mode IOWR: Present Position Preset Can be executed Cannot be executed • When the bit [Manual/Automatic Mode] is turned ON (1) during a manual operation, the manual operation being executed will be interrupted by deceleration stop.
  • Page 495 Interface Specifics Section 7-4 Axis operation switch in Manual Mode: Deceleration will be started when the bit [Manual/Automatic Mode] is changed (turned ON/OFF). The bit [In Manual/ Automatic Mode] will be changed (turned ON/OFF) Speed when the deceleration stop is completed. Time Axis Control Bit: Manual/Automatic Mode...
  • Page 496 Section 7-4 Interface Specifics Switch during program operation in Automatic Mode: Deceleration is started when the bit [Manual/Automatic Mode] is changed (turned ON/OFF). The program below is executed: Only [J01] is switched to Manual Mode. The bits [Axis Not MOVEL [J01]20000 [J02]10000; Used/Used] for both [J01] and [J02] are turned OFF (Not Used).
  • Page 497 Interface Specifics Section 7-4 Word Variable Name IW0440 Axis Alarm Reset (Axis 1) Output x+31 IW045F Axis Alarm Reset (Axis 32) x+32 OW0440 Axis Alarm Occurring (Axis 1) Input x+63 OW045F Axis Alarm Occurring (Axis 32) Function • When an error that requires stopping the operation occurs in the MC Unit or MECHATROLINK-II slaves, it will be detected as an alarm.
  • Page 498 Section 7-4 Interface Specifics Program Example DIFU Work bit Alarm reset condition n+0.00 Unit Alarm Reset n+15.01 Unit Alarm n+0.00 Occurring Unit Alarm Reset n+4 to 11.01 Task Alarm Reset n+17 to 24.00 Task Alarm n+4 to 11.01 Occurring Task Alarm Reset x+0 to 31.00 Axis Alarm Reset x+32 to 63.00...
  • Page 499 Section 7-4 Interface Specifics Timing Chart Basic Operation (Alarm Occurring): Alarm identification Data: Alarm Occurring Alarm identification Data: Axis Alarm Occurring Axis Status Bit: Axis Alarm Axis Status Data: Axis Alarm Code XXXX Internal Alarm Status Basic Operation (Alarm Reset): When the bit [Axis Alarm] is turned OFF, whether reset has been accepted or not will be checked.
  • Page 500 Interface Specifics Section 7-4 When an alarm that cannot be reset occurs: When the bit [Axis Alarm] is turned OFF, whether reset has been accepted or not will be checked. When the bit [Axis Alarm Reset] is turned OFF, the bit [Axis Alarm] will be turned ON.
  • Page 501 Section 7-4 Interface Specifics When an alarm occurs while the bit [Axis Alarm Reset] is ON: Another alarm occurred while the bit [Axis Alarm Reset] is ON. When an alarm occurs while the bit [Axis alarm Reset] is ON, the bit [Axis Alarm] will not be turned ON.
  • Page 502 Section 7-4 Interface Specifics • 1-shot output may occur. In that case, depending on the Scan Time of the ladder program and the Unit Scan Time of the MC Unit, the output may not be reflected in the ladder program. Effect on Other Functions The bit [Machine Origin] does not affect other functions directly.
  • Page 503 Section 7-4 Interface Specifics The bit [Busy] will be turned ON when the execution of the following functions is started after they were accepted, and turned OFF when the execution is completed and the command is turned OFF. Function Axis Control Bit: JOG Axis Control Bit: STEP Axis Control Bit: Origin Search Axis Control Bit: Machine Origin Return...
  • Page 504 Section 7-4 Interface Specifics Function Remark Axis Control Bit: The bit [No Origin] will be turned OFF when ABS Control Setting is completed nor- ABS Origin Setting mally. Subsequently, the bit will be turned OFF simultaneously when the bit [Command Dis- abled/Enable] is turned ON.
  • Page 505 Section 7-4 Interface Specifics Function Remark MOVEC Command: Circular Interpolation In Pass Mode MOVETRAV Command: Traverse In Pass Mode • The status (ON/OFF) of Axis machine lock will not be changed while the bit [Axis Operating] is ON. System Parameter Timing Chart Basic Operation: Command speed...
  • Page 506 Section 7-4 Interface Specifics • The bit [Positioning Completed (No.2)] will be turned ON when the differ- ence between the present position and target position enters into the in- position range No.2 (specified in the system parameter) after position command output was completed. •...
  • Page 507 Section 7-4 Interface Specifics System Parameter The range where the bits are turned ON/OFF is determined by the following system parameter: Name Pn0500 In-Position Range P3AA07 No.2 In-Position Range Note It is generally recommended to set the parameters above so that [Pn0500 = P3AA07] is satisfied for the sake of positioning and interpolation feed accu- racy.
  • Page 508 Section 7-4 Interface Specifics Status Condition Name Specifications Error Counter Warn- 0: Error amount is within the range of the error counter warn- ing value. 1: Error amount has exceeded the range of the error counter warning value. • The bit [Error Counter Warning] will be turned ON when the error amount exceeds the error counter warning value specified in the system parame- ter.
  • Page 509 Section 7-4 Interface Specifics Function Purpose of counter latch function Role of latch signal MOVELINK: Link Operation Detects link start position. Trigger to start synchronization CAMB0X: Detects link start position. Trigger to start synchronization Electronic Cam, Synchronous SYNC: Trailing Synchronization Detects marker sensor ON position.
  • Page 510 Section 7-4 Interface Specifics Status Condition Name Specifications MECHATROLINK Warn- 0: No warning detected on MECHATROLINK-II device 1: Warning detected on MECHATROLINK-II device 1-shot output may occur. In that case, depending on the Scan Time of the lad- der program and the Unit Scan Time of the MC Unit, the output may not be reflected in the ladder program.
  • Page 511 Section 7-4 Interface Specifics Function The bit [Axis Not Used/Used] indicates the status of whether the concerned axis can be used or not. The bit [Axis Not Used/Used] reflects the execution status as compared to the bit [Busy] will not be turned OFF until the command output is turned OFF.
  • Page 512 SECTION 8 Establishing the Origin This section describes how to establish the origin in the positioning system. Overview ........... . . 8-1-1 Using Incremental Encoders .
  • Page 513 Section 8-1 Overview Overview This section describes the method of establishing the origin for motion control systems using either incremental encoders or absolute encoders. 8-1-1 Using Incremental Encoders In motion control systems using incremental encoders, an origin must be established and the bit [No Origin] must be turned OFF after the power is turned ON.
  • Page 514 Section 8-1 Overview 8-1-2 Using Absolute Encoders With the ABS encoder, the present position can be defined by reading the absolute value from the encoder when the MC Unit is turned ON if the PLC (MC Unit) or servo driver was turned OFF once. Because of this, there is no need to perform origin searches every time when turning ON the devices.
  • Page 515 Section 8-2 Input Signals Required for Origin search Input Signals Required for Origin search The following input signals and conditions are required to perform the origin search operation. Parameter Description CW/CCW Limit Signals Normally closed switches are required. Origin Proximity Signal The logic of the input signal can be changed in the parameter, so either Normally closed or Normally open switch can be used.
  • Page 516 Section 8-3 Origin Search Methods and Parameters 3-level Speed in One • The origin search is performed only in one direction. Direction Mode • After starting the operation towards the phase-Z detection direction at Ori- gin search feed rate, the speed will be changed to Origin search approach speed when the Origin proximity signal input (normally open) is turned ON.
  • Page 517 Section 8-4 Origin Search Operations Parameter Value Description Origin search P4AA08 1 to 2147483647 Sets the 2 level speed of the 3-level speed origin approach speed Note Note that the speed is lim- search, or sets the 1 level speed of the 2-level ited by 32767 command speed origin search.
  • Page 518 Section 8-4 Origin Search Operations Description 1,2,3... 1. When the origin search is executed, the axis is moved in the specified di- rection at the specified origin search feed rate. 2. When the origin proximity input signal is input, the speed is changed to the origin search approach speed.
  • Page 519 Section 8-4 Origin Search Operations Description 1,2,3... 1. When the origin search is executed, the axis is moved in the phase-Z de- tection direction at the origin search approach speed. 2. After the origin proximity input signal is turned OFF, the speed is reduced at the first rise of the phase-Z.
  • Page 520 MC Unit reads the same data to calculate the absolute position to set the machine coordinate system automatically. Applicable Absolute The following Servomotors with absolute encoders that can be connected to Encoders the MC Unit are provided: OMRON W Series (R88M-W@@@@@S) (R88M-W@@@@@T)
  • Page 521 Section 8-6 ABS Encoder Origin Setting ABS Encoder Origin Setting 8-6-1 Procedure Follow the procedure below to set the ABS encoder origin. Related parameter setting for the MC Unit and Servo Driver ABS encoder setup ABS origin setting for the MC Unit Follow the above procedure in the following cases: •...
  • Page 522 0 in the MC Unit. Setup Procedure The following setup procedure is for the ABS encoder on OMRON W-series Servomotor. Make sure to follow the procedure. Otherwise, errors may occur.
  • Page 523 Section 8-6 ABS Encoder Origin Setting 1,2,3... 1. Execute ABS encoder setup in the system check mode (Fn008). ABS encoder setup in the Displays PGCL1 system check mode More than 1second Sets PGCL5 Setup operation Done display flashing (setup is completed) After 1second Returns to the PGCL5 display More than 1second...
  • Page 524 Section 8-6 ABS Encoder Origin Setting 8-6-4 Supplemental Information for Setting Up Setup operation explained above is required for operation check (with no load) on a motor and driver alone. When connecting the motor with the mechanical system for trial operation, another setup will be required due to the possibility that the amount of multi-turns in the ABS encoder may be too great .
  • Page 525 Section 8-6 ABS Encoder Origin Setting Execute ABS origin setting using the bit in the PC Interface Area. Name Word Variable Name Description Axis 1 Control Bit IW0440 Absolute Origin 0: Nil Setting 1: Nil ↑: Sets ABS encoder origin ↓: Nil Axis 2-32 Control IW0441...
  • Page 526 SECTION 9 Other Operations This section describes special operations for the CS1W-MCH71 Motion Control Unit, including teaching, program debugging, coordinate systems, and backup functions. Teaching............9-1-1 Introduction .
  • Page 527 Section 9-1 Teaching Teaching This section describes the teaching method using the PC Interface Area. 9-1-1 Introduction • After moving the axis to a desired position, the present position can be written into the words for position data. This process is called teaching. The address to which the present position is written is called teaching address.
  • Page 528 Section 9-1 Teaching 9-1-3 Teaching Execution • The bit [Teaching Type] will be read when the bit [Teaching Execution] is turned ON, and the present values will be written into the position data under the conditions specified in the [Teaching Condition Setting]. •...
  • Page 529 Section 9-1 Teaching • It will be turned OFF when the bit [Teaching Execution] is turned OFF. Teaching Address Monitor • The status [Teaching Address Monitor] indicates the teaching address. • When teaching is completed normally, the address displayed in [Teaching Address Monitor] will be automatically incremented for the number of axes specified in the bits [Teaching Axis Setting 1-16] and [Teaching Axis Setting 17-32].
  • Page 530 Section 9-1 Teaching DM Area Words for Unit (MC Unit to CPU Unit) Classification Word Variable Name Specifications Unit Status data m+39 OW0311 00-15 Teaching Address Outputs the address of the current teaching Monitor object. 9-1-6 Program Example DIFU Work bit Teaching Condition Setting Condition n+15.04...
  • Page 531 Section 9-1 Teaching 9-1-7 Timing Chart Teaching Condition Setting (Normal completion): Completed normally, and the address monitor changes Changing only the address after the automatically. rise of the bit [Teaching Condition Setting] cannot be accepted. Unit Control Bit: Teaching Condition Setting Unit Control Bit: Axis number...
  • Page 532 Section 9-1 Teaching Teaching Execution (Normal completion): The feedback position is stored. Completed normally, and the address will be incremented. Unit Control Bit: Teaching Execution Unit Control Bit: Teaching Type Unit Status Bit: Teaching Warning Unit Status Bit: Teaching Execution Completed Unit Status Data: 1008h...
  • Page 533 Section 9-2 Debugging the Program Teaching Execution (Error completion): Completed with error because The feedback position is not stored. no origin has been defined. Unit Control Bit: Teaching Execution Unit Control Bit: Teaching Type Unit Status Bit: Teaching Warning Unit Status Bit: Teaching Execution Completed Unit Status Data:...
  • Page 534 Section 9-2 Debugging the Program 9-2-1 Single Block Operation Function • Single Block Operation is a motion program-debugging function that exe- cutes the motion program in block units so that program execution stops after each block. • When the bit [Single Block Operation Mode] is ON, blocks not involving operations (program numbers or parallel branching labels) will be stopped.
  • Page 535 Section 9-2 Debugging the Program Operation during Parallel If the bit [Single Block Operation Mode] is already ON before execution of par- Execution allel branching, each branch will be executed one block at a time. At the end (JWAIT command) of parallel execution, branches follow execution of the branch with the most blocks.
  • Page 536 Section 9-2 Debugging the Program • Signals to the output modules are output normally. Operation • Machine Lock can be executed by turning ON/OFF the bit [Machine Lock] from the ladder program or the support tool. • When the Machine Lock status is cleared, the command position will be the one before the Machine Lock state.
  • Page 537 Section 9-3 Coordinate System The status will be changed when The output remains as the the bit [Axis Operating] = 0 in the position command in Axis position control mode. Machine Lock state. Position Speed/Torque Commands by program Position command Speed/Torque command command command...
  • Page 538 Section 9-3 Coordinate System Machine Workpiece Coordinate Coordinate System System ORIGIN; Positioning to (20,000, 15,000) ABL MOVE [J01]14000 [J02]9000; Before execution of WORK command (1) ABL MOVE [J01]20000 [J02]15000; 1 (15000) ORIGIN; After execution of WORK command (2) ABL MOVE [J01]14000 [J02]9000; OFFPOS C1 [J01]4000 [J02]-3000;...
  • Page 539 Section 9-3 Coordinate System • Unlimited length axis: Enables to control axes that move endlessly in one direction (turntable or conveyor). For unlimited feed axes, the range for updating the present position can be set as desired. • Upper limit of the limited axis = (P5AA04 × P5AA06 × LONGMAX)/(No. of Limited Length Axis encoder pulses ×...
  • Page 540 Section 9-3 Coordinate System The reached position is not equivalent to the target position (see the diagram below). Present position 100,000 Time Present Reached position position −100,000 SL021A: −2 −1 No. of multi-turns • Upper limit of the unlimited length axis = P5AA04 − 1 Unlimited Length Axis •...
  • Page 541 Section 9-3 Coordinate System • 3006h: Negative direction software limit • The software limit function is not applicable for the unlimited length axis and the axis without an origin. Related System Parameters Name Range Unit Description −2147483648~2147483647 P3AA02 Positive direction software Command Limit value of the positive limit...
  • Page 542 Section 9-3 Coordinate System • When the servo parameter [Pn205: Multi-turn limit setting] is 65535 (default setting), the multi-turn data will change as shown below: Multi-turn data 32767 Rotation amount −32768 • There will be no problem if the axis is used within the range where the multi-turn data is between –32768 to 32767.
  • Page 543 Section 9-3 Coordinate System encoder’s multi-turn data. To match the timings appropriately, adjust the set- ting value of the parameter [Pn205: Multi-turn limit setting]. In the case where the load shaft makes n rotations while the motor makes m rotations, set the value obtained by subtracting 1 from the denominator of deceleration ratio (m- 1) in Pn205.
  • Page 544 Section 9-3 Coordinate System When Multi-turn Limit Setting is not Adjusted Multi-turn data Pn205 Rotation amount Machine coordinate system Rotation amount The same present value cannot be obtained from the same multi-turn data. When Multi-turn Reset Similar to the case above, the correct present value cannot be obtained when Cycle is Shorter than the reset cycle of the multi-turn data is shorter than the cycle of the machine Machine Coordinate...
  • Page 545 Section 9-4 Backup and Restore Function Backup and Restore Function When replacing the Unit, etc., all the data in the MC Unit can be saved in the memory card of the CPU Unit at once. The saved settings can be set in another MC Unit using the memory card easily.
  • Page 546 Section 9-4 Backup and Restore Function Personal Computer CPU Unit MC Unit Internal memory Support tool Position data Data transfer Parameters area Hard disk Variables EM area Programs FINS area →(1) ↓(2) Flash memory Memory card <Additional note> 1: Restore/Program Read command 2: Backup Recording Device...
  • Page 547 Section 9-4 Backup and Restore Function Backup Method 1,2,3... 1. Insert the memory card and switch ON. (MCPWR-LED on the CPU Unit front panel is lit.) 2. Turn ON the DIP switch SW7 on the front panel. 3. Press down the memory card power-dispatch stop button at least for 3 sec- onds.
  • Page 548 SECTION 10 Program Example The section provides a programming example to demonstrate how the CS1W-MCH71 Motion Control Unit can be used. 10-1 Program Example ..........10-1-1 Positioning with PTP Control .
  • Page 549 Section 10-1 Program Example 10-1 Program Example This section shows several motion programs for different typical application. 10-1-1 Positioning with PTP Control Explanation of the • Positioning to the 3 points below is executed with PTP control, and the operation axes returns to the origin ([J01]0, [J02]0).
  • Page 550 Section 10-1 Program Example 15) The program is completed. 10-1-2 Positioning with Linear Interpolation Explanation of the • At the rise of the general input (IW0B00), positioning with linear interpola- operation tion is performed from the present position to the position [J01]10000, [J02]50000.
  • Page 551 Section 10-1 Program Example 10-1-3 Positioning with Linear and Circular Interpolation Explanation of the Positioning with the path shown below is performed combining linear and cir- operation cular interpolation. 40000 30000 20000 10000 10000 20000 30000 40000 Program 01) PROG P003 Q00000003; 02) PASSMODE;...
  • Page 552 Section 10-1 Program Example 10-1-4 Positioning with Position Data Explanation of the Positioning is performed using indirectly specified position data. operation Position data Position data specified indirectly PL0000 PL0102 position data of [J01] PL0001 PL0103 position data of [J02] PL0002 PL0102 position data of [J01] position data of [J02]...
  • Page 553 Section 10-1 Program Example 14) This is the end of FOR command from 06). 15) The program is completed. 10-1-5 Positioning with Workpiece Coordinate System with Subprograms Explanation of the Changing coordinate systems and using subprograms, the same operation is operation executed repeatedly in different positions on the machine coordinate system.
  • Page 554 Section 10-1 Program Example 22) WORK C3; 23) GOSUB P500; 24) ORIGIN; 25) MOVEL [J01]0 [J02]0 F500000; 26) END; Subprogram 01) PROG P500 Q00000003; 02) MOVEL [J01]0 [J02]0 F500000; 03) MOVEL [J01]1000 [J02]1000 F300000; 04) MOVEL [J01]2000; 05) MOVEL [J02]2000; 06) MOVEL [J01]1000;...
  • Page 555 Section 10-1 Program Example Subprogram 01) A subprogram No. and axes to be used are specified. 02) The axes move from the present position to the position [J01]0, [J02]0. 03) The axes move to the position [J01]1000, [J02]1000. 04) The axis moves to the position [J01]2000. 05) The axis moves to the position [J02]2000.
  • Page 556 Section 10-1 Program Example 10-1-7 Positioning with Position Data Calculation Explanation of the • After positioning based on the initial values of position data was per- operation formed, positioning is repeated 10 times adding 1000 to the position data of [J01] each time. After that, positioning is repeated 5 times adding 5000 to the position data of [J02] each time.
  • Page 557 Section 10-1 Program Example Subprogram 01) A program No. and axes to be used are specified. 02) The task variable for counting (DL0002) is reset. (For [J01]) 03) With FOR command, the process through 03) to 07) is repeated 10 times. 04) The axes [J01] and [J02] move based on the values in the position data (PL0010) and (PL0011) respectively.
  • Page 558 Section 10-1 Program Example 10-1-8 Stopping a Program with General Input Explanation of the • The program advance is held while the general input is ON. operation • The axis keeps going back and forth between positions 0 and 20000 until IW0B00 becomes 1.
  • Page 559 Section 10-1 Program Example General input PL0010 Axis movement Stopping position X is assigned to PL0010. Origin return Positioning to the position X (content of PL0010) Positioning Program 01) PROG P010 Q00000001; 02) STOPMODE; 03) #PL0010 = 50000; 04) #IW0B00 = 0; 05) STOPOP #IW0B01 == 1;...
  • Page 560 Section 10-1 Program Example • The target position is to be specified within the range of 0 to 360 degrees. Passing the position of 360 (0) degrees clears the present position to 0. 1,2,3... 1. Enter a target position into the position data using IOWR instruction. 2.
  • Page 561 Section 10-1 Program Example Explanation of the Main program program 01) A program No. and axes to be used are specified. 02) With WHILE command, the process through 02) to 23) is repeated until the general input (IW0B00) becomes 1. 03) With WAIT command, the program advance will be held until the general input (IW0B01) becomes 1.
  • Page 562 Section 10-1 Program Example 40000 30000 20000 10000 10000 20000 30000 40000 Program 01) PROG P012 Q00000003; 02) PASSMODE; 03) #IW04C0 = 2000; 04) #IW04C1 = 2000; 05) MOVEL [J01]20000 [J02]10000 F300000; 06) #IW04C0 = 6000; 07) #IW04C1 = 6000; 08) MOVEC Q-1 [J01]30000 [J02]20000 R10000;...
  • Page 563 Section 10-1 Program Example 10-1-12 Starting Peripherals during Axis Movement Explanation of the • During axis movement, peripherals can be started at specified positions program without stopping the axes. • This program enables the control of peripherals without stopping the axes;...
  • Page 564 Section 10-1 Program Example 10-1-13 High-speed Positioning Explanation of the • The CPU Unit reads the present position of a work from a visual sensor operation and writes the compensated value into the MC Unit after calculation. After receiving the value, the MC Unit performs positioning to the position cor- responding to the value.
  • Page 565 Section 10-1 Program Example When no external input is turned ON, [J01] returns to the origin without opera- tion of other axes. External input Interrupt feed amount When the external input is turned ON, the axis stops at X, and the axis returns to the origin after other axes Axis complete their operations.
  • Page 566 Section 10-1 Program Example 10-1-15 Time-specified Positioning (MOVET) Explanation of the • This program is used to perform positioning within a specified time period. operation • This example shows the following operation; the axes move to the posi- tion [J01]10000, [J02]20000 in 3 seconds and 1 is output to the general output.
  • Page 567 Section 10-1 Program Example 10-1-16 Regular Winding to Rough Winding (MOVETRAV) Explanation of the This example shows a winder that makes 10 layers of 20 winds, and 10 winds operation on the 11 layer. 20 winds per layer 10 layers Traverse axis winding width 10 winds for the last layer Program...
  • Page 568 Section 10-1 Program Example The program should be changed as shown below: 01) PROG P016 Q00000003; 02) MOVETRAV Q2 [J01]18. [J02]360 L10 F300000; 03) MOVETRAV Q2 [J01]36. [J02]360 L1; 04) END; Note (1) For winding axis, unlimited feed mode (P5AA07: 0010h) has to be set. (2) In linked traverse, up to 100 blocks can be linked, and the operation is ex- ecuted in Stop Mode.
  • Page 569 Section 10-1 Program Example Cam data Displacement 20000 Data No. Phase Displacement 1000 1600 1500 3600 15000 2000 6400 2500 10000 3000 13600 3500 16400 4000 18400 10000 4500 19600 5000 20000 5500 19600 6000 18400 6500 16400 7000 13600 5000 7500 10000...
  • Page 570 Section 10-1 Program Example 10-1-18 Link Operation (MOVELINK) Explanation of the • Positioning is performed with a slave axis synchronizing to a specified operation master axis. • In this example, the master axis will start operating when the general input becomes 1. The slave axis will start synchronization when the mas- ter axis reaches the position 15000.
  • Page 571 Section 10-1 Program Example 11) The program advance will be held until the general input (IW0B01) becomes 0. 12) The general output (OW0BA0) is cleared to 0. 13) The present position of the master axis is entered into the position data for the workpiece coordinate.
  • Page 572 Section 10-1 Program Example 06) The program will wait until the general input (IW0B01) becomes 1. 07) The slave axis performs 1 cycle of the cam operation based on the cam table 1 while the master travels for 60000. (The slave axis will start cam operation once the master reaches the posi- tion 15000.) 08) The master axis moves from the present position to the position 90000 with linear interpolation.
  • Page 573 Section 10-1 Program Example Explanation of the 01) A program No. and axes to be used are specified. program 02) The gear ratio of 1 to 2 is set. 03) The master axis moves to the position 50000 at 500rpm. (The slave syn- chronizes to the master and moves at 250rpm.) 04) The operation is held for 3 seconds.
  • Page 574 Section 10-1 Program Example (Master axis) 01) PROG P024 Q00000001; 02) MOVEL [J01]30000 F500000; 03) DWELL T5000; 04) MOVEL [J01]60000; 05) MOVEL [J01]100000 F1000000; 06) DWELL T3000; 07) #ML0000 = 1; 08) MOVEL [J01]0; 09) #ML0000 = 0; 10) END; Explanation of the (Slave axis) program...
  • Page 575 Section 10-1 Program Example Superimposed only for this interval Master axis Slave axis ADDAX ADDAXR command command Program (Master axis) 01) PROG P025 Q00000001; 02) STOPMODE; 03) MOVEL [J01]50000 F500000; 04) NOPS; 05) #MW0000 = 1; 06) MOVEL [J01]100000; 07) MOVEL [J01]150000 F1000000; 08) NOPS;...
  • Page 576 Section 10-1 Program Example 06) The master axis moves to the position 100000 at 500rpm. 07) The master axis moves to the position 150000 at 1000rpm. 08) to 09) After positioning is completed, 0 will be output to the global general variable (MW0000).
  • Page 577 Section 10-1 Program Example Program 01) PROG P027 Q00000001; 02) MOVEL [J01]50000 F500000; 03) SPEED [J01]50. T0; 04) #OW0BA0 = 1; 05) WAIT #SL0204 >= 150000; 06) SPEEDR [J01] T0; 07) #OW0BA0 = 0; 08) MOVEL [J01]200000; 09) DWELL T5000; 10) MOVEL [J01]0;...
  • Page 578 Section 10-1 Program Example Explanation of the 01) A program No. and axes to be used are specified. program 02) The axis moves to the position 50000 with linear interpolation. 03) TORQUE command operation is started with 50% of the maximum motor torque.
  • Page 579 Section 10-1 Program Example 04) to 07) When the present position reaches 10000, if the general input (IW0B00) is 1, the target position will be changed to 40000. If the general input (IW0B00) is not 1, the target position will not be changed.
  • Page 580 Section 10-1 Program Example 04) The axis moves to the position 100000 with linear interpolation. 05) This is the syntax of PARALLEL command. 06) If the external input is turned ON between the start position 80000 and the end position 90000, the ON position will be assigned to the position data (PL0015).
  • Page 581 Section 10-1 Program Example 10-1-28 Parallel Execution (PARALLEL, JOINT, JWAIT) Explanation of the • The processing is branched and executed in parallel. operation • This program is used, for example, when executing interpolation com- mands simultaneously. • In this example, 3 axes are operated with linear interpolation and they are simultaneously operated with PARALLEL command.
  • Page 582 Section 10-1 Program Example 10-1-29 Selective Execution (SWITCH, CASE, BREAK, SEND) Explanation of the • The processing is selectively executed according to the values of condi- operation tional variables. • In this example, different operations are executed depending on the val- ues of the general input at program startup.
  • Page 583 Section 10-2 Slave Modules 21) The axes return to the origin. 22) The program is completed. 10-2 Slave Modules This section describes the parameter settings, the allocation area status, and the program examples for operations when the I/O module is specified as the MECHATROLINK-II device.
  • Page 584 Section 10-2 Slave Modules Output variables Address Symbol Name Description OW0030 0 to 15 Output (OUT1) Controls status of output signal (connector 1) 1 to 16 Output 1 to output 16 OW0031 0 to 15 Output (OUT1) Controls status of output signal (connector 1) 17 to 32 Output 17 to output 32 OW0032...
  • Page 585 Section 10-2 Slave Modules ;*** Present position preset #OL0052 = 2147483647;---present position setting value #OB00502 = 1;---------Present value setting ON WAIT #IB00501 == 1; --- → Present position setting completed #OL0052 = 0;---------Present position setting value (cleared) #OB00502 = 0;---------Present value setting OFF WAIT #IB00501 == 0;...
  • Page 586 Section 10-2 Slave Modules Address Symbol Name Description IW0051 0 to 15 Monitor Content of monitor is to be as follows through the initial setting: IW0052 • Current value IW0053 • Latch data IW0054 • Mode settings • Notch point setting value 1 (counter 1) •...
  • Page 587 Section 10-2 Slave Modules Output variables Address Symbol Name Description OW0050 M-SET1 Counter 1 The counter mode setting signal Mode set ON: Mode setting signal is effective N-SET1 Counter 1 The notch point setting preset signal Notch point setting Notch point is set at the rise of the signal (OFF-ON). P-SET1 Counter 1 The counter’s current value preset signal...
  • Page 588 Section 10-2 Slave Modules Address Symbol Name Description OW0052 0 to 15 Setting values The following 3 counter data settings are available: • Mode settings OW0053 • Notch point setting OW0054 • Current value setting OW0055 Program example With the above settings, the program that makes the slave axis [J04] link to the input of the counter module [J05] as the master axis is shown below (The same specification method as the normal axes can be used): PROG P001 Q00000009;...
  • Page 589 Section 10-2 Slave Modules Input variables Address Symbol Name Description IW0030 RDY1 Ready Indicates the result of self-diagnosis for the module. Word 1 (Word 1) ON: Normal OFF: Abnormal Not used MONSEL1 Monitor parameters Indicates that the parameters are being monitored. Not used PACK1 Parameter settings...
  • Page 590 Section 10-2 Slave Modules Address Symbol Name Description IW0032 Word 1 Appropriate setting enables monitoring of the following val- Monitor register ues of Word 1. IW0033 • Current position • Parameter settings • Alarm status IW0034 Word 2 Appropriate setting enables monitoring of the following val- Monitor register ues of Word 2.
  • Page 591 Section 10-2 Slave Modules Address Symbol Name Description OW0031 ARST2 Alarm reset This is the alarm-reset command. Word 2 Alarm is reset at the rise of the signal (OFF-ON). CAN2 Cancel This signal cancels axis movement. Axis movement is canceled at the rise of the signal (OFF- ON).
  • Page 592 Section 10-2 Slave Modules Parameter Parameter No. setting Name Setting range (units) Initial setting PRMn3 PRMn2 PRMn1 PRMn0 In zero point return Zero point return speed: Speed: 1 to 50000 (10 pps) • Zero point return speed Zero point return Accel/ Time: •...
  • Page 593 Section 10-2 Slave Modules !Caution When operating an axis with the pulse output module, make sure to set the Output Current OFF signal (OW0030 bit13) to “1”. If an axis movement com- mand bit is turned ON with the Output Current OFF signal (OW0030 bit13) set to “0”, the alarm [03: Move reference when output current is OFF] will occur.
  • Page 594 Section 10-2 Slave Modules #OB00305 = 0; Parameter No. specification (05) #OB00306 = 1; Parameter No. specification (05) #OB00307 = 0; Parameter No. specification (05) #OW0032 = 2000; ------------ Positioning speed data #OW0033 = 100; ------------- Positioning Accel/decel time data #OB00303 = 1;...
  • Page 595 Section 10-3 Others #OB00304 = 0; Parameter No. specification (00) #OB00305 = 0; Parameter No. specification (00) #OB00306 = 0; Parameter No. specification (00) #OB00307 = 0; Parameter No. specification (00) END; 10-3 Others Example 1 This program may be the automatic operation of a simple ‘pick and place’ machine (eg., PCB mounting machine).
  • Page 596 Section 10-3 Others ENDIF; IF #SL0244>20000; Torque in Axis 2 #MB00001=1; ELSE; #MB00001=0; ENDIF; IF #SL0274>20000; Torque in Axis 3 #MB00002=1; ELSE; #MB00002=0; ENDIF; ;If any of the drives has a torque bigger than 200% we set a bit ;in an output variable (for PLC control) IF #MW0000>0;...
  • Page 597 Section 10-3 Others as required. ;------------------------------------------------------------------------------- ;VARIABLES FROM/TO PLC: ;IW0B00 is bag length ;IW0B01 is speed (bag/min) ;IW0B02 is a bitwise word to give the bits to start (b0) and the confir- mation than the cutter is in the STOP position (b2) ;IW0B03 is the expected distance to move after the mark ;OW0BA0 Gives the START order to the cutter (rising edge) ;OTHER VARIABLES:...
  • Page 598 Section 10-3 Others MOVE [J01]#IW0B00; ELSE; ;Cutting with mark MOVEI [J01]#IW0B00 D#IW0B03 V#ML0002; ENDIF; ;Activate bag cutter (rising edge in OB0BA00) DWELL T10; WAIT #SW0228==0; Check that the movement has finished #OB0BA00=1; DWELL T20; #OB0BA00=0; WEND; END; PROG P550 Q00000000;Bag Making Profile Calculation ;Calculation of maximum speed and ramps ;To make the movement in the desired time ;Considering T/3 acceleration...
  • Page 599 Section 10-3 Others WAIT #IB00501==1; Initialization completed #OB00500=0; #OB00503=1; Counter 1 enabled ;Set the axes to RUN #IB04402=1; AXIS1 on WAIT #OB04403==1; Wait for confirmation AX1 #IB04402=0; WHILE 1==1; ;IW0B01 is the cutting length from the PLC #MW0000=#IW0B01-550; IF #IB0B000==1; START bit MOVELINK [J01]50 [J05]100 A100 D0;...
  • Page 600 Section 10-3 Others IF #OW0BA0==0; IF NO ALARM IF #OW0BA2<>4; #OW0BA2=2;System stopped ENDIF; IF #IB0B001==0; #DB00000=1; ENDIF; IF #IB0B001==1; IF #DB00000==1; #DB00000=0; GOSUB P502; #OW0BA2=4; Programs running ENDIF; ENDIF; ELSE; IF ALARM IF #OW0BA2==4; IF programs running #OW0BA2=1; Stopping programs GOSUB P501;...
  • Page 601 Section 10-3 Others #IB03417=1; Override Task 1 ;Override for the rest of the tasks #IB0B002=1; STOP is NC #OW0BA0=0; ;etc. RETURN; PROG P501 Q00000000;STOP all Programs ;STOP MOTION PROGRAMS #IB03414=1; STOP Motion Task 2 immediately; #IB03424=1; STOP Motion Task 3 immediately; WAIT #OB03411==0;...
  • Page 602 Section 10-3 Others PROG P503 Q00000000;ALARM management ;------------------------------------------------------------ ;Write here the necessary actions to do in front of an alarm. ;Specially notifying to the PLC what happened ;------------------------------------------------------------ #OW0BA1=1111; RETURN;...
  • Page 603 Section 10-3 Others...
  • Page 604 SECTION 11 Troubleshooting This section describes how to troubleshoot problems that may occur when using the CS1W-MCH71 Motion Control Unit. 11-1 Troubleshooting ..........11-1-1 Items to Check First .
  • Page 605 PC Interface Area and related DM Area words using the CX-Programmer or other Support Tools and provide them to your OMRON representative. • If an operation cannot be properly executed, it may be that a program or parameters were not saved when they were transferred.
  • Page 606 Section 11-1 Troubleshooting Problem Probable causes Item to check Remedy The CPU Unit’s Power supply lines are Check the power supply wiring. Correct the power supply wiring. RUN indicator wired incorrectly. does not light The power supply voltage Check the power supply. Check the power supply capac- when the power is low.
  • Page 607 Section 11-1 Troubleshooting Problem Probable causes Item to check Remedy Origin search An error or warning has Check the contents of the error If there is an error or warning, cannot be exe- been generated. or warning. follow the instructions. cuted.
  • Page 608 Section 11-1 Troubleshooting Problem Probable causes Item to check Remedy Motor rotation is The parameters are set Check the MC Unit parameters Set the parameters correctly, unstable. incorrectly. with the Support Tool. transfer them to the MC Unit, and write them to flash memory. The Servo Motor power Check the Servo Motor power Correct the wiring.
  • Page 609 Section 11-1 Troubleshooting Problem Probable causes Item to check Remedy The positioning The in-position range set in Increase the in-position range completed sig- the MC Unit parameters is set in the MC Unit parameters. nal is not output too narrow, and the axis is or is delayed.
  • Page 610 Section 11-1 Troubleshooting Problem Probable causes Item to check Remedy The motor axis is The gain adjustment is • Perform auto-tuning. vibrating insufficient. (The gain is too • Manually adjust (increase) the unsteadily. low.) gain. The gain cannot be This particularly tends to occur •...
  • Page 611 Section 11-2 Countermeasures Problem Probable causes Item to check Remedy The speed drops The minimum pass time is Calculate the travel time by Calculate the minimum pass (comes to a tem- not assured. dividing the travel distance by time plus the operations in porary stop) dur- the speed, and check whether progress, and adjust the target...
  • Page 612 Section 11-2 Countermeasures Alarm types Alarms are categorized, depending on where they occurred, as shown below. The alarm code corresponding to the type is to be output: Alarm type Details Alarm code Unit-related alarm Alarm related to the entire MC Unit 0001h –...
  • Page 613 Section 11-2 Countermeasures Alarm Occurrence Sequence When an alarm occurs, it is generated in the following sequence. When a motion task-related alarm occurs: 1,2,3... 1. Task status The bit [Motion task alarm] is turned ON, and the alarm code is set. 2.
  • Page 614 Section 11-2 Countermeasures Alarm Identification Data Task Status Axis Status Alarm Occurring Motion task 1 Motion task 1 Axis 4 Alarm Occurring Motion task 1 Motion task 2 Axis 4 Motion Task Alarm Alarm Occurring Axis Alarm Motion task 1 Motion Axis 4 Task Alarm Code Axis Alarm Code...
  • Page 615 Section 11-3 Error Indicators Word Name Probable cause and remedy n+17 Start Warning • A motion task was started when the bit [Deceleration Stop] or [Block Stop] had been (For each motion ON. Check if the bits are OFF. task) •...
  • Page 616 Section 11-4 Unit-related Alarm Codes 11-3-2 Errors During Normal Operation Status LED: ON: Lit, OFF: Not lit, -: Not change, *: Custom PLC WDT error PLC cyclic service monitor error ON→OFF (Recover) Bus error (PC21 bus error) Power failure (power failure prevision) CPU fatal error CPU non-fatal error Event transmission warning generated...
  • Page 617 Section 11-4 Unit-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code PLC WDT error 0001h 0000h 0030h WDT error on CPU Unit occurred. Any time System Disabled stop Follow the instructions in the appli- cable PLC manual.
  • Page 618 Section 11-4 Unit-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Flash memory 0370h 0040h 0040h The following data could not be When Decelera- Disabled error written in the Flash memory. FLASH tion stop saving...
  • Page 619 Section 11-5 Motion Task-related Alarm Codes 11-5 Motion Task-related Alarm Codes Motion task alarm codes are common for all tasks, but the alarm code output area is different for each task. The following are the alarms that occur in pro- gram execution.
  • Page 620 Section 11-5 Motion Task-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Axis reserva- 0372h 2007h 2007h The axis that was declared in a program When a Deceler- Enabled tion disable could not be reserved.
  • Page 621 Section 11-5 Motion Task-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Speed speci- 0372h 200Ah 200Ah The following operands have exceeded the When a Deceler- Enabled fication error allowable range: command ation 0379h...
  • Page 622 Section 11-5 Motion Task-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Mode specifi- 0372h 200Eh 200Eh The following operand has exceeded the When a Deceler- Enabled cation error range. command ation 0379h including an...
  • Page 623 Section 11-5 Motion Task-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Control mode 0372h 2014h 2014h • A position control command (MOVE, etc.) When Deceler- Enabled error or speed control command (SPEED) was TORQUE/ ation 0379h...
  • Page 624 Section 11-5 Motion Task-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Parameter 0372h 2019h 2019h <PARAM> When Deceler- Enabled setting error PARAM, ation System parameters: 0379h LATCH, stop • Attempted to change a parameter that SPEED are cannot be changed after restoring the executed.
  • Page 625 Section 11-6 Axis-related Alarm Codes 11-6 Axis-related Alarm Codes Axis related alarm codes are common for all axes, but the alarm code output area is different for each axis. Axis-related Alarm Code When an axis-related alarm occurs, the following bits will indicate the status: (Code: 3001h to 30FFh) Word Address...
  • Page 626 Section 11-6 Axis-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Software limit 037Ah 3006h 3006h • The axis entered the software limit area in Any time Decelera- Enabled negative negative direction during axis movement tion stop direction 0399h...
  • Page 627 Section 11-6 Axis-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Command 037Ah 300Ch 300Ch A MECHATROLINK command could not be Any time Servo OFF Enabled timeout completed within a fixed period of time (10 0399h seconds).
  • Page 628 Section 11-6 Axis-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Over travel 037Ah 300Eh 300Eh The limit switch in the direction of the In origin Immediate Enabled already ON search was already ON when a one direc- search stop 0399h...
  • Page 629 Section 11-6 Axis-related Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code MECHA- 037Ah 3014h 3014h An error occurred on a MECHATROLINK-II Any time Decelera- Enabled TROLINK-II slave axis. tion stop slave axis 0399h Check the MECHATROLINK slave of the error 2...
  • Page 630 Section 11-7 MLK Device Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Excessive 037Ah 3019h 3019h The axis speed has exceeded maximum When a Decelera- Enabled speed com- rapid feed rate during the following com- program tion stop mand...
  • Page 631 Section 11-7 MLK Device Alarm Codes List of Alarm Codes Name Error log Alarm Cause and remedy Timing Rank Reset code Error Detail code code Depending on 037Ah 4000h 4000h Depending on the device. Depending on Depending on Enabled the device the device the device Follow the directions of...
  • Page 632 Section 11-8 Servo Driver Warnings 11-8 Servo Driver Warnings The W-series Servo Drivers provide various warnings. The warning, causes, and corrections are given in the following table. Display Name Cause and correction A.91 Overload This warning is given before an overload alarm (A.71 or A.72) is reached. An alarm is likely to occur if operation is continued without any changes.
  • Page 633 Section 11-9 Error Log 11-9 Error Log Up to twenty errors detected and notified on the MC Unit can be stored in the system variable in the MC Unit as the error log. The system variables (error log) will be cleared when the power is restored or the Unit is restarted.
  • Page 634 In a command: Transfer not possible because there is no Unit for the specified unit number When SNA < 80 Normally, this error does not occur. If it should occur, report to OMRON. D7:OFF D7 to D0:SA1 010D Routing error...
  • Page 635 Section 11-9 Error Log MC Unit Error Codes In the detailed codes of each error, the alarm code of each error is set. There- fore, all the alarms will be stored in the error log. Error code Error name Detailed code Cause (Hex) 1st byte...
  • Page 636 SECTION 12 Maintenance and Inspection This section describes the maintenance and inspection procedures required to keep the CS1W-MCH71 Motion Control Unit in optimum condition. 12-1 Routine Inspection ..........12-1-1 Inspection Points .
  • Page 637 Section 12-1 Routine Inspection 12-1 Routine Inspection In order for your MC Unit to continue operating at optimum condition, periodic inspections are necessary. 12-1-1 Inspection Points The main components of the Unit are semiconductors and have a long ser- vice life, but depending on the operating environment, there may be more or less deterioration of these and other parts.
  • Page 638 • When returning a faulty Unit for repair, make a detailed record of the Unit’s malfunction and take it together with the Unit to your nearest OMRON office or sales representative. • If a contact is not good, put some industrial alcohol on a clean cotton cloth and wipe the surface.
  • Page 639 Section 12-1 Routine Inspection 9. Turn OFF the power supply to the PLC. The replacement of the MC Unit is completed. 12-1-4 Procedure for replacing a Servo Driver Follow the procedure below when it is necessary to replace a Servo Driver. 1,2,3...
  • Page 640 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. W419-E1-04 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
  • Page 641 Revision History...
  • Page 642 Wegalaan 67-69, NL-2132 JD Hoofddorp The Netherlands Tel: (31)2356-81-300/Fax: (31)2356-81-388 OMRON ELECTRONICS LLC 1 East Commerce Drive, Schaumburg, IL 60173 U.S.A. Tel: (1)847-843-7900/Fax: (1)847-843-8568 OMRON ASIA PACIFIC PTE. LTD. 83 Clemenceau Avenue, #11-01, UE Square, Singapore 239920 Tel: (65)6835-3011/Fax: (65)6835-2711...
  • Page 643 Authorized Distributor: Cat. No. W419-E1-04 Note: Specifications subject to change without notice Printed in Japan This manual is printed on 100% recycled paper.
  • Page 644 WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS...
  • Page 645 Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products.
  • Page 646 Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.

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