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Omron CS1W-213 - REV 02-2008 Operation Manual

Omron CS1W-213 - REV 02-2008 Operation Manual

Position control units

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Cat. No. W376-E1-06

SYSMAC

CS1W-NC113/213/413/133/233/433

Position Control Units

OPERATION MANUAL

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Summary of Contents for Omron CS1W-213 - REV 02-2008

Page 1 Cat. No. W376-E1-06 SYSMAC CS1W-NC113/213/413/133/233/433 Position Control Units OPERATION MANUAL...
Page 2 CS1W-NC113/213/413/133/233/433 Position Control Units Operation Manual Revised February 2008...
Page 4  OMRON, 2000 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.
Page 5 CS Series according to differences in functionality accompanying Unit upgrades. Notation of Unit Versions The Unit version is given to the right of the lot number on the nameplate of the on Products applicable Position Control Units, as shown below.
Page 6 This label can be attached to the front of the Position Control Unit to differenti- ate between Position Control Units of different Unit versions. Unit Version Notation In this manual, the Unit version of a Position Control Unit is given as shown in the following table. Product nameplate...
Page 7 2. With CX-Position Ver. 1.0, new functions added to Position Control Units Ver. 2.0 or higher cannot be used. Checking Position Control Unit Version and Internal System Software Version Position Control Units have an internal system software version in addition to the Unit version used by CS/CJ-series Units to distinguish functions.
Page 8 Version Upgrade Information The following tables outline changes made for the most recent version upgrade for SYSMAC CS- Series Position Control Units. ■ Enhanced Functions for Unit Version 2.0 Changing Multiple-start Acceleration for Relative and Absolute Move- ment during Direct Operation Previous version Present version (Ver.
Page 9 Present version (Ver. 2.3 or later) Parameters and data were not checked at star- Parameters and data for up to four axes can be checked and up to tup. four errors (i.e., one per axis) can be detected and output.
Page 10: Table Of Contents
Transferring Data with CX-Position ........
Page 11 Setting Data for Memory Operation ........
Page 12 Replacing the C200HW-NC@13 ........
Page 14 Information on using Servo Relay Units is also provided. Section 4 provides an overview of the parameter and data settings used in Position Control Unit oper- ation and provides information on memory allocation.
Page 16 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 17 The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products: •...
Page 18 PERFORMANCE DATA 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.
Page 20 Conformance to EC Directives ........
Page 21: Intended Audience
This manual provides information for using the Position Control Unit. Be sure to read this manual before attempting to use the Unit and keep this manual close at hand for reference during operation.
Page 22: Operating Environment Precautions
As a countermeasure for such errors, external safety measures must be provided to ensure safety in the system. • The PLC or PCU outputs may remain ON or OFF due to deposits on or burning of the output relays, or destruction of the output transistors. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.
Page 23: Application Precautions
Failure to abide by the following precautions could lead to serious or possibly fatal injury. Always heed these precautions. • Always connect to a ground of 100 Ω or less when installing the Units. Not connecting to a ground of 100 Ω or less may result in electric shock.
Page 24 • Remove the label after the completion of wiring to ensure proper heat dis- sipation. Leaving the label attached may result in malfunction. • Do not apply voltages to the Input Units in excess of the rated input volt- age. Excess voltages may result in burning.
Page 25: Conformance To Ec Directives
• Check the pin numbers before wiring the connectors. • Perform wiring according to specified procedures. • Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any static build-up. Not doing so may result in malfunc- tion or damage.
Page 26: Introduction
Other Operations........
Page 27: Features
CPU Unit. Number of Control Axes The PCU is available with 1, 2, or 4 control axes. With 2-axis and 4-axis mod- and Output Type els, linear interpolation is possible for all axes. Either open collector output or line driver output is available for any number of control axes.
Page 28: System Configuration
PCU they can be saved to the PCU’s flash memory, so there is no need for battery maintenance. Note There is a limit to the service life of the flash memory. A total of up to 100,000 data saving operations can be performed. CX-Position The PCU is compatible with the Windows-based NC Support Tool (CX-Posi- tion) that enables setting of the PCUs in a Windows environment.
Page 29: Cs1W-Nc413 System Configuration Example
Stepping motors Servomotors Note (1) A dedicated cable is available for connecting the PCU to the dedicated terminal block. (2) Origin input signals cannot be used as external connection terminals with dedicated terminal blocks. Connect the Z-phase signal to the Servo Drive using the dedicated cable.
Page 30: Basic Operations
Position Control Positioning can be executed with either an absolute value (i.e., to an absolute position from the origin) or with an incremental value (i.e., to a relative position from the present position). There are two methods for positioning: memory operation and direct opera- tion.
Page 31 With memory operation, positioning sequences (i.e., individual positioning operations, which include data such as positions and speeds) are transferred to the PCU in advance, and then positioning is executed from the CPU Unit by specifying those positioning sequences by number. Depending on the com- pletion code that is set, positioning sequences can be executed using inde- pendent positioning, automatic positioning, or continuous positioning.
Page 32: Speed Control
1-3-2 Speed Control When a start is executed once, pulses are continuously output at a constant rate. The pattern depends on the completion code that is set for “memory operation” positioning sequences. To stop the sequence, use the STOP com- mand.
Page 33: List Of Functions
Section 1-4 List of Functions Zones A zone is a range of positions which can be defined so that flags are turned ON whenever the present position is within the range. Zone setting Zone Flag Deceleration Stop The STOP command decelerates positioning to a stop.
Page 34: Specifications
Specifications Group Name Function Page Common to direct opera- Jogging Outputs pulses at a fixed speed in the CW or CCW direc- tion and memory opera- tion. tion Teaching Reads the currently stopped position as position data. Deceleration stop Decelerates axes to a stop during positioning. Axes can- not be moved while the STOP Bit is ON.
Page 35: Performance Specifications
0 to 9,999 pulses. Compensation speed can also be set. tion Teaching With a command from the PLC, the present position can be taken as the position data. Deceleration stop The STOP command causes positioning to decelerate to a stop accord- ing to the specified deceleration time.
Page 36: Comparison With Existing Models
When the override enabling command is executed during positioning, the target speed is changed by applying the override coefficient. Possi- ble to set to a value from 1 to 999% (by an increment of 1%) Data saving Saving to flash memory. (Can be written 100,000 times.) Reading from PLC area by data reading instruction.
Page 37 –9,999,999 to 9,999,999 pulses pulses Speed designation range 1 to 500,000 pps, set in pps units 1 to 500,000 pps, set in units of the smallest multiplication factor specified CPU Unit scan timeover for END 0.5 ms max. per PCU 2.6 to 4.5 ms per PCU...
Page 38: Control System Principles
Section 1-7 Control System Principles Control System Principles 1-7-1 Data Flow Position Control Unit Stepping motor driver Pulse train Stepping motor Pulse genera- CPU Unit External input Magnetizing dis- Power tribution circuit amplifier interface Memory I/O connector Pulse genera- interface...
Page 39: Control System Principles
= L ÷ (P x θ )/(360 x M) = (360 × M × L)/(P x θ The pulse speed required to move the object with a feed speed of V mm/s is given by the following calculation: = Feed speed ÷ Pulse rate Pulse speed = V ÷...
Page 40: Basic Procedures
Basic Operational Flow........
Page 41: Basic Operational Flow
Section 2-1 Basic Operational Flow Basic Operational Flow The following table shows the basic flow of operation for the PCU. Flow of operation Reference Installation SECTION 3 Installation and Wir- START 3-2 Installation Mount the PCU. 3-3 External I/O Circuitry Set the unit number of the PCU.
Page 42 2. Refer to the operation manual for the CPU Unit. 3. Use the axis parameter designation setting in the common parameter area to specify whether for operation is performed according to axis parameters saved in the PCU or the axis parameters set in the CPU Unit’s DM Area.
Page 43 Section 2-1 Basic Operational Flow...
Page 44: Installation And Wiring
Nomenclature and Functions ........
Page 45: Nomenclature And Functions
Connect to stepping Connect to motor driver or Servo stepping Drive. (Controls 2 motor driver axes). or Servo Drive. (Con- trols 2 axes). Note The orientation of connectors for 2-axis and 4-axis PCUs is the opposite to that of the C200HW-NC213/413 connectors.
Page 46 DATA Yellow Data is incorrect (e.g., the parameters or positions transferred are out of the per- missible range). At this time the LED indicator for the relevant axis (X to U) will flash. Flashing The check of all data (parameters, positions, etc.) following power up shows that data is lost or corrupted.
Page 47: Area Allocation
1. The CS1W-NC413/NC433 occupies the space for two unit numbers, i.e., the unit number that is set and also the following number. 2. Be sure to set the unit numbers so that they do not overlap with the unit numbers of other Special I/O Units.
Page 48: Mounting The Unit
• The I/O bits allocated to a particular Special I/O Unit are determined by the unit number that is set by the switch on the front panel of the Unit, and not by the slot in which the Unit is mounted.
Page 49: Precautions When Handling The Pcu
• Wire clippings tend to get scattered around during wiring, so leave the label in place on top of the PCU to prevent any clippings from getting inside the PCU. Once the wiring has been completed, be sure to remove the label to provide ventilation.
Page 50: Dimensions
Section 3-2 Installation 3-2-4 Dimensions CS1W-NC113/NC133/NC213/NC233/NC413/NC433 Note The above diagram is for the CS1W-NC413. Mounted Dimensions Connecting cable Approx. 230...
Page 51: External I/O Circuitry
Section 3-3 External I/O Circuitry External I/O Circuitry 3-3-1 Connector Pin Arrangement X/Y axis Z/U axis X/Y axis X axis CS1W-NC413/433 CS1W-NC213/233 CS1W-NC113/133...
Page 52 External I/O Circuitry Section 3-3 CS1W-NC113/213/413 (Pulse Open Collector Output) Connector pin arrangement for X and Z axes Connector pin arrangement for Y and U axes Designation Designation Output power supply, 24 VDC Output power supply, 24 VDC Output GND, 24 VDC...
Page 53 * Be sure to wire the 5-VDC pulse output power supply with the correct polar- ity. Note 1. Use either the 24-V origin input signal or the 5-V origin input signal, but not both. 2. Use 24 ± 10% VDC as the output power supply.
Page 54: External I/O Connector Arrangement
• The common for the positioning completed input signal is connected to the 24-V output power supply via a diode. • Use the origin common as a pair with the 24-V origin input signal or the 5- V origin input signal.
Page 55 M2x8 pan-head screws (two) M2x6 pan-head screws (two) Cable holder (two) Case Connector Screw (two) The following connectors (Fujitsu 360 Jack) can be used: 1,2,3... 1. FCN-361J048-AU (solder-type) FCN-360C048-D (connector cover) 2. FCN-363J048 (crimp-type housing) FCN-363J-AU/S (contact) FCN-360C048-D (connector cover) 3.
Page 56: I/O Circuitry
!Caution Connect a load of 7 to 30 mA (or 7 to 16 mA for terminals with 1.6-k Ω limit resistance) to the output section. If a current greater than this is used, it will cause damage to the PCU’s internal components.
Page 57 Note Error counter reset output is open collector output. !Caution Connect a load of 20 mA max. to the output section. If a current greater than this is used, it will cause damage to the PCU’s internal components. !Caution Be sure to wire the 5-VDC pulse output power supply with the correct polarity.
Page 58 Origin common For details on connecting origin input signals, refer to 42. !Caution Use either the 24-VDC origin input signal or the 5-VDC origin input signal, but not both. If both are connected it will damage the internal circuitry. Do not connect the 5-VDC origin input signal input to any output circuit except...
Page 59: I/O Electrical Specifications
1 ms max. Output Specifications Item Specification Open collec- Maximum switching 30 mA at 4.75 to 26.4 VDC (NPN open collec- tor output capacity tor) (16 mA: Terminals with 1.6-kΩ limit resistance) Minimum switching 7 mA at 4.75 to 26.4 VDC (NPN open collec-...
Page 60: Wiring
Note 1. The load in the above table is the net resistance load, and the connecting cable impedance with the load is not considered. 2. Due to distortions in pulse waveforms as a result of connecting cable im- pedance, pulse widths during actual usage may be smaller than those shown in the above table.
Page 61 12 mA A2/B2 In this example, the 1.6 k Ω resistors of the PCU are used to allow a 24-VDC Note power supply to be used with a motor driver rated at 5 VDC. When wiring your system, carefully note the current required by the motor...
Page 62 Section 3-4 Wiring Outputting CW and CCW In this example, a 5-VDC photocoupler input motor driver is used for output- Pulses, Example2 ting CW and CCW pulses. 24-VDC 5-VDC Position Control Unit power power supply supply (open collector output) –...
Page 63 A5/B5 Pulse (CW+CCW) Direction input output 7 to 30 mA 1.6 kΩ A7/B7 Direction output Pulse input 7 to 30 mA A2/B2 When voltage-level output is used, the level is L for output ON, and H for out- put OFF.
Page 64 Section 3-4 Wiring Outputting CW and CCW In this example, a motor driver with a line receiver input is used and either CW Pulses or Pulse and and CCW pulses or pulse and direction signals are output. Direction Signals 5-VDC...
Page 65 Section 3-4 Wiring Error Counter Reset There is approximately 20 ms of output when origin search is completed in Output modes 1 or 2. Position Control Unit 24-VDC 24-VDC A1/B1 power power supply OMRON R88D-WT supply for − Servo Drive...
Page 66: Connecting Input Signals
CW/CCW limit signal changes from ON to OFF is used as the timing for origin signal detection. In this case, use a sensor with no chattering, such as a photoelectric sensor, for the input. Using a switch with contacts may cause the position of the origin to be displaced due to chattering.
Page 67: Connecting Origin And Positioning Completed Input Signals
Use a sensor with no chattering, such as a photoelectric sensor, for the origin input signal. !Caution Connect a switch with a switching capacity of at least 5 mA to the 24-V origin input signal terminal. !Caution Do not connect the 5-VDC origin input signal input to any output circuit except the line driver.
Page 68: Wiring Precautions
Positioning Completed The positioning completed input signal is also used as an origin search com- pleted signal in modes 2 and 3. Adjust the setting of the Servo Drive so that Input Signal this signal always turns off while the servomotor is operating, and on when the motor is stopped.
Page 69 I/O signal lines) must be wired separately. Never put these lines into the same duct or make them into a single bundle. • Attach a multi-layer ceramic capacitor of a thickness of less than 1 µ F to the pulse output power supply to improve noise resistance.
Page 70: Connection Examples For Different Types Of Motor Driver
Connection Examples for Different Types of Motor Driver Connection Examples for Different Types of Motor Driver This section provides examples of wiring the X and Y axes. If the Y and U axes are also to be used, check the connector pin numbers in 3-3 External I/O Circuitry and wire them in the same way.
Page 71 12 to 15 Search direction: CW Note “m” is the beginning DM word allocated when the unit number is set. Origin Search Operation The origin search operation is completed with the rising edge of the origin input signal after the rising edge of the origin proximity input signal.
Page 72 Section 3-5 Example 2: Mode 1 Connection In this example, a Servo Drive is employed and the Z-phase of the encoder is connected to the origin line driver input terminal and used as the origin input signal. An OMRON G-Series Servo Drive is used.
Page 73 Section 3-5 Connection Examples for Different Types of Motor Driver Parameter Setting Example This example is explained in terms of the X axis. For more details, refer to 4-3 Axis Parameter Area. 0 E 0 Word Bits Setting Contents CW/CCW output 01 to 03 Limit input: N.C.
Page 74 Section 3-5 Connection Examples for Different Types of Motor Driver Line Driver Output (CS1W-NC133/NC233/NC433) Position Control Unit (line driver outputs on the CS1W-NC@33) 5-V GND for pulse Example: output OMRON R88D- GT@@@ 5-V power Shield Servo Drive supply for pulse...
Page 75 Connection Examples for Different Types of Motor Driver Example 3: Mode 2 Connection In this example, as in example 2, a Servo Drive is employed and the Z-phase of the encoder is connected to the origin line driver input terminal and used as the origin input signal.
Page 76 Section 3-5 Connection Examples for Different Types of Motor Driver Parameter Setting Example This example is explained in terms of the X axis. For more details, refer to 4-3 Axis Parameter Area. 0 E 0 Word Bits Setting Contents CW/CCW output 01 to 03 Limit input: N.C.
Page 77 Section 3-5 Connection Examples for Different Types of Motor Driver G-series or U-series Servo Drive (CS1W-NC113/NC213/NC413) Position Control Unit (open collector outputs OMRON R88D-GT@@@ Shield on the CS1W-NC@13) Servo Drive R88M-G Servomotor CW output −CW (with 1.6-kΩ resistance) +CCW CCW output −CCW...
Page 78 Section 3-5 Connection Examples for Different Types of Motor Driver Connection to Line Driver (CS1W-NC133/NC233/NC433) Position Control Unit (line driver outputs on the CS1W-NC@33) 5-V GND for pulse Example: output OMRON R88D- GT@@@ 5-V power Servo Drive supply for Shield...
Page 79 Section 3-5 Connection Examples for Different Types of Motor Driver SMARTSTEP2-series or U-series Servo Drive (CS1W-NC113/NC213/NC413) Position Control Unit (open collector outputs OMRON R7D-BP@@@ on the CS1W-NC@13) Shield Servo Drive R88M-G@ Servomotor CW output −CW (with 1.6-kΩ resistance) +CCW CCW output −CCW...
Page 80 Section 3-5 Connection Examples for Different Types of Motor Driver Connection to Line Driver (CS1W-NC133/NC233/NC433) Position Control Unit (line driver outputs on the CS1W-NC@33) 5-V GND for pulse Example: output OMRON R7D-BP @@@ 5-V power Servo Drive Shield supply for...
Page 81 Section 3-5 Connection Examples for Different Types of Motor Driver SMARTSTEP A-series Servo Drive (CS1W-NC113/NC213/NC413) Position Control Unit Example: (open collector outputs OMRON R7D-AP@@@ Shield on the CS1W-NC@13) Servo Drive R7M-A@ Servomotor CW output −CW (with 1.6-kΩ resistance) +CCW CCW output −CCW...
Page 82 Section 3-5 Connection Examples for Different Types of Motor Driver Connection to Line Driver (CS1W-NC133/NC233/NC433) Position Control Unit (line driver outputs on the CS1W-NC@33) 5-V GND for pulse output Example: OMRON R7D-AP@@@ 5-V power Shield supply for Servo Drive pulse...
Page 83: Connection Of Unused Axes
(not used; no wiring required) To set only the X axis as the axis to be used, set the number of unused axes to 01 in Axis Parameter Designation of 4-2 Common Parameter Area. The following table shows the relation for each Unit between the number of unused axes and the settings.
Page 84: Cs1W-Nc213/Nc233 - X Axis Only (Unit Versions Earlier Than 2.1)
(and not the Y axis) is used. In this example, the limit input signals for both axes are set to N.C. contacts. With the CS1W-NC413/NC433, if the Z axis is used and the U axis is not used, the connection will be the same with X and Y replaced by Z and U respectively.
Page 85 Section 3-7 Servo Relay Unit • The connecting cable and the type of Servo Relay Unit required will depend on the Servo Drive model connected. Refer to the tables under Connection Compatibility given below. Connections Diagram Position Control Unit CS1W-NC113...
Page 86 XW2Z-@@@J-A13 XW2B-40J6-4A XW2Z-@@@J-B7 R7D-AP@@@ (when using RS-422) • The cable length for PCU Connecting Cables is indicated in the “@@@”. 050: 0.5 m 100: 1 m • The cable length for Servo Drive Connecting Cables is indicated in the “@@@”.
Page 87 Section 3-7 Servo Relay Unit...
Page 88 Operation Modes ........
Page 89: Overall Structure
The user can select by means of a common parameters setting whether the axis parameters set in the CPU Unit’s DM Area are to be transferred to the PCU for use, or whether the axis parameters saved in the PCU’s flash mem-...
Page 90 Section 4-1 Overall Structure The data handled by the PCU can be classified in the way shown below. Data name Contents Setting area Enable timing Common parameter area This area contains the parameters for DM Area words in the The settings are trans-...
Page 91: Data Areas
PCU’s internal memory) for the parameters and data handled by the PCU. For more details, refer to the relevant sections. Note Do not write to unused areas in parameters and data. Doing so may cause, malfunctions. Common Parameter Area (refer to page 69) Beginning word of common parameter area, m = D20000 + 100 ×...
Page 92 Section 4-1 Overall Structure Operating Memory Area (refer to page 93) Beginning word of operating memory area, n = 2000 + 100 × unit number. Words Bits Operation 1 axis 2 axes 4 axes X axis X axis Y axis X axis Y axis Z axis U axis...
Page 93 00 to Error code Operating Data Area (refer to page 97) Beginning word of operating data area, I = word specified in common parameters (m, m+1). Words Name Data size 1 axis 2 axes 4 axes...
Page 94: Common Parameter Area
2 words Common Parameter Area The common parameter settings determine the areas used to set the operat- ing data (the operating data area) and axis parameters (the axis parameter area) required for axis control. The common parameters must be set before...
Page 95: Outline
Memory from the area allocated to Special I/O Units in the CPU Unit’s DM Area is allocated to the common parameters. The beginning word of the allo- cated area is determined by the unit number set for the PCU according to the following equation.
Page 96 (error code 0010). Note Do not set a bank number for a bank that is being used as PLC file memory. If a bank that is being used as PLC file memory is set, the operating data area settings will not be reflected in PCU operation and this will result in malfunc- tion.
Page 97 NC2@3:D8000 to D8039 NC4@3:D8000 to D8071 Example 2 The area in bank 2 of the CPU Unit’s EM Area beginning with word 3A98 Hex (15000) is designated as the operating data area. The following words are allocated (varies with the model):...
Page 98 When using a 1-axis or 2-axis PCU, set 0 for the other axes (i.e., those not controlled by the PCU). Setting to a value other than 0 will result in a parame- ter designation error (error code 0013).
Page 99: Axis Parameter Area
• The axis parameters set in the DM Area words allocated to Special I/O Units (for axes for which the axis specification (word m+2, bits 08 to 11) is set to 0 when 01 is set for the parameter designation (m+2, bits 00 to 07) in the common parameters) •...
Page 100 Section 4-3 Axis Parameter Area however, no Y, Z, or U-axis parameters when using 1-axis PCUs, and no Z or U-axis parameters when using 2-axis PCUs. Word Name Configuration/Explanation Page (PCU internal address) NC1@3 NC2@3 NC4@3 X axis Y axis...
Page 101 Origin search (rightmost word) Specifies the time taken to (0014) (0030) (004C) (0068) acceleration time go from initial speed to maxi- m+21 m+49 m+77 m+105 (leftmost word) mum speed during origin (0015) (0031) (004D) (0069) search.
Page 102: Details
The default setting for I/O settings is 0060. Explanation These settings specify the output pulse selection, the limit input signal con- tacts, and so on. The meanings of each of the settings are given below. Bits Settings Output pulse selection: Specifies the pulse method for outputs.
Page 103 09 to 15 Not used The PCU constantly outputs the ON/OFF status of the input signals for each of the axes to the operating memory area. The following table shows the cor- respondence between these signals and the parameter settings.
Page 104 The default setting for operation mode selection is 0000. Explanation The data set in this word specifies the operation mode and the origin detec- tion method. The meanings of each of the settings are given below. Bits 00 to 03: Operation Mode Selection Set the operation mode according to the motor driver and signal lines that are used.
Page 105: Operation Modes
Reverse mode 3 (supported for unit version 2.2 or later) Basic functions are the same as with reverse mode 2. When the direction is reversed at the origin proximity input signal, however, the origin search operation will continue at the origin search proximity speed until the origin input signal.
Page 106 24 VDC Mode 1 Set mode 1 when using a Servo Drive and connecting a line driver input and a error counter reset output without using a positioning completed signal. The response time for the origin line driver input is 0.1 ms. (N.O. contact setting)
Page 107 This setting specifies the maximum speed (in pps units) that can be output by the PCU for each axis. The maximum speed is set in the range 1 to 500,000 pps using two words (the leftmost word and the rightmost word) as 32-bit unsigned data.
Page 108 Explanation This setting specifies the initial speed (in pps units) for each axis. The initial speed is set in the range 0 to 500,000 pps using two words (the leftmost word and the rightmost word) as 32-bit unsigned data. Origin Search High Speed...
Page 109 Origin Search Operation. Note Be sure to set the origin search proximity speed so that it is lower than the ori- gin search high speed. If the origin search proximity speed is set equal to or higher than the origin search high speed, an origin search speed error (error code 1603) will be generated.
Page 110 (the leftmost word and the rightmost word) as 32-bit signed data. If the compensation is set to anything other than 0, the axis will be moved at the origin search proximity speed for the set amount of compensa- tion after the origin input signal is detected.
Page 111 32-bit unsigned data. If the backlash compensation is set to anything other than 0, and the backlash compensation speed is set to 0, backlash will be per- formed at the initial speed or 250 pps, whichever is the greater. For details on backlash compensation operation, refer to 9-8 Backlash Compensation.
Page 112 1: S-curve Bits 04 to 07 Acceleration/Deceleration Time Designations These bits specify the method to be used to set the acceleration and deceler- ation times. 0: The acceleration and deceleration times are set as the time between the initial speed and the maximum speed parameters for each axis. These...
Page 113 Section 4-3 Axis Parameter Area 1: The acceleration and deceleration times are set as the time required to reach the target speed from the present speed. Speed (pps) Maximum speed Target speed Initial speed Time Deceleration time setting Acceleration time setting The acceleration and deceleration time data that is used for axis operation is determined by the operation executed as shown in the table below.
Page 114 The S-curve used for the PCU is the tertiary curve that joins the initial speed and the target speed. If an S-curve is used, the maximum acceleration/decel- eration will be 1.5 times that of the trapezoidal curve with the same accelera- tion/deceleration time.
Page 115 The default setting is 00000064 (100). Explanation This setting specifies the time (in ms) taken to go from the initial speed to the maximum speed when performing origin search. The origin search accelera- tion time is set in the range 0 to 250,000 ms using two words (the leftmost word and the rightmost word) as 32-bit unsigned data.
Page 116 8600) will be generated. The positioning monitor time is set in the range 0 to 9,999 ms as 16-bit unsigned data. If the positioning monitor time is set to 0, operation will proceed in one of the following ways, depending on the kind of operation being performed.
Page 117 1,073,741,823 pulses using two words (the leftmost word and the rightmost word) as 32-bit unsigned data. If the CW software limit is set to less than or equal to the CCW software limit, the software limit function be disabled and the present position will taken to be 0 when operation starts.
Page 118: Operating Memory Area
Case 1 is for when the initial pulse designation is set to 0 and case 2 is for when it is set to 1. Although, the time from the PCU receiving the startup instruction for jog operation from the CPU Unit until internal processing is performed will be the same for the two cases, the time for the first pulse will be reduced from 4 ms (250 pps) to 0.002 ms (500 kpps),...
Page 119 Operation NC1@3 disabled for beginning operation. At the rising edge ( ↑ ) when this bit turns START ON, memory operation starts. At the rising edge ( ↑ ) when this bit turns...
Page 120 Words Bits Name Operation Reference axis axis axis axis At the rising edge ( ↑ ) when this bit turns NC4@3 Data transfer WRITE DATA SECTION 5 commands ON, data is written from the CPU Unit to Transferring NC2@3 the PCU.
Page 121 Direct operation (ABSOLUTE MOVEMENT, RELATIVE MOVE- MENT, INTERRUPT FEEDING), ORIGIN SEARCH, ORIGIN RETURN, memory operation (see note 1.) No Origin Flag ON when the origin is not estab- SECTION 6 lished. Defining the Ori- Origin Stop ON when stopped at the origin.
Page 122: Operating Data Area
• NC1@3: l = m + 32 = D20000 + 100 × unit number + 32 • NC2@3: l = m + 60 = D20000 + 100 × unit number + 60...
Page 123 • NC4@3: l = m + 116 = D20000 + 100 × unit number + 116 User-specified DM/EM Area Words If 000D (user-specified DM Area words) or 0X0E, where X = 0 to 9, A, B, or C (user-specified EM Area words) is set for the common parameter used for the...
Page 124 Section 4-5 Operating Data Area For Individual Axes Model Words Name Operation Reference X axis Y axis Z axis U axis Output NC4@3 I+20 I+32 I+44 Operating Position Specifies the position for SECTION (CPU data for (rightmost) direct operation and...
Page 125: Memory Operation Data
Settings for memory operation data can be saved to flash memory. 4-6-1 Outline Memory operation data consists of the following six types of data. Settings for this data can be written from the CPU Unit to the PCU using data transfer. 1,2,3... 1. Positioning sequences 2. Speeds 3.
Page 126 Speed #0 (leftmost word) Speed #1 (rightmost word) rightmost word Sets speed #0 (in pps units). The speed can be set in the range 1 to Speed #0 1,000,000 pps as unsigned 32-bit hexadecimal data using 2 words. (00 Hex) left-...
Page 127 (01 Hex) Dwell time #1 (1 word) Sets dwell time #1 (in 0.01-s units). The dwell time can be set in the range 0.00 to 9.99 s as unsigned 16-bit hexadecimal data. Setting range: 0000 to 03E7 Hex (0.00 to 9.99)
Page 128: Zone Data Area
4-7-1 Zone Function The zone function is used to notify the CPU Unit whether or not the position of the machine being controlled by the PCU is within a set region. Notification is made to the CPU Unit using the Zone Monitor Flags.
Page 129: Zone Data Settings
• The origin proximity signal, origin signal, CW/CCW limit input signal, and emergency stop input signal are wired for two axes. • The parameters for the PCU are set in the DM Area in the CPU Unit. • The operating data area is allocated to the area following the parameter...
Page 130 • The two axes are controlled. • A Servo Drive is used for each axis. • The pulse output method for the two axes is set to CW/CCW output (i.e., default setting). • The two axes operate within the same operating range (1,000 to 1,000,000 pulses).
Page 131: Setting Positioning Using One Axis
• The following are wired for the X axis only: origin proximity signal, origin signal, CW/CCW limit input signal, and emergency stop input signal. • The parameters for the PCU are set in the DM Area in the CPU Unit. • The operating data area is allocated to the area following the parameter described above.
Page 132 Section 4-8 Examples of Parameter Settings Note Operation will be performed for PCUs with unit version 2.1 or earlier. The emergency stop for the Y axis, however, requires wiring. Some parameter set- tings will also vary. Parameter Settings • Set the default settings using the CX-Programmer.
Page 133: Setting For Continuous Operation In The Same Direction For One Axis
• The emergency stop input signal for the X axis is wired. • The parameters for the PCU are set in the DM Area in the CPU Unit. • The operating data area is allocated to the area following the parameter described above.
Page 134 • With the following settings, jog operation and direct operation can be per- formed from the CPU Unit. • The present position is set to 0 every time the axis is started. Take into consideration that the software limits will not operate and the present position will be lost.
Page 135 Maximum speed 500000 m + 8 to m + 9 Initial speed m + 10 to m + 11 Origin search high speed 25000 m + 12 to m + 13 Origin search proximity 2500 speed m + 14 to m + 15 Compensation data...
Page 136: Transferring And Saving Data
Transferring and Saving Data ........
Page 137: Transferring And Saving Data
Parameters and data can be transferred between the CPU Unit and the PCU using one of the 3 methods explained below. The different types of data can be classified into the following groups (it is possible to send only parts of these groups):...
Page 138: Saving Data
The transferred data is written to the PCU’s memory, but it will be lost if the power is turned OFF or if the PCU is restarted from the CPU Unit. To keep the transferred data permanently in the PCU, it is necessary to save it to the PCU’s flash memory using the operating memory area.
Page 139: Data That Can Be Saved And/Or Transferred
Transferring and Saving Data Section 5-1 4. There is a limit on the number of times you can read something using the flash memory. Set this so that up to 100,000 data saving operations can be performed. 5-1-3 Data that Can be Saved and/or Transferred All the following data used by the PCU can be read, written, and saved to the flash memory.
Page 140: Data Checking
(in the range 1000 to 4019) is output to the operating memory area and, at the same time, all of the data in the buffer is annulled. (In this case, the transferred parameter or data is not written to its respective parameter...
Page 141 Error codes output • If an error is detected by the data check, the correct data should be sent again. • If data transfer is completed successfully, the error is cleared. • If the data is stored or the instruction to activate is executed without the correct data being re-sent, the error will be cleared but the data after the error will not be transmitted.
Page 142: Data Transfer Priority
Data Transfer Priority As mentioned in 5-1-1 Transferring Data, parameters and data can be trans- ferred to the PCU using the 3 methods shown below. If these 3 methods are used in combination, a situation where data transfer is impossible may occur.
Page 143 The above table shows the operation that results when a data transfer func- tion is executed (the “executed” row in the table) on the data for one axis from the CPU Unit or CX-Position while a data transfer function is being executed (the “status”...
Page 144: Writing Data With The Write Data Bit
Note 1. Take care not to turn OFF the power supply or restart the PCU while a data transfer is in progress. The PCU will not operate normally unless all data is transferred. If there is an interruption, the data should be re-sent.
Page 145: Outline
The “m” in the DM Area is the beginning word of the common parameter area and is determined when the unit number is specified. The “I” in the EM or DM Area is the beginning word of the operating data area specified by the common parameters and is also the beginning word of the operating data that determines data transfer.
Page 146: Data Settings Required For Writing Data
Beginning address (Hex) of PCU data area where data is to be stored. 4. Set data. Set data to be written to the PCU in the area (in the DM or EM Area) spec- ified by words I to I+2. 5. Execute WRITE DATA.
Page 147: Timing Chart For Writing Data
Timing Chart for Writing Data Writing data is possible even during axis operation. It is not possible to write data and read data at the same time. The following diagram is a timing chart for writing data to a 4-axis PCU.
Page 148: Example Of A Write Data Program
When the data writing operation is completed, the Data Transferring Flag (word n+8, bit 14) is turned from ON to OFF. If an error occurs during data transfer, the Error Flag (word n+8, bit 12) is turned ON and the error code is output to n+10 in the operating memory area.
Page 149: Reading Data With The Read Data Bit
PCU using the READ DATA Bit (word n+1, bit 13). A program example is also provided. Note 1. Data can be read while pulses are being output, but not while data is being written or saved. If attempted, it will result in a multiple start error (error code 8000).
Page 150: Data Settings Required For Reading Data
PCU are determined (or set) accord- ing to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 151: Timing Chart For Reading Data
Reading data is possible even during axis operation. It is not possible to write and read data at the same time. The following diagram is a timing chart for reading data from a 4-axis PCU. (9 words) Number of read words (l+4)
Page 152: Data Reading Program Example
In this example, speeds #0 and #1 written in 5-2 Writing Data with the WRITE DATA Bit are read. The conditions to be set are the same as those for the data writing example. The beginning word of the DM Area, where the read data is to be stored, is D00500.
Page 153 Section 5-3 Reading Data with the READ DATA Bit Program Example The work bit R1 is used to begin reading. DIFU Read switch 200814 Set total number of words to be read from PCU to "4." #0004 Work bit Data Transferring Flag...
Page 154: Writing Data With Iowr
IOWR instruction. 1,2,3... 1. Set IOWR. C: Beginning address of the data area in the PCU where the data is to be stored. S: Beginning word address of the area in the CPU Unit in which the data has been set.
Page 155: Iowr: Intelligent I/O Write
Specifies the address (Hex) in the PCU to which data will be written. First source word Specifies the first word in the CPU Unit from which data is to be trans- ferred. The following areas can be specified as the source start word.
Page 156: Error Code Treatment For Iowr
• If pulse output from the Position Control unit is being prohibited, none of the current error codes will be changed and the operation will end. • In all other cases, the error codes for all axes will be cleared to all zeros and the operation will end.
Page 157: Precautions When Using Iowr
When transferring the origin search high speed or the origin search proximity speed, be sure to send both of these items together. If only one of these items is transferred, an IOWR format error (error code 8701) will be generated.
Page 158 PCU and send the instruction to start operation within one cycle. Method 2 The data is writ- Up to 128 words of data can be transferred in one operation. If the number of words to be ten to the data...
Page 159 Equals Flag turns ON and, at the same time, the data is transferred to the PCU. At the PCU, this data is first stored in the receive buffer. After this, the next IOWR instruction is executed. Because the data in the receive buffer has not been processed (i.e., to check that the data items are within the respective...
Page 160: Iowr Program Example
IOWR instruction is executed once more in the next cycle. Execution of this second instruction is repeated until all the data in the receive buffer has been processed. For this reason, it takes at least two cycles for transfer of all the data to be completed and the instruction to start to be output.
Page 161: Reading Data With Iord
Section 5-5 Reading Data with IORD Program example Work bit R1 is used to start writing. When debugging, it is a good idea to cre- ate a ladder program that refers to the ER Flag and Error Flag (word n+8, bit12).
Page 162: Error Code Treatment For Iord
#00090003 (total number of words transferred: 0009 (9 words), unit number: 0003 (3) First destination word Specifies the first word of the CPU Unit to store the data that will be read. Refer to the CPU Unit manuals for more details.
Page 163: Flags
When data is transferred using IORD, the Error Flag (word n+8, bit 12), the ER Flag and the Equals Flag can be used to check whether the transfer has been completed successfully. If the Error Flag (word n+8, bit 12) is ON, an error code will be output to n+10 in the operating memory area.
Page 164: Iord Program Example
In this example, speeds #0 and #1 written in 5-4 Writing Data with IOWR are read. The conditions to be set are the same as those used in the example of writing the data. The beginning word for the DM Area where the read data is to be stored is set at D00500.
Page 165: Saving Data
Note 1. Do not turn OFF the power or restart the PCU while data is being saved. It may cause a failure in the PCU’s internal flash memory, or cause the PCU to operate abnormally.
Page 166: Data Saving Procedure
• Dwell times • Zones Note The data for the number of axes for the particular PCU being used is all saved at once. Parameters and other data that have been saved to flash memory are read to the PCU’s internal memory when the PCU is powered up or restarted. If the...
Page 167: Timing Chart For Saving Data
Transferring Data with CX-Position Section 5-7 Operating Memory Area When the SAVE DATA Bit (word n+1, bit 14) is turned from OFF to ON, all parameters and data are saved to flash memory. Name Model Operating Contents memory area SAVE DATA...
Page 168: Defining The Origin
Parameter Areas ........
Page 169: Outline
When performing positioning for a system in terms of absolute positions in that system, it is first necessary to define the origin. For example, in the X-Y plane shown below, before positioning to (X,Y) = (100 mm,200 mm), it neces- sary to establish where the origin is, i.e., it is necessary to determine the ori-...
Page 170: Origin Search Procedure
If an attempt to execute TEACH is made, a present position unknown error (error code 5040) will be generated. Origin Search Procedure The data settings required to perform origin search for the X axis are given here as an example. 1,2,3...
Page 171: Data Settings Required For Origin Search
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 172: Axis Parameter Area
(leftmost) Set range: 0 to 7A120 Hex Initial speed m+36 m+64 m+92 00 to 15 (0 to 500,000 pps) (rightmost) Only the initial speed can be set to 0. m+37 m+65 m+93 00 to 15 (leftmost) Origin search m+10 m+38...
Page 173: Operating Memory Area
(Origin input signal type: N.O. input: 10 kpps max.; N.C. input: 1 kpps max.) If a higher value is set, it may not be possible to stop at the origin accurate- 2. When setting using the IOWR instruction, set both the origin search high speed and origin search proximity speed at the same time.
Page 174: Allocation Of Operating Data Areas (Supported For Unit Version 2.2 Or Later)
• Set the optimum operation mode for the driver (servomotor, stepping motor) used. • Set to mode 0 for a stepping motor and set to modes 1, 2, or 3 for a Servo Drive. (See note.) 2. Mode for origin search operation: Set the movement of the motor during origin search.
Page 175 Section 6-4 Origin Search Operation Operation Mode The origin mode parameters determined the I/O signals used for origin search. The I/O signals used for each mode are given in the following table. Operation mode I/O signals Operation when origin is detected...
Page 176 Note There are drivers for stepping motors that can output positioning completed signals in the same way as Servo Drives. It is possible to set modes 1 or 2 if this kind of driver is used. Origin Search Operation The following 4 modes are available for origin search operation.
Page 177 Acceleration Initial speed Start Stop If the origin search proximity speed is less than or equal to the initial speed, there will be no acceleration. Origin Search Direction This setting determines the direction when detecting the origin input signal. During origin search, the origin input signal in the direction of the origin search...
Page 178: Operation Mode Settings
ON or if the motor has been changed). After the origin is initially detected using origin search, the number of pulses specified with this setting are output, the present position is set to 0, and at the same time, the origin is established (the No Origin Flag turns OFF).
Page 179 During error counter reset output, if the origin input signal turns ON again, the Servo Drive’s error counter reset function is deemed to have been used, and the error counter reset output is turned OFF. In this case, the output time of the error reset counter will be less than 20 ms.
Page 180 “0,” the signal waits until the positioning completed input signal turns ON. Therefore, if a problem exists in the positioning completed input sig- nal wiring or if the servo gain is set to a large value, the busy state continues without completing the positioning.
Page 181 Stops here The stop position is the same in Mode 1 and Mode 2. For an operation where the start location of the origin search is different or where the deceleration time is short, refer to the previously-described Mode 1. In Mode 3, if decelera-...
Page 182 Origin Detection Method: 3 Deceleration starts on the rising edge of the limit input signal. After the signal turns OFF, an origin adjustment command output turns ON. If the deceleration is insufficient while the limit input signal is ON, there will be an error.
Page 183: Origin Search Operation And Origin Detection Direction Settings
CW limit (See note.) Start Stop Start Note If a reversal is initiated by a limit signal, a stop without deceleration will occur, and acceleration will occur after reversing. 1: Takes origin signal after origin Origin proximity input proximity signal turns ON (↑).
Page 184 Start Stop Start Note If the direction of operation is reversed, the reverse will be sudden, without deceleration or acceleration. 3: Limit input signal used instead of An origin detection method error (error code 1607) is generated and settings are origin proximity input signal not possible.
Page 185 Start Limit Stop (Error code 6201) Note A limit signal is input and a stop without deceleration will occur as a result. 3: Limit input signal used instead of An origin detection method error (error code 1607) is generated and settings are origin proximity input signal not possible.
Page 186 Limit Stop (Error code 6200) CW limit (See note.) Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. 2: Origin proximity input signal not Origin input signal used Origin search proximity speed Pulse output CW limit (See note.)
Page 187 Stop CW limit (See note.) Start Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. 1: Takes origin signal after origin Origin proximity input proximity signal turns ON (↑). signal Origin input signal...
Page 188: Operation Pattern With Origin Compensation
Time The override is not enabled with respect to pulse output during origin search, but it is enabled with respect to the amount of pulse output set for origin com- pensation. In this case, the origin search proximity speed corresponds to an override set- ting of 100%.
Page 189: Origin Search Timing Charts
Section 6-5 Origin Search Timing Charts Origin Search Timing Charts 6-5-1 Without Origin Compensation When Using an Origin Proximity Input Signal Origin proximity input signal Origin input signal ORIGIN SEARCH Pulse output Time Start Stop Positioning Completed Flag Origin Stop...
Page 190: With Origin Compensation
Section 6-5 Origin Search Timing Charts When Not Using an Origin Proximity Input Signal Origin input signal ORIGIN SEARCH Pulse output Time Start Stop Positioning Completed Flag Origin Stop Flag No Origin Flag Busy Flag 10 ms max. 6-5-2 With Origin Compensation...
Page 191 Section 6-5 Origin Search Timing Charts When Not Using an Origin Proximity Input Signal Origin input signal ORIGIN SEARCH Pulse output Time Stop Start Positioning Completed Flag Origin Stop Flag No Origin Flag Busy Flag 10 ms max.
Page 192: Origin Search Deceleration Stop
When a deceleration stop is executed during an origin search, the origin search is canceled. The following diagram shows an example of a decelera- tion stop during an origin search when there is an origin proximity input signal reversal. ORIGIN...
Page 193: Emergency Stop Of Origin Search
Origin Search Timing Charts 6-5-4 Emergency Stop of Origin Search The origin search will be interrupted if the emergency stop input signal is input while the origin search is being executed. To execute the origin search again, first release the pulse output prohibition.
Page 194: Present Position Preset
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 195: Timing Chart
In the following timing chart, the X-axis present position for a 4-axis PCU is changed to “0.” When the present position is changed to “0” it becomes the origin, so the Origin Stop Flag is turned ON. There will be no change in the status of the Positioning Completed Flag.
Page 196: Timing Chart
The origin return will not operate if the software limit function has been dis- abled by setting the axis parameters so that the CW software limit is less than or equal to the CCW software limit. (At the time of the command, the present position is “0.”)
Page 197: Z-Phase Margin
ON to OFF until the Z-phase was detected. If this value is close to 0 or close to one motor rotation, there is a possibility of origin displacement during origin search. A simple way of reducing the probability of this is to adjust the motor’s mounting...
Page 198 Section 6-8 Z-phase Margin Calculation of Z-phase Margin Origin search operation Motor rotation Time Return using JOG at low speed. Origin proximity signal Z-phase...
Page 199 Z-phase Margin Section 6-8...
Page 200: Direct Operation
Parameter Areas ........
Page 201: Outline
2. When it is the X axis. I: Beginning word address of area designated in common parameters. n: Beginning word address of work bit determined when the PCU's unit number was set. The positions and speeds set in the operating data area by the MOVL instruc- tion are output to the Position Control Unit (PCU) automatically at I/O refresh time.
Page 202: Direct Operation Procedure
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 203: Axis Parameter Area
00 to 15 Leftmost Rightmost m+37 m+65 m+93 (rightmost) 00 to 15 (leftmost) Setting range: 0 to 7A120 Hex (0 to 500,000 pps) 7-3-3 Operating Memory Area Item Model Operating memory area Details X axis Y axis Z axis...
Page 204: Operations With Direct Operation
If data in the operating data area is changed during direct operation, position data will become effective when the next direct operation is designated. Speed data goes into effect as soon as it is written to the operating data area, unrelated to any other commands.
Page 205: Multiple Start Operating Patterns
Therefore, to ensure that the multiple start is exe- cuted, avoid activating the multiple start right before stopping. If the multiple start is activated within 16 ms of stopping, as shown in the following figure, all the immediately preceding position command values will be output and the specified position will be reached.
Page 206 Section 7-4 Operations With Direct Operation If a multiple start must be activated in this time period as required by an appli- cation, turn ON the start bit for a specified time as shown in the following fig- ure. This case will be treated as starting the next operation rather than as a multiple start.
Page 207: Starting Direct Operation During Memory Operation
The interrupted sequence number will be retained as long as new sequence numbers are not set and provided an origin search or an origin return is not executed, or the present position is reset.
Page 208 Section 7-5 Direct Operation Timing Charts Example 2: Changing target position to absolute position at –10,000 pulses while moving to absolute position at 10,000 pulses Position (I+8, I+9) 2710 Hex (10000) FFFFD8F0 Hex (−10000) Speed (I+10, I+11) 3E8 Hex (1000)
Page 209: Acceleration/Deceleration
Section 7-6 Acceleration/Deceleration Example 4: Changing the target position to relative position at –10,000 pulses while moving to relative position at 10,000 pulses Position (I+8, I+9) 2710 Hex (10000) FFFFD8F0 Hex (-10000) Speed (I+10, I+11) 3E8 Hex (1000) 3E8 Hex (1000)
Page 210: Calculation Of Acceleration/Deceleration Times For Continuous Positioning
T time T Note If override is enabled (i.e., the Override Enable Bit is ON), the speed will be as follows: Speed = Operating data area’s speed setting × Operating data area’s override setting ÷ 100. 7-6-2...
Page 211: Calculation Of Acceleration/Deceleration Times When The Speed Is Changed During Operation
T and T are calculated using the acceleration time Ta and decel- eration time Td specified at the time operation started from the stopped posi- tion. It is not necessary to specify new acceleration and deceleration times. Speed First positioning operation...
Page 212: Sample Program
7-7-1 Details of Operation The X axis is moved by relative movement at a speed of 15,000 pps to the position at 135,000 pulses. The speed is not modified by override.
Page 213: Setting Conditions And Details
Deceleration time: 3 ms The values set for the acceleration and deceleration times and the actual acceleration and deceleration times are related to the values set for the actual target speeds and maximum speeds for the axis parameter area. For details, refer to Appendix B Estimating Times and Pulses for Acceleration/Decelera- tion.
Page 214 Name Configuration Contents Acceleration time 00512 0064 Leftmost Rightmost 00513 0000 l+13 l+12 Setting range: 0 to 3D090 Hex (0 to 250,000 ms) Deceleration time 00514 0064 Leftmost Rightmost 00515 0000 l+15 l+14 Setting range: 0 to 3D090 Hex (0 to 250,000 ms)
Page 215: Program Using Function Blocks
MENT command. Use of function blocks provides the following advantages. • Bits for commands and address calculations for data areas that depend on the unit number and axis number are automatically calculated in the function block, reducing the work required to perform calculations.
Page 216 Section 7-7 Sample Program When the starting trigger is changed from OFF to ON, the servomotor (axis 1) connected to the Position Control Unit for unit number 0 is operated using the ABSOLUTE MOVEMENT command. Unit number: 0 &0 Servo motor: 1...
Page 217 Section 7-7 Sample Program...
Page 218: Memory Operation
Parameter Areas ........
Page 219: Outline
Deceleration time #9 The positioning sequences are sent in advance by data transfer to the PCU. After the sequence numbers to be used have been set in the operating mem- ory area, the Sequence Number Enable Bit is switched ON.
Page 220: Axis Designation
The positions used are those for the axes designated by the axis designation. For data other than position data, the data of the axis that started operation is used as the data to be designated in the sequence data.
Page 221 Note The Error Flag is input for either the starting axis or the designated axis, depending on the type of error. In the following example, the Y axis is specified by the axis designation when starting from the X axis.
Page 222: Memory Operation Procedure
(word n+8, bit 13) Y-axis Busy Flag (word n+11, bit 13) • A multiple start error (error code 8000) will occur if the axis designated in one axis designation in the positioning sequence is overlapped by another positioning sequence. • A multiple start error (error code 8000) will occur if a command other than a memory operation command (such as origin search) is made for the axis for which start has been executed for memory operation.
Page 223: Setting Data For Memory Operation
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 224: To 3D090 Hex
00 to 15 (Leftmost) Note The speed data specified for initial speed #2 in the sequence data is used as the initial speeds for memory operation. The initial speed in the axis parame- ters are not used.
Page 225: Operating Memory Area
2. If the software limit function set with the axis parameters is disabled (CW limit equal to or less than CCW limit), and if the designation is made while the origin is established (No Origin Flag OFF), positioning will be carried out by a relative amount, even with absolute position data.
Page 226: Sequence Format
8-4-1 Sequence Format Each positioning sequence is configured of three words, as shown below. Up to 100 of these sequences can be set for each axis, and transferred to the PCU and saved. 12 11 08 07...
Page 227: Axis Designation
Y axis X axis For example, to start only the X axis, set these bits to “0001.” To start the X and Z axes for linear interpolation, set these bits to “0101.” For details on linear interpolation, refer to 8-6 Linear Interpolation.
Page 228: Position Designation
For example, if the axis designation is set to 0111 and the position designa- tion is set to 0001, relative positioning will be performed for the X axis and absolute positioning will be performed for the Y and Z axes.
Page 229: Completion Code
“sign” set for the Time position data. To stop this pulse out- put, use the STOP command. Positioning stopped STOP START Note The initial speed is used at the end.
Page 230: Dwell Time Number
01 to 13 Hex: Designate dwell time numbers 1 to 19. The dwell time can be set from 0.01 s to 9.99 s (unit: 0.01 s). The timing of the next start following the elapse of the dwell time differs depending on which operation mode is used.
Page 231: Acceleration And Deceleration Time Numbers
These settings specify the acceleration and deceleration times for pulse out- put, by setting acceleration/deceleration time numbers from 1 to 9 (Hex). When either of these is set to “0,” the acceleration/deceleration time set in the axis parameter area is used.
Page 232: Initial Speed And Target Speed Numbers
These settings specify the initial speed and target speed for pulse output, by setting speed numbers from 00 to 99 in hexadecimal (00 to 63 Hex). To set an initial speed of 0, set the speed designated with the initial speed number to 0.
Page 233 With automatic completion, the position with the same number as this posi- (Code 1) tioning sequence is executed and positioning is paused for the duration of the dwell time. Then the position with the same number as the next (+1) position- ing sequence is executed. Automatic completion...
Page 234 If a dwell time (numbers 1 to 19) has been set, operation will be the same as that for automatic completion, not continuous completion.
Page 235 (Code 4) in this positioning sequence. The present position can be calculated even dur- ing continuous output. The direction of the pulse output is set by the sign for the position data of the same number. Therefore, depending on the desired direction, make the following settings for the position: •...
Page 236: Linear Interpolation
INDEPENDENT START Linear Interpolation Two or more axes can be designated for linear interpolation work. Use the axis designation in the positioning sequence to designate the axes for linear interpolation operations. The target speed set in the positioning sequence for the starting axis will become the interpolation speed.
Page 237 (or axes) is equal to the maximum speed setting. With this PCU, the interpolation speed can be set up to 1,000 pps so as to allow each axis to move simultaneously at its maximum speed (500 pps) whilst operating according to linear interpolation.
Page 238: Using Continuous Completion With Linear Interpolation
(completion code 2) is used. As a result, the motor may not be able to follow the variations in the pulses and may malfunction.
Page 239 When this operation is executed, therefore, set the completion code to automatic (completion code 1). The following example shows the linear interpolation of the X and Y axes starting at the X axis. At point “A” the direction of movement at the Y axis is reversed. Y axis θ...
Page 240: Transferring Positioning Sequences
CX-Position, and then write this data from the flash memory at startup. • Save the data to the DM or EM Area of the CPU Unit, and then, using the data transfer function, transfer this data to the PCU where it is written to the buffer.
Page 241: Deceleration Time
• The PCU used is an NC413 with the unit number set to 0. • The beginning word of the operating data area is set to D00500. • The data for sequence numbers 0 to 99 is set in EM bank 0 from word 0. Ladder Program...
Page 242: Timing Chart For Memory Operation
In an absolute move command to the present position or a relative move com- mand with position data of 0 is executed (i.e., when a linear movement is made with a travel distance of 0), the Busy Flag will be turned ON for one cycle at startup.
Page 243: Sequence Number Enable Bit
Sequence Number Enable Bit turned ON. In the following timing chart the completion codes for the positioning sequences are as follows, using X-axis operation for a 4-axis PCU as an example: Sequence #10, Sequence #20: Continuous...
Page 244: Timing Chart For Start
START begins execution from any sequence number in accordance with the completion code set for each positioning sequence. When a sequence num- ber with its completion code set to terminating or bank end is executed, pulse output stops when positioning is completed, and then waits for START.
Page 245: Timing Of Data Changes During Memory Operation
0002 Hex (word I+58, bit 00 to 15) Note If START is turned from OFF to ON when the Sequence Number Enable Bit is OFF after a power-up or a restart, the sequence number error (error code 8101) will be generated.
Page 246: Acceleration/Deceleration
(which is also set in the axis param- eter area). Similarly, the deceleration time is the time it takes to go from the maximum speed to the initial speed.
Page 247: Calculation Of Acceleration/Deceleration Times For Continuous Positioning
T time T Note If override is enabled (i.e., the Override Enable Bit is ON), the speed will be as follows: Speed designation = Positioning sequence’s speed setting × Operating data area’s override setting ÷ 100. 8-9-2...
Page 248 (pps) • Speed, V (pps) • Acceleration time, Ta (ms) • Deceleration time, Td (ms) As can be seen from the equations above, the acceleration and deceleration time settings for the current sequence are used until the next sequence starts.
Page 249: Sample Program
Sample Program Section 8-10 If the speed for the next sequence is faster, the acceleration time is used, and if the speed for the next sequence is slower, the deceleration time is used. Speed Sequence #0 Sequence #1 Sequence #2...
Page 250: Conditions And Details Of Settings
Apart from the settings given below, the default settings should be used. When settings other than the default settings are used, operations may vary from those shown. Refer to SECTION 5 Transferring and Saving Data for information on how to write data to the PCU. Positioning Sequences...
Page 251: Setting Range
12DC Setting range: time #6 0000 12DD 0 to 3D090 Hex (ms) (0 to 250,000 ms) 8-10-4 Program Example W030 is used as a work bit. W03000 Start switch W03000 201213 Setting for sequence #10 Work bit #000A Busy Flag...
Page 252 Outline of Operation ........
Page 253 Outline of Operation ........
Page 254: Jogging
2. Set the speed and acceleration/deceleration times in the operating data ar- 3. Designate the start direction in the operating memory area. 4. Turn ON the JOG Bit. If the initial speed is set in the parameters, it will be in effect.
Page 255: Leftmost Rightmost 00 15
JOG stop or deceleration stop. 9-1-5 Timing Chart The following is an example of a timing chart for a JOG operation on the X axis with a 4-axis PCU. Directional speed (word n, bit 10)
Page 256: Teaching
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 257: Operating Memory Area Allocation And Operating Data Area Settings
Specify a position #00 to #99 in hexadecimal. (0000 to 0063 Hex). 9-2-5 Timing Chart The following timing chart shows an example of teaching on the X axis for a 4- axis PCU, taking the present position as position #2. Teaching address (word I+18)
Page 258: Interrupt Feeding
It can be started either from memory operation or from direct operation. The present position will be set to “0” if an interrupt input signal is input when the origin is not fixed.
Page 259: Procedure For Direct Operation
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 260: Timing Chart
9-3-6 Timing Chart The following timing chart illustrates interrupt feeding under direct operation, using the X axis for a 4-axis PCU as an example. There is a movement of 10,000 pulses in the direction of travel.
Page 261: Forced Interrupt
A sequence number error (error code 8101) will be generated in the following cases. • If forced interrupt is executed at power up or restart, or after execution of origin search, origin return, or present position preset. • If forced interrupt is executed at bank end.
Page 262: And Parameter Areas
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 263: Timing Chart
(see 8-9 Acceleration/Deceleration). When a deceleration stop is executed at any other time, the stop occurs with a deceleration time that can be calculated from the deceleration time set in the...
Page 264: And Parameter Areas
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 265: Operating Memory Area Allocation
Note During pulse output, the Deceleration Stop Execution Flag turns ON when the STOP Bit is turned ON. When there is no pulse output, the Deceleration Stop Execution Flag does not turn ON when the STOP Bit is turned ON.
Page 266 Time Deceleration Stop with A deceleration stop with linear interpolation is executed by the STOP Bit of the axis for which the START Bit (to start memory operation) is turned ON. After Linear Interpolation deceleration has been completed, the Deceleration Stop Execution Flag is turned ON.
Page 267 Deceleration Stop Section 9-5 When the X axis position is absolute and the Y axis position is relative, the X axis and Y axis operate in the opposite way from that illustrated above. When the X Axis and Y Axis Positions are Both Absolute When a decelerated stop is executed before the target position has been reached, positioning is resumed for both axes by restarting.
Page 268: Timing Chart
For example, when memory operation (started from the X axis) is being performed for the X, Y, and Z axes, if the STOP Bit for the X axis is turned ON, the Deceleration Stop Execution Flags for each of the axes will turn ON after all 3 axes have decelerated to a stop.
Page 269: And Parameter Areas
The beginning words of the operating memory area, operating data area, and common parameter area used for a Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number...
Page 270: Operating Memory Area Allocation And Operating Data Area Settings
Section 9-6 Override • Beginning word of the common parameter area, m = D20000 + 100 × unit number • Beginning word of the operating data area, l, is specified in m and m+1. Set the beginning words of the operating data area and designate the axis parameters used with the common parameters as shown below.
Page 271: Timing Chart
Section 9-6 Override 9-6-4 Timing Chart In the following timing chart, the target speed is changed by the override while jogging the X axis for a 4-axis PCU. Speed 3E8 Hex (1000) (I+10, I+11) Override 32 Hex (50) 64 Hex (100)
Page 272: Outline Of Operation
Make sure this bit is OFF before executing the opera- tion. Do not turn this bit ON during an origin search. If it is turned ON during an origin search (while busy), an error counter reset or origin adjustment command output error (error code 8400) will be generated.
Page 273: Operating Memory Area Allocation And External I/O Connector Pin Arrangement
(5 v) 9-7-4 Timing Chart In the following timing chart, operation modes 0 to 2 are used, with the X axis for a 4-axis PCU taken as an example. Example 1: Used as general outputs in mode 0...
Page 274 Section 9-7 Error Counter Reset Output and Origin Adjustment Command Output Example 2; Error counter reset output turned ON during an ABSOLUTE MOVEMENT command in operation mode 1 ABSOLUTE MOVEMENT (word n, bit 03) Error counter reset output (word n, bit 13)
Page 275: Backlash Compensation
The backlash compensation operation is used after the origin has been estab- lished. If the backlash compensation speed is set to “0,” compensatory output is made at the initial speed. If the initial speed is below 250 pps, the compen- satory speed is output at 250 pps.
Page 276: And Parameter Areas
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 277: Backlash Compensation With Linear Interpolation
CW and CCW limit input signals, the PCU also has a function that monitors the position at a soft- ware level. This function is called the “software limit” function. The range in which the software limit function monitors the position is determined by the values of two settings: the CW software limit and the CCW software limit.
Page 278: And Parameter Areas
Position Control Unit (PCU) are deter- mined (or set) according to the following. • Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number • Beginning word of the common parameter area, m = D20000 + 100 × unit number •...
Page 279: Setting Axis Parameters
The timing with which the software limit function operates will depend on the type of positioning performed. 1,2,3... 1. In the axis parameter area, set the software limits so that CCW software limit < CW software limit. 2. Establish the origin using origin search or present position preset (the No Origin Flag turns OFF).
Page 280: Stop Function
Note 1. Origin return is not possible if 0 is outside the software limit range. For ex- ample, if the software limits are 100 and 200 respectively, origin return is not possible.
Page 281: Stop Methods
Unit. The function can simultaneously and automatically back up and restore the following data from/to flash memory in the PCU at the same time as CPU Unit data using a Memory Card in the CPU Unit. It can also compare the data. • Parameters for each axis •...
Page 282: Applications
File name: BACKUP@@.PRM Note @@ is the PCU’s unit address, that is the unit number + 10 hex. This is also the file that is read from Memory Card and used for data compari- son. Memory Card power supply switch...
Page 283: Operating Procedures
9-11-3 Operating Procedures Backing Up PCU Data Files on Memory Card Set the DIP switch on the front of the CPU Unit as shown in the following table, and then press and hold the Memory Card power supply switch for three seconds.
Page 284 Memory Card. When the power supply switch is pressed, the MCPWR indica- tor on the front of the CPU Unit will flash once and then will remain lit while data is being compared. The indicator will go out after the comparison has...
Page 285 Section 9-11 Easy Backup Function (Ver. 2.0 or later)
Page 286: Program Examples
10-2-2 Repeat Operation ........
Page 287: Operating Procedures For Program Examples
10-1 Operating Procedures for Program Examples The following explanations describe some procedures for using test equip- ment to check the operation of the program examples introduced in this sec- tion. Refer to the various relevant sections for more information on particular procedures.
Page 288 Note When using the NC2@3/NC4@3, make the above connections as a minimum, even for unused axes. If this wiring is not done, an error will be generated and the PCU will not operate. Also be sure to use separate power supplies for the 24-VDC output power supply and the common input power supply.
Page 289: Memory Operation
10-2 Memory Operation 10-2-1 Checking Positioning Operations Overview • The operation of each positioning sequence can be tested using INDE- PENDENT START under memory operation. • Positioning is executed one positioning sequence at a time with INDE- PENDENT START, according to the contents of each sequence.
Page 290 1,2,3... 1. When the operation start switch is turned ON, the program outputs 1,000 pulses CW on the X axis and stops, and immediately moves to the positioning in the next step (2, below). (Automatic) 2. Using continuous positioning, the program outputs 3000 pulses CW on the X axis and stops.
Page 291 Section 10-2 Memory Operation Data Settings Axis Parameters The values for D20004 onwards are transferred when the power is turned ON (or at restart). Positioning Sequences Address Setting Contents of setting 1000 1011 Sequence #0 X axis designation Output code: 0...
Page 292 (0). Dwell Times Dwell times are not used in these programs, so this data area needs to be set completely to the default settings (0). Zones Zones are not used in these programs, so this data area needs to be set com- pletely to the default settings (0).
Page 293 Section 10-2 Memory Operation Program W030 is used as a work word. Operation start switch Takes the rising edge of the DIFU W03000 operation start switch. Operation checking switch W03002 Takes the status of the operation start switch. W03000 200213...
Page 294: Repeat Operation
1. When the operation start switch is turned ON at the origin, the program outputs 1,000 pulses CW on the X axis and stops. (Independent) (First, set the origin to “0” either by performing an origin search or by exe- cuting PRESENT POSITION PRESET.) 2.
Page 295 Initial pulse designation (default setting) Note Set the operation mode (by setting an appropriate value for # in the table above) according to the driver used. Designation of the Operating Data Area The operating data area is allocated to D00500 through D00523 by the data...
Page 296 Memory Operation Section 10-2 Data Settings Axis Parameters The values for D20004 onwards are transferred when the power is turned ON (or at restart). Positioning Sequences Address Setting Contents of settings 1000 1000 Sequence #0 X axis designation Output code: 0...
Page 297 Note Addresses other than the above should be set to their default settings (0). Dwell Times Dwell times are not used in these programs, so this data area needs to be set completely to the default settings (0). Zones Zones are not used in these programs, so this data area needs to be set com-...
Page 298: Cancelling Positioning
W03015 10-2-3 Cancelling Positioning Overview • A forced interrupt can be used during memory operation to cancel the current positioning and perform a circumvention in case of an emergency. • This operation forcibly cancels the current positioning operation and exe- cutes positioning from the designated sequence number.
Page 299 The program outputs 3,500 pulses CW on the X axis and stops. 3. When the operation start switch is turned ON, the procedure in 2 above is repeated. 4. When the FORCED INTERRUPT switch is turned ON during the above po- sitioning operation, that operation is immediately canceled and positioning is executed to the absolute-coordinates origin.
Page 300 Initial pulse designation (default setting) Note Set the operation mode (by setting an appropriate value for # in the table above) according to the driver used. Designation of the Operating Data Area The operating data area is allocated to D00500 through D00523 by the data memory settings.
Page 301 Position designation: absolute Completion code: bank end 1010 0011 Dwell time #0 Acceleration time #1 Deceleration time #1 1011 0400 Initial speed #4 Target speed #0 Note Addresses other than the above should be set to their default settings (0).
Page 302 Note Addresses other than the above should be set to their default settings (0). Dwell Times Dwell times are not used in these programs, so this data area needs to be set completely to the default settings (0). Zones Zones are not used in these programs, so this data area needs to be set com-...
Page 303 Section 10-2 Memory Operation Program W030 is used as a work word. Operation start switch 200206 Takes the rising edge of the DIFU W03000 operation start switch. Forced No Origin Flag interrupt switch W03001 200206 Takes the rising edge of the forced interrupt switch.
Page 304: Direct Operation
Subsequently, as the switch turns ON each time, positioning is executed to 3000 in the CW direction on the X axis and then to 4500 in the CW di- rection on the X axis, and then returns to the origin and stops. (First, set the origin to “0”...
Page 305 The values for D20004 onwards are transferred when the power is turned ON (or at restart). Positioning Sequences This data area is not used with direct operation. It should be left entirely at the default settings (0). Speeds This data area is not used with direct operation. It should be left entirely at the default settings (0).
Page 306 Section 10-3 Direct Operation DM Area D00000 through D00031 are used in this program example, and the following positions are set in this area. Setting Contents of setting Setting Contents of setting D00000 05DC Position: 1,500 pulses D00016 1194 Position: 4,500 pulses...
Page 307: Inching
Overview • Can be applied to manual operation (inching) using Relative Movement under direct operation. • Direct operation sets the data required for each positioning operation and starts the positioning, so this simplifies positioning commands from the PLC ladder program.
Page 308 1. Set the number of inching pulses and the inching direction. 2. When the INCH command switch is turned ON, the designated number of pulses are output in the specified direction on the X axis, and the position- ing is stopped.
Page 309 The values for D20004 onwards are transferred when the power is turned ON (or at restart). Positioning Sequences This data area is not used with direct operation. It should be left entirely at the default settings (0). Speeds This data area is not used with direct operation. It should be left entirely at the default settings (0).
Page 310: Linear Interpolation
10-4-1 Two-axis Linear Interpolation Overview • Used for carrying out positioning on multiple active axes. • The only interpolation method available is linear interpolation. • The positioning sequence for the active axis designates the axes to be used in interpolation.
Page 311 (X,Y) = (5000, 1000) → (0, 2000) → (5000, 3000) → (0, 4000) → (5000, 5000) → (5000, 0) → (0, 0) The interpolation speed at this time is 500 pps.
Page 312 Initial pulse designation setting) (default setting) D20028 3FFF D20029 0000 Reserved D20030 0000 Reserved D20031 0000 Initial pulse designation (default setting) Note Set the operation mode (by setting an appropriate value for # in the table above) according to the driver used.
Page 313 Section 10-4 Linear Interpolation Designation of the Operating Data Area The operating data area is allocated to D00500 through D00539 by the data memory settings. In this program example, the operating data area is not set because it is not used.
Page 314 Dwell time #0 Acceleration time #0 Deceleration time #0 1014 0100 Initial speed #1 Target speed #0 Note Addresses other than the above should be set to their default settings (0). Speeds Address Setting Contents of setting 112C 01F4 Speed #0...
Page 315 (0). Dwell Times Dwell times are not used in these programs, so this data area needs to be set completely to the default settings (0). Zones Zones are not used in these programs, so this data area needs to be set com- pletely to the default settings (0).
Page 316: Origin Search
1. When the operation start switch is turned ON, the origin search starts with an origin search high speed of 500 pps in the CW direction on the X axis. 2. When the CCW limit input signal is turned OFF, the program decelerates to an origin search proximity speed of 100 pps.
Page 317 The values for D20004 onwards are transferred when the power is turned ON (or at restart). Positioning Sequences This data area is not used for origin search. It should be left entirely at the default settings (0). Speeds This data area is not used for origin search. It should be left entirely at the default settings (0).
Page 318 Section 10-5 Origin Search Program W030 is used as a work word. Operation start switch Takes the rising edge of the DIFU W03000 operation start switch. W03000 200213 200006 ORIGIN SEARCH 200006 Busy Flag ORIGIN SEARCH...
Page 319: Override
• The target speed is determined by the override coefficient set in the oper- ating data area. • In order to use the actual target speed that has been set, either disable the override or set it to 100%. Operation Example The following is an example of changing the speed with override during con- tinuous operation.
Page 320 The values for D20004 onwards are transferred when the power is turned ON (or at restart). Positioning Sequences This data area is not used with direct operation. It should be left entirely at the default settings (0). Speeds This data area is not used with direct operation. It should be left entirely at the default settings (0).
Page 321 Section 10-6 Override Program W030 is used as a work word. Operation start switch Takes the operation start DIFU W03000 switch. W03005 W03000 200213 Speed: 300 pps MOVL (12C Hex) #0000012C Busy Flag D00510 Acceleration time: MOVL 10 ms (A Hex)
Page 322: Transferring And Saving Data
• This operation can also be used for reading data from a PCU to which data has already been transferred, and for backing the data up or copying it to another PCU.
Page 323 X and Y axes, and save it in the flash memory. WRITE DATA and SAVE The data in D03000 through D03799 is transferred to the PCU, so set all the DATA data such as the axis parameters, positioning sequences, speeds and so on, in this DM Area.
Page 324 Section 10-7 Transferring and Saving Data DIFU W03000 Takes the rising edge of the operation start switch. Operation start switch W03000 W03001 W03001 DIFU W03002 W03001 200414 W03004 DIFU W03003 Data Transferring W03003 Flag Timing determination for data reading W03004...
Page 325 #1000 D00505 Setting of operating data area for reading axis parameters #000D D00506 #0BD4 D00507 W03002 200414 READ DATA 200113 Data Transferring W03005 Flag 200113 READ DATA WRITE DATA and SAVE DATA W030 and W031 are used as work words.
Page 326 Section 10-7 Transferring and Saving Data Takes the rising edge of DIFU W03000 the operation start switch. Operation start switch W03000 W03001 W03001 DIFU W03002 W03001 202214 W03004 DIFU W03003 Data Transferring W03003 Flag Timing W03004 determination for data writing...
Page 327 Section 10-7 Transferring and Saving Data (continued from previous page) W03002 #001C D00600 #000D D00601 Setting of operating data for writing axis parameters #0BB8 D00602 #0004 D00603 W03005 #0304 D00600 #000D D00601 Setting of operating data area for writing data...
Page 328: Troubleshooting
Parameter Areas ........
Page 329: Troubleshooting Tables
Is there excessive moisture (from humidity, water usage, etc.)? Are there corrosive materials in the environment (acid, salt, sulphur, etc.)? Is there a source of noise nearby (such as a welding machine or inverter)? Wiring Are signal lines and power lines placed in separate ducts?
Page 330: Problems And Countermeasures
Troubleshooting Tables 11-1-2 Problems and Countermeasures • If any errors occur that are not covered in the following tables, print out the contents of the PLC Interface Area and related DM Area words from the CX-Programmer or other Programming Device and provide them to your OMRON representative.
Page 331 Check the run prohibit inputs. Turn ON the Servo Drive POT or NOT, is OFF (when run prohibit input. Cn-01 bits 2 and 3 are 0). Make the setting so that the Servo Drive run pro- hibit inputs will not be used.
Page 332 There is no Z-phase margin. Check the Z-phase margin using Remove the motor cou- There is no margin for the ori-...
Page 333 (The next axis is not in the in-position operation cannot be range. (If it is not in the in- started.) position range, the next oper- ation cannot be started because the preceding opera- tion is not completed.)
Page 334 Twisted-pair or shielded cable Check whether twisted-pair Use twisted-pair and is not being used between the cables are used for the pulse sig- shielded cable as in the PCU and the Servo Drive. nals, and whether the cables are wiring examples.
Page 335 Sequence Number Enable data trace. gram so that the rarily stopped and Bit is ON at the point when the Sequence Number then restarted, it START Bit is turned ON. Enable Bit is turned OFF starts from the...
Page 336: Introduction
• Flash memory check • Axis parameters check The error status is retained when an error occurs. Refer to the tables for the error-clearing procedure and clear the error. When two or more errors have occurred, the next error will be detected when the first error is cleared.
Page 337: Led Error Indicators
START command received START command executed Correct the wiring, data, or ladder program. 11-3 LED Error Indicators The status of the LED indicators on the front of the PCU can be used to diag- nose errors as shown in the following table.
Page 338 Section 11-3 LED Error Indicators The status of the LED indicators on the front of the PCU can be used to diag- nose errors as shown in the following table. The status of the indicators is as follows: ❍:ON ✩:Flashing ●:OFF...
Page 339 Section 11-3 LED Error Indicators Error Cause Remedy ❍ ● ❍ ● ● ● ● ● ● CPU error The CPU Unit has stopped Check that the Backplane, because the watchdog timer CPU Unit, and PCU are all turned ON.
Page 340: Reading Error Codes
11-4 Reading Error Codes When an error has occurred, an error flag will be turned ON in the operating memory area and the error code will be input in the operating data area. Check this code before proceeding with error processing.
Page 341: Error Code Lists
Error code NC2@3 (A code of 0000 indicates normal operation.) NC1@3 11-5 Error Code Lists 11-5-1 Data Check at Startup The following table shows the errors checked when power is turned ON. Group Name Code Cause Remedy Data destruction Parameters cor- 0001 •...
Page 342 The axis parameter designation After correcting the common parame- error (m+2) is set to 01, and 1 is set for ters (refer to SECTION 4), reset the an axis not controlled by the PCU. power supply or restart the PCU.
Page 343 The initial pulse designation is not are all returned to their default values nation error set to 0000 or 0001. if the unit version of the PCU is earlier Maximum speed Maximum speed 1010 The axis parameters’ maximum than version 2.3. If the unit version of...
Page 344 In this condition, only the data transfer direction error direction designation is not 0 or 1. (read or write) and data save opera- tions can be performed. All of the axis Origin detection 1607 Even though the axis parameters’ parameters will be returned to their...
Page 345: Command Execution Check
Operation mode 1604 The axis parameters’ origin search operat- selection error ing mode selection setting is not 0, 1, 2, or Origin search 1605 The axis parameters’ origin search opera- operation error tion setting is not 0, 1, or 2.
Page 346 (–1,073,741,823 to 1,073,741,823). Zones Zone 0 CW 1900 Zone 0’s CW data is outside the settable error range (–1,073,741,823 to 1,073,741,823). Zone 0 CCW 1901 Zone 0’s CCW data is outside the settable error range (–1,073,741,823 to 1,073,741,823).
Page 347 The dwell time number is not in the range 00 to 19. One of the following errors occurred in the axis designation: The Y, Z, or U axis was specified for a 1- axis PCU. The Z or U axis was specified for a 2-axis PCU.
Page 348 Section 11-5 Error Code Lists Initial Operation Error Checks and Checks During Operation Group Name Code Cause Clearing Operation after method error Software lim- CW software 5030 If positioning were performed within the Start operation The current limit value software limit range in response to one of...
Page 349 Other operating RELEASE PRO- axes will not be HIBIT/ERROR affected. RESET. CW limit stop 6100 The axis was stopped by a CW limit input Move in the signal. CCW direction after executing RELEASE PRO- HIBIT/ERROR RESET. CCW limit stop...
Page 350 Clearing Operation after method error Origin search No origin prox- 6200 The Unit is set for a proximity input signal, Perform the ori- Other operating imity input sig- but no origin proximity input signal was gin search again axes will not be received during the origin search.
Page 351 The axis where nal error while decelerating after the origin proxim- lowing adjust- the origin input ity input signal was received during an ori- ments so that the signal was input gin search in mode 0. origin signal will will be deceler- turn ON after ated to a stop.
Page 352 Code Cause Clearing Operation after method error Origin search Limit input 6205 There was already a limit signal in the ori- Perform the ori- The current already being gin search direction during an origin gin search again START com- input search in a single direction.
Page 353 7102 The acceleration time designation of the ment accelera- RELATIVE MOVEMENT command is out- tion time error side the settable range (0 to 250 ms). Relative move- 7103 The deceleration time designation of the ment decelera- RELATIVE MOVEMENT command is out- tion time error side the settable range (0 to 250 ms).
Page 354 A START or INDEPENDENT START com- Correct the lad- mand was executed for a different axis, but der program so a busy axis was specified in the axis des- that busy axes ignation. are not specified for memory oper-...
Page 355 Cause Clearing Operation after method error Multiple axis Multiple axis 8000 One of the following commands was exe- Correct the lad- The command start start cuted while the Data Transferring Flag was der program so will not be exe- that data trans- cuted.
Page 356 ON, when memory operation was after changing executed after the power was turned ON the turning ON or the PCU was restarted, or after an ori- the Sequence gin search, origin return, or present posi- Number Enable tion preset.
Page 357 Cause Clearing Operation after method error Data transfer Write transfer: 8310 The number of write words was set to 0 or Execute the The current number of exceeded the number of write data words. command again START com- words error...
Page 358: Releasing Pulse Output Prohibition And Resetting After Errors
11-6 Releasing Pulse Output Prohibition and Resetting After Errors 11-6-1 Outline Use the following procedure to clear error codes and to re-enable pulse output when the PCU is in the pulse output prohibited state. In the pulse output prohibited state, pulse output is interrupted and further pulses are not output.
Page 359: And Parameter Areas
CW/CCW limit in- put signal turns ON. 2. If the origin determination is set to be released, the No Origin Flag will turn ON when one of the above input signals is turned ON.
Page 360: Operating Memory Area Allocation
In the following timing chart, an emergency stop input signal is turned ON dur- ing an ABSOLUTE MOVEMENT command for X-axis operation with a 4-axis PCU. In this example, it is assumed that the parameter has been set so that the origin determination will be released when the input turns ON.
Page 361: Error Display At The Cpu
• I/O refresh between the CPU Unit and the PCU If an error is detected for one of the above items, one of the following flags in the Auxiliary Area will turn ON. (For details, refer to the relevant CPU Unit operation manual.)
Page 362: Maintenance And Inspection
12-4 Procedure for Replacing a PCU ........
Page 363: Inspection
Section 12-1 Inspection 12-1 Inspection In order to use the functionality of the Position Control Unit (PCU) to its utmost, daily or routine inspection is recommended. 12-2 Routine Inspections In order for your PCU to continue operating at optimum condition, periodic inspections are necessary.
Page 364: Handling Precautions
12-3 Handling Precautions • Turn OFF the power before replacing the PCU. • If a PCU is found to be faulty and is replaced, check the new PCU again to ensure there are no errors. • When returning a faulty PCU for repair, make a detailed record of the PCU’s malfunction and take it together with the PCU to your nearest...
Page 365: When Pcu Parameters And Operating Data Is Saved
CX-Position. 3. Turn OFF the power supply. 4. Make a note of the way in which the PCU is wired. (It is recommended that the cables are labelled.) 5. Replace the PCU, and reconnect the wiring as before.
Page 366: A Performance Characteristics
Note An additional error of ± 0.02% max. occurs in the actual speed. Power Up Time When the Position Control Unit is powered up or restarted, the time required for the Unit to complete its initial processing and be ready to recognize the START command is approximately 240 to 300 ms.
Page 367 Note The conditions under which the values in the above table hold are as follows: • During the time between the START command being made at the PLC (END refresh) and the time at which pulse output starts, no other commands are output (cycle time: 10 ms).
Page 368 When data is transferred using either the IORD and IOWR instructions, the execution time will hardly be affected by the number of words of data to be transferred, and will not be affected at all by the cycle time. The maximum data transfer execution times for transferring positioning sequences, with a PLC cycle time of 2 ms, are shown in the tables below.
Page 369 Performance Characteristics Although the average data saving time is 300 ms, it may be as long as 33 s in some cases. If it is longer than 33 s, a flash memory error (error code 9300) will be generated, and the data saving operation will be inter- rupted.
Page 370 The target speed can be changed during direct operation by changing the speed data set in the operating data area. The time from when the speed is changed until the change is reflected in the pulse output is as follows:...
Page 371 There will be difference in the times required until pulse output starts for different axes when commands to start operation for more than one axis are made simultaneously from the CPU Unit to the PCU within the same cycle of the ladder program. These time differences are shown below.
Page 372: B Estimating Times And Pulses For Acceleration/Deceleration
The time it takes to the reach the target speed, the time from the target speed to the initial speed, and the num- ber of pulses for each of them can all be found by means of the formulas shown below when 0 is set for the acceleration/deceleration time designation.
Page 373 Deceleration pulses (P ) (V – V 2 x (V – V Example In this example, numeric settings are entered for the operation pattern shown below. Maximum speed setting: = 35,000 pps Acceleration time setting: = 400 ms Deceleration time setting: = 550 ms –...
Page 374 If the acceleration/deceleration time designation (m + 19 for the X axis) is set so that the deceleration time is directly set as the time from the present speed to the target speed, the time to reach the target speed and the positioning time will be specified as the time from the present speed until operation stops when positioning is completed.
Page 375 NC Unit (refer to figure 3): The time from the target speed (400 pps) until operation stops is the set deceleration time of 500 ms. Deceleration start limit position: The target position will be exceeded if the speed is changed beyond this posi- tion.
Page 376: C Common Parameter Area
Appendix C Common Parameter Area Beginning word of common parameter area, m = D20000 + 100 × unit number Word Data NC1@3 NC2@3 NC4@3 Operating data area Operating data area designation designation EM bank designation (0 to C) 0 = Fixed DM Area...
Page 377 Appendix C Common Parameter Area...
Page 378: D Replacing The C200Hw-Nc@13
Appendix D Replacing the C200HW-NC@13 CS-series Position Control Units (PCU) are available in both open collector output models and line driver out- put models. When replacing the C200HW-NC413/213/113 with a CS-series PCU, use the appropriate model in the following table.
Page 379 Replacing the C200HW-NC @ 13 Appendix D Parameter Conversion Group Previous parameter Details Common parameters Operating data area desig- No conversion necessary. nation Beginning word of operat- Convert to unsigned 16-bit ing data area binary data. PCU mounting position Change the PCU mounting and parameter designation position setting to 00.
Page 380 Converting parameters and operating data to binary format has resulted in changes in the bits and addresses used to exchange information commands and data between the ladder program and the PCU. The main differ- ences are explained below. For more details on the differences to the ladder program, refer to SECTION 4 and SECTION 5.
Page 381 RUPT Bit would take priority, but with CS-series PCUs, the STOP Bit is given priority. For details, refer to 9-5 Deceleration Stop. Releasing Pulse Output Prohibition Previously, it was not possible to clear only error codes to 0, but with CS-series PCUs, it is possible to clear error codes to 0 by turning ON the ERROR RESET/RELEASE PROHIBIT Bit.
Page 382: E Error Code Lists
Appendix E Error Code Lists Data Check at Startup The following table shows the errors checked when power is turned ON. Group Name Code Data destruction Parameters destruction 0001 Data destruction 0002 F-ROM check data destruction 0003 Common parameters Operating data area designation error...
Page 383 Appendix E Error Code Lists Command Execution Check Data Checks for Data-writing Commands Item Name Code Initial speed Initial speed error 1000 Initial pulse designation error 1001 Maximum speed Maximum speed error 1010 Acceleration/ Acceleration time error 1310 Deceleration data...
Page 384 Appendix E Error Code Lists Initial Operation Error Checks and Checks During Operation Group Name Code Software limits CW software limit value 5030 CCW software limit value 5031 Origin Current position unknown 5040 Limit stop Stopped at CW limit 5060...
Page 385 Name Code Teaching Teaching address error 8200 Teaching range error 8201 Data transfer Write transfer: number of words error 8310 Write transfer: source word error 8311 Write transfer: destination address error 8312 Read transfer: number of words error 8320 Read transfer: source address error...
Page 386: F Parameter Coding Sheets
Function EM bank designation (bits 08 to 11: 0 to C) Operating data area designation (bits 00 to 03: 0 = fixed DM, D = DM, E = EM) Beginning word of operating data area Axis designation (bits 08 to 11: X axis to U axis) Parameter designation (bits 00 to 03;...
Page 387 Reserved 0 0 0 0 29 0 0 0 0 57 0 0 0 0 85 0 0 0 0 113 0 0 0 0 30 0 0 0 0 58 0 0 0 0 86 0 0 0 0 114...
Page 388 0: Retain prior status. 1: Forcibly change to origin unde- fined status. 09 to 15 Reserved Set to 0. Note The following operations are performed using the combinations of output pulse selection. CW/CCW Output pulse selection pulse 0: CW/CCW outputs 1: Pulse/direction outputs...
Page 389 2: Takes origin input signal without using origin proximity input signal. 3: Takes origin input signal after limit input sig- nal turns ON (↑) and OFF (↓), or OFF (↓), with- out using origin proximity input signal. (Enabled only for single-direction mode.)
Page 390 Set the bits for active axes to "1." Axis designation Output code Completion code Position designation Bit 15: U axis; 14: Z axis; 13: Y axis; 12: X axis Output code: 00 to 0F Hex Dwell time number Accel. time number Decel.
Page 391 Appendix F Parameter Coding Sheets Designated Designated Designated Designated Z axis X axis Y axis U axis area area area area Function Speed No. Speed No. Speed No. Speed No. Speed No. Speed No. Speed No. Speed No. Speed No.
Page 392 Appendix F Parameter Coding Sheets U axis X axis Z axis Y axis Designated Designated Designated Designated Function area area area area Position No. Position No. Position No. Position No. Position No. Position No. Position No. Position No. Position No.
Page 393 Appendix F Parameter Coding Sheets U axis X axis Z axis Y axis Designated Designated Designated Designated Function area area area area Acceleration time No. Acceleration time No. Acceleration time No. Acceleration time No. Acceleration time No. Acceleration time No.
Page 394 Designated Designated Designated Function area area area area Dwell time No. 1 Dwell time No. 2 Dwell time No. 3 Dwell time No. 4 Dwell time No. 5 Dwell time No. 6 Dwell time No. 7 Dwell time No. 8 Dwell time No.
Page 395 Appendix F Parameter Coding Sheets...
Page 396: Index
IORD reading with the Read Data bit saving cables time required to read data changing present position time required to write data basic explanation...
Page 397 IORD during origin search specifications emergency stop input IOWR processing time specifications error counter reset wiring error counter reset output explanation JOG operation error counters explanation error indicators external interrupt processing time LED indicators error indicators limit input signal type...
Page 398 PRESENT POSITION PRESET operation patterns explanation origin adjustment command output program examples explanation cancelling positioning origin compensation changing speed during continuous output and operation patterns checking positioning operations origin compensation value copying data origin detection method inching setting origin search using limit input...
Page 399 JOG operation for memory operation for origin adjustment command output...
Page 400: Revision History
Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. W376-E1-06 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
Page 401 Page 68: Added column to table for unused axes. Page 69: Removed columns from table. Added information on settings for unused axes. Page 72: Changed “01 to 03” in table to “02 to 03”. Added information on CW/CCW pulse output direction selection.

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