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Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual

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Cat. No. W419-E1-04

Programmable Controller

SYSMAC CS-series

CS1W-MCH71

Motion Control Unit

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Page 1 Cat. No. W419-E1-04 Programmable Controller SYSMAC CS-series CS1W-MCH71 Motion Control Unit...
Page 2 CS1W-MCH71 Motion Control Unit Operation Manual Revised September 2004...
Page 4  OMRON, 2003 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 This instruction manual describes MC Unit's specifications and procedures for operation. Please read each section in its entirety and be sure you understand the information provided in the section and relate sections before attempting any of the procedures or operation given.
Page 6 Units (MC Units) in the 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 CS-series Advanced Motion Control Units, as shown below.
Page 7 Unit Version Notation In this manual, the unit version of a Motion Control Unit is given as shown in the following table. Product nameplate Notation used in this manual Special remarks Ver. 2.0 or later number CS-series Advanced Motion Control Unit Ver. 2.0 or later.
Page 8 Version Upgrade Information The following tables outline changes made for the most recent version upgrade for SYSMAC CS- Series Advanced Motion Control Units. Jogging Previous versions Present version (unit Ver. 2.0 or later) The following procedure was required to set or reverse •...
Page 9 Present version (unit Ver. 2.0 or later) After LATCH command execution, the time required The required time has been shortened as follows: from input of the latch signal until the input is reflected 7.5 ms to 37.5 ms in the system variable (variable showing latch comple- tion) was as follows: 14.5 ms to 85.5 ms...
Page 10 • The interpolation time used for the pass operation decelerate to a stop during pass operation. (interpolation feed acceleration time or deceleration Example: time) is used to decelerate to a stop during pass oper- ation. Pass Mode Select P00M06 = 0 Interpolation feed acceleration time Ta=P0MM02...
Page 11 Present version (unit Ver. 2.0 or later) Speed control switched could be switched to posi- • Speed control can be switched to position control using the tion control using the SPEEDR command only SPEEDR command when the axis feedback speed reaches after the axis feedback speed reached 0.
Page 12 Control System Configuration and Principles ........
Page 13: Table Of Contents
SECTION 6 Programming ........219 Program and Task Configuration .
Page 14 12-1 Routine Inspection ............Revision History ........617...
Page 15 TABLE OF CONTENTS...
Page 16 Unit) and includes the sections described below. Please read this manual carefully and be sure you understand the information provided before attempting to install or operate the MC Unit. Be sure to read the precautions provided in the following section.
Page 17 xviii...
Page 18 Conformance to EC Directives ........
Page 19: Intended Audience
!WARNING It is extremely important that a PLC and all PLC Units be used for the speci- fied purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying a PLC System to the above-mentioned appli- cations.
Page 20: Safety Precautions
• The PLC or MC Unit 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 21: Application Precautions
• Changing the present value of any word or any set value in memory. • Force-setting /force-resetting any bit in memory. • Always connect to a ground of 100 Ω or less when installing the Units. Not connecting to a ground of100 Ω or less may result in electric shock.
Page 22: Operating Environment Precautions
• After transferring the system parameters, servo parameters, programs, position data, and CAM data to the MC Unit, be sure to save the data in flash memory within the MC Unit (using the data save command from support tool or CPU Unit) before turning OFF the power supply to the Unit. Transfer- ring the data to the MC Unit will simply save the data in the internal memory (S-RAM) of the MC Unit and this data will be deleted when the power supply to the Unit is turned OFF.
Page 23: Conformance To Ec Directives
Conformance to EC Directives The CS1W-MCH71 “MC Unit” comply with EC Directives. To ensure that the machine or device in which an MC Unit is used complies with EC Directives, the MC Unit must be installed as directed below: 1. The MC Unit must be installed within a control panel.
Page 24: Features And System Configuration
Performance Specifications........
Page 25: Features
2. Speed Control It makes the motor run at the specified speed, it also specifies the rate of speed change. 3. Torque Control It generates specified Torque and specifies the rate of Torque change.
Page 26: Features
In each of these 8 programs, programs can be executed in par- allel. High-speed and flexibility • It is possible to realize variety of applications because of its availability for Synchronous Controls (Electric Shaft, Electronic cam, Trailing Synchroni- zation), Speed Control, Torque Control, and Position Control.
Page 27: System Configuration
I/F unit: VER ***03 Later, or Equal (4) When MECHATROLINK-II devices are connected up to 16 nodes (within 30 m) or 15 nodes (within 50 m), a repeater unit is not required. A repeat- er unit is required to connect MECHATROLINK-II devices more than the cases above.
Page 28: Peripheral Devices (Models And Specifications)
MECHATROLINK-related products are manufactured by YASKAWA ELEC- TRIC CORPORATION. We, OMRON, can take orders for them. When ordering them through OMRON, follow OMRON's ordering format. (The delivered products will be of YASKAWA BRAND.) Ask our sales representatives about the price at when ordering them through OMRON.
Page 29: Basic Operations
Basic Operations 1-3-1 Applicable Machines The MC Unit was developed for the purpose of motion control using servomo- tors. Even though it depends on the machine accuracy, use an encoder, which is capable to detect 5-10 times more accurate than the machine accuracy.
Page 30 Basic Operations Section 1-3 CP Control CP Control is used to position by designing not only the starting point and the target point, but also the path between these two points. Both linear interpola- tion and circular interpolation are possible.
Page 31: Speed Control
Section 1-3 Basic Operations 1-3-3 Speed Control Make the motor run at a specified speed. It is also possible to specify the speed change rate. Speed Speed change rate Speed command value 1-3-4 Torque Control The designated torque can be generated. It is also possible to specify the torque change rate.
Page 32 MOVELINK command Link operation ends. (Link operation starts.) Trailing Synchronization Trailing is started when the slave axis is standing by and the marker sensor is turned ON. Once it catches up with the master axis, synchronous operation is initiated. Marker sensor...
Page 33: Other Functions
Controls axes such as turntables and conveyors that are fed only in one direc- tion unlimitedly. Debugging It is possible to execute just one line of a program through single block opera- tion. It is also possible to run programs without operating the machine system through Machine Lock.
Page 34: Control System Principles
Motion controller Ball screw Actual travel Encoder Decelerator distance The semi-closed loop system is the mainstream in modern servo systems applied to positioning devices for industrial applications. 1-4-2 Control System Principles Internal Operations of the MC Unit MC Unit CS1W-MCH71...
Page 35: Functions And Performance Specifications
Up to 30 nodes * When MECHATROLINK-II devices are connected up to 16 nodes (within 30m) or 15 nodes (within 50m), a repeater unit is not required. A repeater unit is required to connect MECHATROLINK-II devices more than the cases described above.
Page 36 An offset can be specified for the position after the origin search. The absolute encoder can also execute origin search. Interrupt feeding By means of inputs to the servo driver, moves a specified axis for a specified travel distance to perform positioning. Time-specified Posi- Executes positioning with time specified.
Page 37 Deceleration stop input, unit number error, CPU Unit error, software limit over errors, etc. Error log function The error log is to be read from the CPU Unit by means of the IORD instructions as needed. Alarm reset Alarm reset...
Page 38 Section 1-5 Performance Specifications • Maximum number of CPU Bus Units that can be allocated words in the CPU Unit being used • The capacity of the power supply unit used for each rack (CPU Unit and Expansion Rack) and the current consumption of the units mount- ed on the racks.
Page 39: Command List
(Negative definite: 2147483648, Positive definite: 2147483647) <Example> Maximum number of decimals Number of 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 decimals 0 . 0 0 Negative definite + 0 .
Page 40 Generates the specified torque. Torque change rate can also be speci- fied. Virtual axis This is an axis without an actual axis. It is used as a master axis to per- form an ideal operation. Counter latch The present position of an axis can be stored in hardware.
Page 41: Performance
Updates the position display without moving control axes. This is used for debugging program. Data transfer Data transfer Transfer data from the CPU to the MC Unit and vice versa in a short and storage period of time using IOWR/IORD instruction in the ladder program. Data link Custom data can be exchanged during I/O refresh by setting custom I/ O area in the words allocated in the DM area of CPU Unit.
Page 42 Basic formula for calculating Unit Cycle is shown below: Unit Cycle Unit Cycle [ µ s] = (115.0 × No. of axes)+(165.0 × No. of motion tasks × No. of parallel branches) + (0.3 × No. of general allocated words) + 350.0 --- (1) •...
Page 43 Specified When Unit Cycle = 1ms or 2ms: [(20ms/Tm) × 5 + 5] × Tm + Ts × 3 + 4ms ~ [(20ms/Tm) × 6 + 5] × Tm + Ts × 3 + 4ms When Unit Cycle = 3ms, 4ms, 6ms, or 8ms: [(20ms/Tm) ×...
Page 44 224 ms ~ 248 ms • Unit Cycle = 8ms: Communication Cycle = 8ms 236 ms ~ 260 ms 2. Ver. 2.0 MC Units or When Latch Starting and Target Positions Are Not Specified Tm × 3 + Ts × 3 + 4ms Note Round up the figures below the decimal place of the value found by calculations.
Page 45 Performance Section 1-7...
Page 46: Basic Procedures
2-2-1 Overview and features........2-2-2 MC-Miel Function List .
Page 47: Basic Operation Flow
Basic Operation Flow Section 2-1 Basic Operation Flow This Section gives an overview of the procedures required to use CS1W- MCH71. OPR. Operation Flow Reference Setup SECTION 3 Installation and Wiring START 3-2 Installation 3-1 Nomenclature and Functions 3-4 Wiring Install MC Unit Set Unit No.
Page 48 Run PLC to operate MC Unit Mainte- SECTION 12 Maintenance and nance Inspection Maintenance and inspection • Replacing CS1W-MCH71 • Replacing Servo driver • Replacing the NS115 Note For details of the procedure, refer to HELP of the Support Tool.
Page 49: Overview And Operating Procedure Of Mc-Miel
MC-Miel Online Help. 2-2-1 Overview and features MC-Miel is the software that can help to create various data used on the MC Unit model CS1W-MCH71, (MC Unit hereinafter) and to monitor the status of the MC Unit. Its features are as follows: Supports eight layers of Using MC-Miel with OMRON’s Communication Unit will enable communica-...
Page 50: Installing And Uninstalling Mc-Miel
Cam data edit Creates, edits, and transfers cam data. Factory default setting Brings the dragged portion of MCH data back to its factory default setting. Copy and paste Copies the dragged portion of MCH data to clipboard. Pastes the data in clipboard to the dragged area of MCH data.
Page 51 Overview and Operating Procedure of MC-Miel 3. Turn ON PLC. 4. Set allocation area in DM area corresponding to the unit No. (UNIT No.) of the MC Unit using CX-programmer or the Programming Console of PLC. 5. Turn OFF PLC.
Page 52: Installation And Wiring
Wiring Connectors ........
Page 53: Nomenclature And Functions
MC Unit is operating normally. Yellow Not used. Not lit Not used. Yellow MLK is operating normally. (MECHATROLINK-II) Not lit An error has occurred in the MLK. Note When the ERC or ERH indicator is lit, these four indicators show the internal error status.
Page 54: Area Allocations
(Examples) Unit Number: 6 Unit Number: 12 (Hexadecimal) A maximum of 16 MC Units or other CPU Bus Units can be mounted on one PLC. Therefore, the setting range for the unit number is between 0 to F in hexadecimal.
Page 55: Installation
3-2-1 System Configuration Precautions I/O bit numbers of the CPU Bus Unit are allocated based on the setting of the Unit Number Setting Switch on the front panel of the Unit, not on the slot num- ber to which the Unit has been mounted.
Page 56: Mounting To The Backplane
Mounting to the Backplane Use the following steps to mount or remove MC Units. 1,2,3... 1. Mount the Unit on the Backplane by hooking the top of the unit into the slot on the Backplane and rotating the Unit downwards. Hook Backplane 2.
Page 57: Unit Handling Precautions
Do not remove the protective label from the top of the unit until wiring has been completed. This label prevents wire strands and other foreign matter from entering the Unit during wiring.
Page 58: External I/O Circuitry
DO_00 O.C. DO00 output DO_01 O.C. DO01 output Power supply input Input signal O.C.: Open collector output 3-3-3 Wiring Connectors Instruction: 1,2,3... 1. Pass each wire through heat-shrink tubing. 2. Spot-solder the wires and connector terminals 3. Solder the wires...
Page 59: I/O Circuitry
Section 3-3 External I/O Circuitry 1 mm Soldering gun Heat-shrink tube Inner diameter:1.5, r=10 4. Pull the heat-shrink tubing back over the soldered area and heat the tubing to shrink it. Heat-shrink tube 3-3-4 I/O Circuitry Connector Interface • 24VDC Digital Output (2 outputs)
Page 60: Wiring
(pulse output lines and external input signal lines). Do not group the two types of cable together or place them in the same conduit. Using the laminated ceramic capacitor of 1 µ F for the output of 24VDC power supply will improve noise-resistance.
Page 61: Connecting Mechatrolink Devices
Use a surge absorbing diode with a voltage tolerance at least five times greater than the circuit voltage. (2) Noise may interfere from the power supply line if the same power supply as the electric welder or spark erosion machine is used for the MC Unit, or if there is a source of high-frequency noise around.
Page 62: W-Series Servo Driver
W-series Servo Driver: Ver.39 or later I/F Unit: VER.***03 or later Note Using either a W-series Servo Driver or an I/F Unit of older versions can be the cause of abnormal operations. Make sure to use the versions mentioned above.
Page 63 SW2 (Default setting) Station address setting The station address can be set as shown in the table below using the rotary switch (SW1) and piano switch (SW2 bit 3). The piano switch 3 of SW2 specifies the number of 10s and SW1 specifies the number of units.
Page 64 Max. operating current DC50mA Connect shield to connector shell. Note P indicates twisted-pair wires. (2) When using an ABS encoder, connect a backup battery only when there is no battery connected to CN8. (3) Allocate signals using user constants.
Page 65: 24Vdc I/O Module
(1) Connector shell: Connected to FG (Frame ground) (2) Do not use unused terminals for relays. (3) Allocate the signal using user constants. (4) For details, refer to YASKAWA ELECTRIC CORPORATION’s Σ -II SE- RIES SGDH MECHATROLINK-II APPLICATION MODULE USER’S MANUAL MODEL: JUSP-NS115 (MANUAL NO. SIEPC71080001*)”.
Page 66 Reserved Station address setting Station address can be set as shown in the table below using the rotary switch (SW2) and piano switch (SW1 bit 3). The bit 3 of SW1 specifies the number of 10s while the SW2 specifies the number of units.
Page 67 Connecting MECHATROLINK Devices Section 3-5 (IN1 connector) Reserved Reserved 24 VDC DCPWR DCPWR Input 32 Input 31 Input 30 Input 29 Input 28 Input 27 Input 26 Input 25 Input 24 Input 23 Input 22 Input 21 Input 20 Input 19...
Page 68 Section 3-5 Connecting MECHATROLINK Devices (OUT1 connector) DCGND2 DCGND2 24 VDC DCPWR2 DCPWR2 Load Fuse Fuse Load Output 32 Output 31 Output 30 Output 29 Output 28 Output 27 Output 26 Output 25 Output 24 Output 23 Output 22 Output 21...
Page 69: Counter Module, Pulse Output Module
Station address can be set as shown in the table below using the DIP switch 1 to 5 (SW). The bit 5 of SW specifies the number of 10s while the bit 1 to 4 of SW speci- fies the number of units.
Page 70 Signal arrangement of the terminal block PHA1− PHB1 PHB1+ OUT− RST2 PHA2− PHB2 PHB2+ +24V PHA1 PHA1+ PHB1− RST1 IN− PHA2 PHA2+ PHB2− 0(24V) For details, refer to YASKAWA ELECTRIC CORPORATION’s “Machine Con- troller MP900 Series MECHATROLINK System USER’S MANUAL (MANUAL NO. SIEZ-C887-5.1*)”.
Page 71 Signal arrangement of the terminal block CCW1 COFF1 BFRE1 OVER1 TIMG1 OUT1 ZERO1 +24V CCW2 COFF2 BFRE2 OVER2 TIMG2 0(5V) OUT2 ZERO2 0(24V) For details, refer to YASKAWA ELECTRIC CORPORATION’s “Machine Con- troller MP900 Series MECHATROLINK System USER’S MANUAL (MANUAL NO. SIEZ-C887-5.1*)”.
Page 72: Mc Unit Internal Data Configuration And Setting
Data Configuration ........
Page 73: Data Configuration
Task variables 3. Present position preset 4. Servo parameter axis specification 5. Servo parameter Note Neither CAM data nor programs are treated as data. For more details, see 4-9 CAM Data (page 190) and SECTION 6 Programming. 4-1-1 DATA Classification...
Page 74 7000h-78FFh 4096 Parameters of servo driver. * The letters to identify data access type, hhhh: 4 digits hexadecimal address Data Access Method The following methods are used to access to each data. For further details, refer to SECTION 5 Data Transfer and Storage (page 194).
Page 75: Data Configuration
<MC Unit> At unit scanning <MECHATROLINK-II devices> System Parameters The system parameters are consisted of the following three different parame- ters. • Unit parameters • Motion task parameters • Axis parameters (Allocations, Speed, Position, origin, Machine) 4-2-1 Description of System Parameters The following table describes the functions of each parameter group.
Page 76: System Parameters
Note (1) The task number 1 to 8 is to be inserted in M. (2) The axis number 1 to 32 is to be inserted in AA. (3) The IORD/IOWR addresses in this table are the actual address range (excluding reserved ones).
Page 77 P00009 5008h Setting for the No. of • No. of retrial nodes: Specifies the number of nodes to be MECHATROLINK-II retried within MECHATROLINK-II communication cycle. Retrial Nodes, With/ • With/without C2 master: Set this parameter when there without C2 master is a master unit other than MC unit.
Page 78 P00M09 5028h + Initial model data 3 Specifies the initial value if interpolation feed rate (F com- (M * 20h) interpolation feed mand) has been omitted in a motion program. rate...
Page 79 (AA * 14h) ation time feed rate to zero. P2AA09 55C8h + Rapid feed S-curve Select the S-curve filter enable/ disable at rapid feed rate. 75 (AA * 14h) filter enabled P2AA10 55C9h + Manual feed S-curve Select the S-curve filter enable/ disable at manual feed...
Page 80 5AC7h + Origin search Sets the speed of the 2nd level for 3-level speed origin (AA * 14h) approach speed search, or sets the speed of the 1st level for 2-level speed origin search. P4AA09 5AC8h + Origin search creep...
Page 81: Data Configuration And Content Of System Parameters
Parameters with "Yes" in "Immediate updating" column are updated without switching OFF the Unit once, and then ON again. In the setting range and initial value columns, the upper value is in hexadeci- mal while the lower value in parenthesis is in decimal.
Page 82 Name Type Unit Immediate Unit updating P00004 5003h Unit function select Data configuration Initial value 00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0...
Page 83 1: Stop according to Pn001.0 in the Servo Driver and then turn OFF the servo. If this parameter is set to 1 and Pn001.0 is set to 2, the motor will be placed in free-run status and then the servo will be turned OFF. Caution is required when using these settings because the braking distance may increase.
Page 84 Set the bits corresponding to the Unit or each motion task. Function and explanation Unit Sets whether the input to the Unit control bit area (n+0 to n+2) and the Unit control data area (m+20) are enabled or disabled. 0: Normal...
Page 85 Section 4-2 System Parameters Function and explanation Motion task 2 Sets whether the input to the Motion task 2 control area (n+5) and the Motion task 2 control data area (m+24 to 25) are enabled or disabled. 0: Normal 1: Ignored...
Page 86 Function and explanation Axis 1 Axis 17 Sets whether input to Axis 1 control bit area Sets whether input to Axis 17 control bit (x+0) and Axis 1 control data area (d+0) are area (x+16) and Axis 17 control data area enabled or disabled.
Page 87 16 to No. of retrial nodes This setting decides how many retries are performed within a communication cycle in the case of a MECHATROLINK-II communications error. (Not for each and every node, but for a maximum of 7 nodes in a system)
Page 88 • Specifies the time to make the communication start delayed in order to wait for slave startup. • A period of time set here is waited for after the MC Unit has started up, and then starts communications with the slaves.
Page 89 Acceleration time Explanation • Pass Mode (P00M06) = 0 or 1 Sets the time required to accelerate from zero to the feed rate specified in the interpolation command. • Pass Mode (P00M06) = 2 or 3 Sets the time required to accelerate from zero to the maximum interpola- tion feed rate (P00M06).
Page 90 3: Interpolation deceleration time + Pass mode with fixed acceleration enabled Note (1) 2 and 3 are enabled when specifying only 1 axis with MOVEL command. (2) Interpolation override in Pass mode with fixed acceleration is disabled during deceleration caused by insufficient remaining travel distance.
Page 91 The max speed is limited by (32767 command unit/unit scan). P00M09 [command unit/min] ≤ 1966020000/Ts [ms] Ts[s]: Unit scan time This indicates the unit cycle time of MC Unit determined by the numbers of tasks, axes, parallel branches, and refreshed words.
Page 92 1: × 10 2: × 100 3: × 1000 4: × 10000 Ex) When controlling X-axis with task 1 and selecting × 10 of interpolation feed decimal point position (P00M10) for task 1, MOVEL [J01]100.00 F100.; is processed as, MOVEL [J01]100.00 F1000;...
Page 93 Initial value 00000000 to 00000020 Hex 00000000 (0) (0 to 32) Physical axis setting Explanation Sets the usage of the physical axes (J01 to J32) to be used with MCH. Setting Description 00000000 Hex (0) Not used as physical axes. 00000001 These axes are used as real axes.
Page 94 (0 to 15) Input allocation points Explanation 00 to 03 bit: Specifies the No. of points (words) for input signals of MECHA- TROLINK-II slave nodes allocated to input variables of MC Unit. Note With only 1 axis, words for the No. of words specified in the input variable IW0010 are allocated and they link with the inputs of MECHATROLINK-II slave nodes.
Page 95 Explanation • When using MECHATROLINK-II counter module or pulse output module as a physical axis, the present position of these counters can be output to the present position of the applicable physical axis.Some modules have 2 counters, however, only 1 counter can be specified.
Page 96 The maximum speed is limited by (32767 command unit/unit scan). P2AA01 [command unit/min] ≤ 1966020000/Ts [ms] Ts[s]: Unit scan time This indicates the unit cycle time of MC Unit determined by the numbers of tasks, axes, parallel branches, and refreshed words. 1966020000: The upper limit of speed resolution is 32767 [command unit/unit scan].
Page 97 00002710 (10000) (1 to 2147483647) Rapid feed rate Explanation Sets the speed (a value with override 100%) on machine's side for when oper- ating with MOVE, MOVEI commands. The max speed is limited by (32767 command unit/unit scan). Note Speed can be changed during operation using override.
Page 98 (0 to 60000) Acceleration time Explanation Sets the time required to accelerate from zero to max. manual feed rate. Note (1) Enabling S-curve filter causes the delay for the S-curve time constant. (2) This parameter cannot be changed during operation.
Page 99 (0 to 1) S-curve filter enabled Explanation Selects the S-curve filter enable/disable at manual feed rate. 0: Disabled 1: Enabled Note For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation (page 228). Address in MC Name Type Unit Immediate...
Page 100 Explanation Sets the software limit value in the negative direction. An error will occur when the command value created in every unit scan is smaller than this software limit. (See the setting example of P3AA02: + direction software limit on page 77.)
Page 101 Warning value Explanation Sets the No. of error pulses that causes warning. The error counter warning bit will turn ON if the position error exceeds the value set in this parameter. Note Setting this parameter to 0 disables warning detection.
Page 102 (when using the SPEEDR command) as a percent- age of the motor's rated speed. If 0 is set, operation will be the same as for Pre-Ver. 2.0, i.e., position control will be returned to at a feedback speed of 0.
Page 103 (Normally Open contact). At the rise of the origin determine signal input after the fall of the origin proximity signal input, the speed changes to the origin search creep speed to travel for the final interval and finally an origin is determined.
Page 104 (0 to 1) Origin deceleration method Explanation Sets whether to use the origin proximity input signal or the limit input signal as the origin deceleration signal for origin search methods "1: Limit reversal" and "3: 3-level speed in 1 direction".
Page 105 (1 to 2147483647) Approach speed Explanation Sets the speed of the 2nd level for 3-level speed origin search, or sets the speed of the 1st level for 2-level speed origin search. The maximum speed is limited by (32767 command unit/unit scan).
Page 106 Travel distance Explanation Sets the final travel distance in origin searches. After the rise of the origin determine signal, the axis travels in the direction specified in P4AA03: Phase-Z (Phase-C) detection direction for the distance specified in this parameter. Note This is the travel distance after the rise of the origin determine signal.
Page 107 MOVE [J01]100.00; MOVE [J01]100.000; MOVE [J01]100.; If there is no decimal point in the position command value, it is used unal- tered. • When specifying a position command value with a variable using real data of the data access size, the decimal point position set in this parameter is...
Page 108 Section 4-2 System Parameters Ex) When the decimal point position of the position command value for X- axis is 0.01: MF1000 = 123.4567; MOVE [J01]MF1000; is processed as, MOVE [J01]12345; Address in MC Name Type Unit Immediate Unit updating P5AA03...
Page 109 (1) When "pulse" is selected for the unit, the setting of this parameter is ig- nored. (2) When "deg" is selected for the unit, set the value that can be obtained by (360 × 10 position command decimal point position (3) When the following formula is not satisfied, the alarm [3040h: Gear ratio range error] will occur.
Page 110 00 Hex (0): Phase-Z (Phase-C) signal is used as the latch request signal. 01 Hex (1): External input signal 1 is used as the latch request signal. 02 Hex (2): External input signal 2 is used as the latch request signal.
Page 111: Concept Of Parameters
[P5AA06: Gear ratio 2 (Machine rotation speed) = n Example) If P5AA05 = 2 and P5AA06 = 1, giving a command to rotate the machine axis at 1000r/min will make the motor axis rotate at 2000r/min. In cases of Speed Command and Torque Command: Only the SPEED and TORQUE commands can control speed and torque respectively.
Page 112 Section 4-2 System Parameters Relations between The relations between the command unit on the machine side and pulses on Command Unit and Pulses the motor side can be described by the following formulas: 9001h [No. of encoder pulses/ One motor rotation] × P5AA05 [on Motor] Pulses [on Motor] = Command unit [on Machine] ×...
Page 113 From the above, the feedback speed 2 will change in the unit of 0.22 [r/ min]. Setting rated 1000 [r/min] when the unit is [%], it will be in the unit of 0.22/ 1000 = 0.02%. Speed indication for not causing [A94] when inputting the limit sensor...
Page 114: Timing That Enables Transferred System Parameters
Timing that Enables Transferred System Parameters Note Make sure to turn the MC Unit power OFF once, and then ON again after sys- tem parameters have been transferred. The unit parameters and machine parameters will not change unless the power is turned back ON.
Page 115 Real number type. Make sure to specify even-number addresses. Followings are the examples: • (1) ML0000 = 1234 --- Write 1234 in the Double-length integer type. • (2) MF0000 = 1234 --- Write 1234 in the real number type.
Page 116: Position Data
Therefore, the memory image after execution of (1) and (2) will be as described in the table below. If the same address is accessed using a different access type, a different value will be read. So it needs special attention.
Page 117: Indirect Specification
Indirect specification can be used only for position data. 1,2,3... 1. Add the symbol @ in front of position data. The stored data at the address specified with the position data with @ is the address of the stored data to be used.
Page 118: Methods Used To Read, Write And Transfer Position Data
#PL0001 = @PL0100 + 00000001 (The same as #PL0012 + 00000001) 4. The address range check is performed when executing the command. If the specified address is outside of the range, the alarm [2003h: Variable address error] will occur and the program will be stopped.
Page 119: System Variables
Section 4-5 System Variables System Variables 4-5-1 System Variables System variables are all in read-only area; they cannot be written. When reading with the IORD instruction, the size is always two words (4 bytes). Variable IORD Group Name Description Unit...
Page 120 Outputs the time when error occurred Day of the Error occurrence Month, Hour (Day of the Month, Hour) Month, Hour (BCD) SW0016 300B Error log 1: Year, Month Outputs the time when error occurred Year, Month Error occurrence (Year, Month) (BCD) SW0017 Reserved Reserved Reserved...
Page 121 IORD Group Name Description Unit Update timing Address Address SW0042 3021 Unit Error log 9: Same as for Error log 1 Same as for Same as for Error Error log 1 log 1 SW0043 SW0044 3022 SW0045 SW0046 3023 SW0047...
Page 122 CPU. ond (BCD) cyclic service SW0091 Unit Clock Data: Day of the Outputs the clock Data (Day of the Day of the In the process of Month, Hour Month, Hour) received from CPU. Month, Hour cyclic service...
Page 123 SW00A7 area 0-2,097,152 (2MB) SW00A8 3054 Total quantities of Cam Outputs the total quantities of Cam Data Always Data SW00A9 Remaining Quantities Outputs the remaining quantities of Always of Cam Data Cam Data that can be stored...
Page 124 Description Unit Update timing Address Address SW00B0 3058 Motion Task status 1: Main pro- Outputs the program No. of the Main When a program Task gram No. Program currently being executed is started 0-499, 2000 SW00B1 Task status 1: Sub-pro- Outputs the program No.
Page 125 3065 SW00CB SW00CC 3066 SW00CD SW00CE 3067 SW00CF SW00D0 3068 Motion Task status 2: Same as for Task status 1 Same as for Same as for Task task Task status 1 status 1 SW00D1 SW00D2 3069 SW00D3 SW00D4 306A SW00D5...
Page 126 IORD Group Name Description Unit Update timing Address Address SW00F0 3078 Motion Task status 3: Same as for Task status 1: Same as for Same as for Task task Task status 1 status 1 SW00F1 SW00F2 3079 SW00F3 SW00F4 307A...
Page 127 3095 SW012B SW012C 3096 SW012D SW012E 3097 SW012F SW0130 3098 Motion Task status 5: Same as for Task status 1: Same as for Same as for Task task Task status 1 status 1 SW0131 SW0132 3099 SW0133 SW0134 309A SW0135...
Page 128 IORD Group Name Description Unit Update timing Address Address SW0150 30A8 Motion Task status 6: Same as for Task status 1: Same as for Same as for Task task Task status 1 status 1 SW0151 SW0152 30A9 SW0153 SW0154 30AA...
Page 129 30C5 SW018B SW018C 30C6 SW018D SW018E 30C7 SW018F SW0190 30C8 Motion Task status 8: Same as for Task status 1: Same as for Same as for Task task Task status 1 status 1 SW0191 SW0192 30C9 SW0193 SW0194 30CA SW0195...
Page 130 Section 4-5 System Variables Variable IORD Group Name Description Unit Update timing Address Address SW01B8 30DC Reserved Reserved SW01B9 SW01BA 30DD Reserved Reserved SW01BB SW01BC 30DE Reserved Reserved SW01BD SW01BE 30DF Reserved Reserved SW01BF SW01C0 30E0 Reserved Reserved SW01C1 SW01C2...
Page 131 SW0201 − 2147483648 to 2147483647 position When "I/O" is specified in the parameter "P1AA02: MECHATROLINK-II device classification" and an address is speci- fied in the parameter "P1AA05: Axis allocation first address", the content of I/...
Page 132 LS unit search is com- SW0219 and origin determine signal (phase Z or pleted origin LS). If deceleration LS is not used, outputs 0. − 2147483648-2147483647 SW021A 310D Axis 1 status: Number Outputs the number of times upper and Turn...
Page 133 Status on page 142 SW0229 Axis 1 status: Accelera- Outputs acceleration/deceleration sta- Unit scan tion/deceleration status tus in relations to real-time target speed including override 0:Others (Not moving, during Synchro- nization, etc.) 1: Accelerating 2: At Constant speed 3: Decelerating4: Passing...
Page 134 IORD Group Name Description Unit Update timing Address Address SW0230 3118 Axis Axis 2 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0231 SW0232 3119 SW0233 SW0234 311A SW0235...
Page 135 IORD Group Name Description Unit Update timing Address Address SW0260 3130 Axis Axis 3 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0261 SW0262 3131 SW0263 SW0264 3132 SW0265...
Page 136 IORD Group Name Description Unit Update timing Address Address SW0290 3148 Axis Axis 4 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0291 SW0292 3149 SW0293 SW0294 314A SW0295...
Page 137 IORD Group Name Description Unit Update timing Address Address SW02C0 3160 Axis Axis 5 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW02C1 SW02C2 3161 SW02C3 SW02C4 3162 SW02C5...
Page 138 IORD Group Name Description Unit Update timing Address Address SW02F0 3178 Axis Axis 6 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW02F1 SW02F2 3179 SW02F3 SW02F4 317A SW02F5...
Page 139 IORD Group Name Description Unit Update timing Address Address SW0320 3190 Axis Axis 7 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0321 SW0322 3191 SW0323 SW0324 3192 SW0325...
Page 140 IORD Group Name Description Unit Update timing Address Address SW0350 31A8 Axis Axis 8 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0351 SW0352 31A9 SW0353 SW0354 31AA SW0355...
Page 141 IORD Group Name Description Unit Update timing Address Address SW0380 31C0 Axis Axis 9 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0381 SW0382 31C1 SW0383 SW0384 31C2 SW0385...
Page 142 IORD Group Name Description Unit Update timing Address Address SW03B0 31D8 Axis Axis 10 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW03B1 SW03B2 31D9 SW03B3 SW03B4 31DA SW03B5...
Page 143 IORD Group Name Description Unit Update timing Address Address SW03E0 31F0 Axis Axis 11 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW03E1 SW03E2 31F1 SW03E3 SW03E4 31F2 SW03E5...
Page 144 IORD Group Name Description Unit Update timing Address Address SW0410 3208 Axis Axis 12 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0411 SW0412 3209 SW0413 SW0414 320A SW0415...
Page 145 IORD Group Name Description Unit Update timing Address Address SW0440 3220 Axis Axis 13 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0441 SW0442 3221 SW0443 SW0444 3222 SW0445...
Page 146 IORD Group Name Description Unit Update timing Address Address SW0470 3238 Axis Axis 14 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0471 SW0472 3239 SW0473 SW0474 323A SW0475...
Page 147 IORD Group Name Description Unit Update timing Address Address SW04A0 3250 Axis Axis 15 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW04A1 SW04A2 3251 SW04A3 SW04A4 3252 SW04A5...
Page 148 IORD Group Name Description Unit Update timing Address Address SW04D0 3268 Axis Axis 16 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW04D1 SW04D2 3269 SW04D3 SW04D4 326A SW04D5...
Page 149 IORD Group Name Description Unit Update timing Address Address SW0500 3280 Axis Axis 17 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0501 SW0502 3281 SW0503 SW0504 3282 SW0505...
Page 150 IORD Group Name Description Unit Update timing Address Address SW0530 3298 Axis Axis 18 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0531 SW0532 3299 SW0533 SW0534 329A SW0535...
Page 151 IORD Group Name Description Unit Update timing Address Address SW0560 32B0 Axis Axis 19 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0561 SW0562 32B1 SW0563 SW0564 32B2 SW0565...
Page 152 IORD Group Name Description Unit Update timing Address Address SW0590 32C8 Axis Axis 20 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0591 SW0592 32C9 SW0593 SW0594 32CA SW0595...
Page 153 IORD Group Name Description Unit Update timing Address Address SW05C0 32E0 Axis Axis 21 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW05C1 SW05C2 32E1 SW05C3 SW05C4 32E2 SW05C5...
Page 154 IORD Group Name Description Unit Update timing Address Address SW05F0 32F8 Axis Axis 22 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW05F1 SW05F2 32F9 SW05F3 SW05F4 32FA SW05F5...
Page 155 IORD Group Name Description Unit Update timing Address Address SW0620 3310 Axis Axis 23 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0621 SW0622 3311 SW0623 SW0624 3312 SW0625...
Page 156 IORD Group Name Description Unit Update timing Address Address SW0650 3328 Axis Axis 24 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0651 SW0652 3329 SW0653 SW0654 332A SW0655...
Page 157 IORD Group Name Description Unit Update timing Address Address SW0680 3340 Axis Axis 25 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0681 SW0682 3341 SW0683 SW0684 3342 SW0685...
Page 158 IORD Group Name Description Unit Update timing Address Address SW06B0 3358 Axis Axis 26 status Same as for Axis 1 0status Same as for Same as for Axis Axis 1 status 1 status SW06B1 SW06B2 3359 SW06B3 SW06B4 335A SW06B5...
Page 159 IORD Group Name Description Unit Update timing Address Address SW06E0 3370 Axis Axis 27 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW06E1 SW06E2 3371 SW06E3 SW06E4 3372 SW06E5...
Page 160 IORD Group Name Description Unit Update timing Address Address SW0710 3388 Axis Axis 28 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0711 SW0712 3389 SW0713 SW0714 338A SW0715...
Page 161 IORD Group Name Description Unit Update timing Address Address SW0740 33A0 Axis Axis 29 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0741 SW0742 33A1 SW0743 SW0744 33A2 SW0745...
Page 162 IORD Group Name Description Unit Update timing Address Address SW0770 33B8 Axis Axis 30 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW0771 SW0772 33B9 SW0773 SW0774 33BA SW0775...
Page 163 IORD Group Name Description Unit Update timing Address Address SW07A0 33D0 Axis Axis 31 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW07A1 SW07A2 33D1 SW07A3 SW07A4 33D2 SW07A5...
Page 164 IORD Group Name Description Unit Update timing Address Address SW07D0 33E8 Axis Axis 32 status Same as for Axis 1 status Same as for Same as for Axis Axis 1 status 1 status SW07D1 SW07D2 33E9 SW07D3 SW07D4 33EA SW07D5...
Page 165 In the system parameter "Command execution status (SW0228 for axis 1)", Command Execution one of the command codes in the table below will be displayed. Status They are used to monitor the execution status of the operation in the program. Classification Command name Command...
Page 166: I/O Variables
1: ON I/O Variables On the MC Unit, the following signals can be used as I/O variables; I/O con- nector signals of the MC Unit, the bit areas/data areas between the CPU Unit and the MC Unit, and I/O signals between MECHATROLINK-II devices and...
Page 167: I/O Variables Overview
MC Unit. Of the output variables, the status output area cannot be written from the user program. Writing data from a program in the MC Unit to the input variables linked to bit areas/data areas between the CPU Unit and the MC Unit enables the MC Unit to control the Unit, tasks, and axes.
Page 168 Of the output variables, the status output area cannot be written from the user program. Writing data from motion programs to the input variables allocated to the PLC bit area enables the MC Unit to control the Unit, tasks, and axes.
Page 169 Name Specifications R: ■ Unit R/W: ■ Word IW0010 00-15 MECHATROLINK- MECHATROLINK-II Input MECHATROLINK-II Input Axis1 II Input Axis 1 Axis1 CH1 IW0011 MECHATROLINK-II Input MECHATROLINK-II Input Axis1 Axis1 CH2 IW0012 MECHATROLINK-II Input MECHATROLINK-II Input Axis1 Axis1 CH3 IW0013 MECHATROLINK-II Input...
Page 170 Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW00E0 00-15 MECHATROLINK- Same as for MECHA- Same as for MECHATROLINK-II II InputAxis14 TROLINK-II Input Axis1 Input Axis1 IW00EF IW00F0 00-15 MECHATROLINK- Same as for MECHA- Same as for MECHATROLINK-II...
Page 171 Unit R/W: ■ Word IW0300 Unit Control Bits Unit alarm reset 0: No 1: Does not turn ON Unit alarm bit ↑ : Clears the alarm occurring on the unit level : No System Parameter Save 0: No 1: No ↑...
Page 172 Unit R/W: ■ Word IW0301 00-15 Unit Control Bits Teaching Axis Setting 1-16 0: No 1: Specifies the axis as teaching object ↑ : No ↓ : No IW0302 00-15 Teaching Axis Setting 17-32 0: No 1: Specifies the axis as teaching object ↑...
Page 173 R/W: ■ Word IW0340 Motion Task 1 Motion Task Alarm Reset 0: No Control 1: Does not turn ON Motion task alarm bit ↑ : Clears alarm occurring on motion task level ↓ No Motion Program Start 0: No 1: No ↑...
Page 174 Control Data cuted by Motion Task 0-499 IW0361 00-15 m+23 Motion Task 1 Override Sets override value to be used in motion program 0.00 to 327.67 [%] (unit: 0.01%) IW0362 00-15 m+24 Motion Task 2 Same as for Motion Task 1...
Page 175 ↓ : No Forced Origin 0: No 1: No ↑ : Forces to set the present posi- tion to 0 to establish it as the ori- gin (not during axis movement) ↓ : No ABS Origin Setting 0: No 1: No ↑...
Page 176 Specifications R: ■ Unit R/W: ■ Word IW0440 Axis 1 Control Bits JOG/STEP Direction 0: JOG and STEP operation in + direction 1: JOG and STEP operation in - direction ↑ : No ↓ : No Axis Machine Lock 0: Cancels axis machine lock...
Page 177 R: ■ Unit R/W: ■ Word IW0441 00-15 Axis 2 Control Bits Same as for Axis 1 Same as for Axis 1 IW0442 Axis 3 Control Bits Same as for Axis 1 Same as for Axis 1 IW0443 Axis 4 Control Bits Same as for Axis 1...
Page 178 Specifications R: ■ Unit R/W: ■ Word IW0481 00-15 Axis 2 Control Axis 2 Override Same as for Axis 1 Data IW0482 Axis 3 Control Axis 3 Override Same as for Axis 1 Data IW0483 Axis 4 Control Axis 4 Override...
Page 179 Section 4-6 I/O Variables Variable Address Size Classification Name Specifications R: ■ Unit R/W: ■ Word IW04A0 00-15 Axis 1 Control Reserved Reserved Data IW04A1 00-15 Axis 2 Control Reserved Reserved Data IW04A2 Axis 3 Control Reserved Reserved Data IW04A3...
Page 180 Data IW04C0 00-15 Axis 1 Control Feed forward Correction Sets feed forward correction Data value to be used in phase control (unit: 0.01%, % to correction value 100%) IW04C1 00-15 Axis 2 Control Axis 2 Feed forward Correc- Same as for Axis 1...
Page 181 Selects the system parameter to trol data bank for motion task 1 use for the interpolation feed acceleration/deceleration time. 1 to 10: Use P00M11 to P00M20 as the interpolation feed acceleration/ deceleration time. Other value: Use P00M002 (interpolation feed acceleration time) or P00M003 (interpolation feed deceleration time).
Page 182: List Of Output Variables
Writing data from motion programs to the input variables allocated to the bit area in the PLC enables the MC Unit to control the Unit, tasks and axes. Writing data from motion programs to the output variables allocated to MECHATROLINK-II output devices and the MC Unit external output terminals enables the MC Unit to control the signal outputs.
Page 183 Name Specifications R: ■ Unit R/W: ■ Word OW0010 00-15 MECHATROLINK- MECHATROLINK-II Output MECHATROLINK-II Output Axis 1 Axis 1 CH1 Output Axis 1 OW0011 MECHATROLINK-II Output MECHATROLINK-II Output Axis 1 Axis 1 CH2 OW0012 MECHATROLINK-II Output MECHATROLINK-II Output Axis 1...
Page 184 Size Classification Name Specifications R: ■ Unit R/W: ■ Word OW00C0 00-15 MECHATROLINK- Same as for MECHA- Same as for MECHATROLINK-II TROLINK-II Output Axis 1 Output Axis 1 OW00CF Output Axis 1 CH12 OW00D0 00-15 MECHATROLINK- Same as for MECHA-...
Page 185 OW02FF OW0300 n+12 Alarm Identifica- Alarm Occurring 0: No alarm tion 1: An alarm occurred on MC Unit (linked to ERC indicator). Unit Alarm Occurring 0: No alarm 1: An alarm occurred on Unit level Reserved 03-10 Motion Task Alarm Occurring...
Page 186 FINS, etc. (not from input variable) 1: External forced stop requested from FINS, etc. (not from input variable) External Forced Stop Status 0: No forced stop request, or pro- cessing for stopping 1: Stopped by forced stop request Reserved Reserved...
Page 187 1: An alarm occurred on motion task level Motion Program Operating 0: Motion task is not executing motion program 1: Motion task is in program oper- ation (Turned OFF after comple- tion of deceleration/block stop) Motion Program Operation 0: When program operation is...
Page 188 OW0362 00-15 m+44 Executing Motion Block No. The block No. of the single execu- (Single execution command) tion command currently being executed by a motion task, or temporarily stopped, is out- put.During execution of parallel branching, the block No.
Page 189 R/W: ■ Word OW0440 x+32 Axis 1 Status Bits Axis Alarm 0: No alarm on axis or MECHA- TROLINK-II slave 1: An alarm occurred on axis or MECHATROLINK-II slave Machine Origin 0: Machine coordinate system FB position is outside of origin in-...
Page 190 Same as for Axis 1 Status Same as for Axis 1 Status Bits Bits OW0449 x+41 Axis 10 Status Bits Same as for Axis 1 Status Same as for Axis 1 Status Bits Bits OW044A x+42 Axis 11 Status Bits Same as for Axis 1 Status...
Page 191 5: FB speed 6: Command speed 7: Error 8: Torque Command OW0483 00-15 d+35 Axis 2 Status Data Same as for Axis 1 Status Same as for Axis 1 Status Data Data OW0484 d+36 OW0485 d+37 OW0486 d+38...
Page 192 Specifications R: ■ Unit R/W: ■ Word OW04A7 00-15 d+71 Axis 14 Status Same as for Axis 1 Status Same as for Axis 1 Status Data Data Data OW04A8 d+72 OW04A9 d+73 OW04AA d+74 Axis 15 Status Same as for Axis 1 Status...
Page 193: Present Position Preset
Ladder Diagram Example • The following shows the ladder diagram that executes the present posi- tion preset. • MC Unit having the unit No. 0, the present position of Axis 1 is modified to the preset values in DM100 and 101.
Page 194: Servo Parameter
Servo Parameter Overview Parameters in the servo driver can be edited using the support tool for MC Unit. It is also possible to read or write data from or to the servo driver using IORD/IOWR instructions of the CPU Unit.
Page 195: Data Configuration And Contents Of Servo Parameters
3. To edit the parameters offline, read "MCH data file" stored in the personal computer. 4. If servo driver parameters are saved in the MC Unit, press the "Unit a PC" button to read the parameters from the Unit. 5. Press the "PC a Unit" button to save the edited parameters in the MC Unit and the servo driver.
Page 196 ∆ AC/DC power supply DC power supply input not supported: Input input select AC power supply to L1, L2, (or L3) terminal. DC power supply input supported: Input DC power supply to (+) 1-( − ) terminal. ∆ Warning code output...
Page 197 0011H 0000H ∆ Pole sensor select With Without ∆ Motor rotation direction Phase A advances in direction order of select phases U, V, and W. Phase B advances in direction order of phases U, V, and W. Reserved Reserved ●...
Page 198 ● Pn103 Inertia ratio 10000 ● Pn104 Speed loop gain 2 2000 ● Pn105 Speed loop integration time constant 2 2 0.01ms 51200 2000 ● Pn106 Position loop gain 2 2000 ● Rotary Pn107 Bias r/min 10000 ●...
Page 199 Disabled ∆ Clear operation Does not clear the error counter.(Cleared only with the CLR signal) Automatically set to 1 Other Do not set. (It is automatically set to 1.) ∆ Filter select Disabled ∆ Rotary Pn201 PG dividing ratio 16384 16384 ∆...
Page 200 10000 10000 ● Pn408 Torque/Thrust control function switch 0000H 0001H 0000H ● Notch filter function select Uses the notch filter for torque command. Reserved Reserved Reserved ● Pn409 Notch filter frequency 2000 2000 ● Linear Pn480 Speed limit during thrust control...
Page 201 Input signal allocation Custom setting stant mode Do not set. (It is automatically set to 1.) /S-ON signal mapping Do not set. (It is automatically set to 8.) /P-CON signal mapping Do not set. (It is automatically set to 8.) ∆...
Page 202 0000H 3333H 3001H related con- ∆ /COIN signal mapping Not used stant Output from SO1 (CN-25, 26) output termi- nal. Output from SO2 (CN-27, 28) output termi- nal. Output from SO3 (CN-29, 30) output termi- nal. ∆ /V-CMP signal mapping Same as above.
Page 203 Input from SI5 (CN1-45) input terminal. Input from SI6 (CN1-46) input terminal. Fixed at "enable" the signal. Fixed at "disable" the signal. Input reverse signal from SI0 (CN1-40) input terminal. Input reverse signal from SI1 (CN1-41) input terminal. Input reverse signal from SI2 (CN1-42) input terminal.
Page 204 Reverse software limit disabled Both Forward/reverse software limits dis- abled ● Reserved ● Software limit checked No software limit check by commands. by commands. Software limit check by a command is con- ducted. Reserved ∆ Pn802 Reserved constant 0000H 0000H 0000H ∆...
Page 205 Follows the analog monitor 1 (Pn003.1) Initial multi-turns data (IMTDATA) Encoder count direct value (PGCNT: after multiplication by 4) Motor PG initial multi-turns data direct value. Motor PG counter direct value. Motor PG count latch direct value. Reserved Full-closed PG counter direct value.
Page 206: Motor Parameters
Some of the parameters need to be adjusted in the following cases. • When using an absolute encoder as an incremental encoder (related parameter: 9003h) • When using the axis as an infinite length axis in the system with an abso- lute encoder (related parameter: 900Ch)
Page 207 Section 4-8 Servo Parameter In the initial value column, the upper value is in hexadecimal and the lower value in parenthesis is in decimal. Name Configuration and explanation Type Initial Unit Immediate value updating 9001 No. of encoder 00000000 pulses No.
Page 208 Note Entering numerical value cannot change this parameter. 9007 Max. rapid Data 0000 (0) speed index Max. speed unit • Sets the unit system for the max. speed. Note Make sure to set this parameter to 0000 Hex. 9008 Rated torque Data 00000000 0.0001N·m...
Page 209: Setting Method Using Combination Of W-Series And Ns115
The following user constants are expressed as restricted constant, deter- mined constant, expansion constant, and disabled constant. Determined constant: To be reset to the settings in the following table if the value is outside of the setting value when the power is turned ON.
Page 210 I/O Signal (W-series CN1) The standard setting of I/O signals (CN1) when the NS115 is mounted is Setting described below. Make sure that it has been changed to the standard setting prior to use. W-Series Driver Not used /COIN+ 40 (SI0)
Page 211 <Position Management> • The full-closed control does not support an absolute position encoder, but an incremental encoder. • If the encoder that is attached on the motor is an absolute encoder, the usage is the same as for an incremental encoder.
Page 212 Section 4-8 Servo Parameter Setting for Reverse Rotations Motor rotation direction Phase relations of the Pn000.0 setting Pn002.3 setting Full-closed PG input phase seen from the load side full-closed PG input relations during CCW during forward rotation during forward rotation...
Page 213: Cam Data
CAM data indicates the entire CAM tables used in the commands CAM (Elec- tronic Cam, Single axis) and CAMBOX (Electronic Cam, Synchronous). The CAM tables are used either separately or all at once from a motion program. Cam Data Configuration The tables below describe the data configuration of CAM data.
Page 214 Phase 4 byte (inte- ger) −2147483648-+2147483647 Displacement 4 byte (inte- ger) Methods to Create/Write/Read Method Range Create/load/save from MC Unit support tool Individual, All Support Tool MC Unit Create(1) Individual or all (1) CAM, CAMBOX Cam Table File Cam Table...
Page 215 Section 4-9 CAM Data...
Page 216: Data Transfer And Storage
IOWR Instruction ........
Page 217: Data Transfer And Storage
1. Download or upload data from Support tool Programs, system parameters, servo parameters, position data, Cam data created with Support tool, can be downloaded to or uploaded from the MC Unit. The system parameters, servo parameters, and position data in the MC Unit can be uploaded to MC-Miel.
Page 218: Data Storage Overview
Transferred data and parameters are written to the internal memory of the MC Unit where they will be used for operation, but they will be lost if the MC Unit is turned OFF or the MC Unit is restarted from the CPU Unit. The data must be saved in the flash memory using the bit area to keep the data in the MC Unit.
Page 219 See note position Note (1) From MC-Miel, all the data are read or written at the same time. The data cannot be read or written partially. (2) Turn ON either the bit “Parameter Save” or “Position Data Save” in PC Interface Area to save in Flash Memory.
Page 220: Transfer And Storage Of Servo Parameters
Unit Overview of Operation and Data 1,2,3... 1. Reading from Servo Driver Using Support Tool Servo parameters are read from the servo driver. The servo parameters in the MC Unit will not be affected. Support Tool MC Unit Servo Driver...
Page 221 Section 5-1 Data Transfer and Storage 2. Reading from MC Unit Using FINS Commands The servo parameters are read from the RAM of the MC Unit. Support Tool Servo Driver MC Unit Servo Parameters Servo Parameters Servo Parameters Flash ROM...
Page 222 Data Transfer and Storage 4. Writing by Support Tool • The servo parameters will be written in both the MC Unit and servo driver. • The written servo parameters will be the object of Flash ROM save. • Writing is executed regardless of whether it is immediately enabled or enabled when the power is turned ON.
Page 223 Section 5-1 Data Transfer and Storage 5. Writing by IOWR Instruction • The servo parameters are written in the RAMs of both the MC Unit and the servo driver. • Writing is executed regardless of whether it is immediately enabled or enabled when the power is turned ON.
Page 224 Data Transfer and Storage 6. Writing by PARAM Command • This is just a temporary writing, so it will not be the object of Flash ROM save. • Only the servo parameters in the RAM of the servo driver will be overwrit- ten.
Page 225 Section 5-1 Data Transfer and Storage 8. Saving by Allocated IF Area Saves the servo parameters of the MC Unit to servo driver’s EEPROM and MC Unit’s Flash ROM. MC Unit Servo Driver Support Tool Allocated IF Area Servo Parameters...
Page 226: Iowr Instruction To Transfer Data
C: Indicates the first destination address in the MC Unit memory area for data storage S: Indicates the first word No. of the CPU Unit area where data has been set D: Indicates the destination MC Unit No. and total number of words of data to be written 2) Data Setting...
Page 227: Iowr: Intelligent I/O Write
Specifies the first address in the MC Unit where data will be written (in hexadecimal). S: First source word First source word Specifies the first word in the CPU Unit from which data is to be transferred. Refer to CS1 manual for each word detail. Area Value used for specification C/O Area (I/O bits, etc.)
Page 228: Flags
This section provides a detailed example of data transfer when the MC Unit is mounted on a CS-series PLC and the unit number is set to zero. In this exam- ple, it is assumed that operands in the IOWR and the transferred data are cor- rect.
Page 229 ← −38765432 D00105 FDB0 D00106 E240 ← 123456 D00107 0001 Example 2) Change the manual feed acceleration time to 500 [ms] Ladder Program Example Execution Condition (Work bit) DIFU Set the Manual Feed Acceleration Time data in DM Area, with...
Page 230 IOWR Instruction to Transfer Data Example 3) Write the servo parameters using IOWR instruction • To write the servo parameters, the servo parameter axis has to be speci- fied in advance. Write the axis No. in 6000h of IORD/IOWR control code (address in the MC Unit).
Page 231 Section 5-2 IOWR Instruction to Transfer Data Ladder Program Example The parameter axis for the servo driver is set to the values in D0100 and D0101. 2-word data in D0110 and D0111 are written in the servo driver parameter No. Pn000.
Page 232 (Format check) If they are not correct, the ER Flag will turn ON to interrupt the IOWR instruction. 2. And then, on the MC Unit, check if the data in operands is applicable for processing in the MC Unit. (Data check) If the data is applicable for processing, the =Flag will turn ON.
Page 233: Iord Instruction To Transfer Data
C: Indicates the first address of MC Unit memory area S: Specifies total No. of data words and MC Unit unit No. to read D: First word No. of the CPU Unit memory area for storing the read data 2) Data Reading...
Page 234 Transfer destination first word No. word Transfer destination first word No. Specifies the first word of the CPU Unit in which the data to be transferred has been set. Refer to the CS1 manuals for more details. Area Value used for specification...
Page 235: Flags
When transferring the data by IORD instruction, make sure to transfer the data with the total number of transferred words (2 to 8 words). Do not start or end transferring the data in the middle of the data. Doing so will turn ON the ER flag.
Page 236 0000 Example 3) Read the servo parameters using IORD instruction • To read the servo parameters, the servo parameter axis has to be speci- fied for the IOWR instruction in advance. Write the axis No. in 6000h of IORD/IOWR control code (address in the MC Unit).
Page 237 IORD Instruction to Transfer Data Section 5-3 • Setting values for specifying the servo parameter axis are to be [Axis No. - 1] as shown below: Axis No. Setting value for axis specification • IORD/IOWR control addresses (addresses in the MC Unit) corresponding to the parameter Nos.
Page 238 IORD Instruction to Transfer Data Ladder Program Example The parameter axis of the servo driver is set to the values in D0100 and D0101. The value in the parameter Pn000 of the servo driver is read and stored in D0110 and D0111.
Page 239: Saving Data
Flash Memory in the MC Unit. Once it is saved in the Flash Memory, it can be read and used from the next time the power is turned ON or the Unit is restarted. When the data is saved, all the data including parameters existing at that point are saved.
Page 240: Data Saving Procedure
Saving Data Section 5-4 5-4-2 Data Saving Procedure The PC Interface Area (bit area) is used to save the transferred data in MC Unit. Procedure Saving parameters: n+0 word Bit 01 Saving position data: n+0 word Bit 02 Status Flash save completed: n+15 word Bit 02 Refer to SECTION 7 PC Interface Area (page 339) for details.
Page 241 Section 5-4 Saving Data...
Page 242: Programming
6-1-12 Data Used for Operand ........
Page 243: Program And Task Configuration
The motion tasks are primarily used to execute operations related to axis movement and through declaring axes to be used by the motion program, a motion task can have 1 to 32 axes. Note that the same one axis cannot be shared among several motion tasks simultaneously.
Page 244: Task Execution Format
Programming Language Motion tasks are described with the common language. 6-1-2 Task Execution Format Motion tasks are executed stepwise, and a maximum of 8 tasks can be exe- cuted individually in parallel. Motion tasks MOVE [J01] 100 MOVE [J02] 200...
Page 245: Advancement Of The Motion Program
When the number of parallel branches written in a motion program is smaller than the value in P00002, the value in P00002 is divided by the ac- tual number of parallel branches to calculate the number of commands that can be executed simultaneously in each branch.
Page 246 • Multiple Execution Command In a motion task, two or more multiple execution commands can be execut- ed simultaneously in one Unit Cycle. A command of this type can be exe- cuted along with a single execution command or other multiple execution commands.
Page 247 This is MULTI, so it is executed along with command No. 12. The diagram below is the operation image of the above table if 3 single execu- tion commands are axis movement commands for Axis 1, 2, and 3 and all the multiple execution commands are operation-related (arithmetic, logic, etc.)
Page 248 Stop Mode In the 'Single Block Operation Mode', regardless of SINGLE/MULTI, one block is executed at a time, so executions do not overlap even in a movement com- mand. Operation image: It takes three cycles to execute one single execution command and the maxi- mum number of simultaneous executions is set to four.
Page 249 1 and 2 while the multiple execution commands perform calculations. The diagram below is the operation image of the above table if 2 single execu- tion commands are axis movement commands for Axis 1 and 2 and all the multiple execution commands are operation-related (arithmetic, logic, etc.)
Page 250: Program System
■ ■ JWAIT The diagram below is the operation image of the above table if 2 single execu- tion commands are axis movement commands for Axis 1 and 2 and all the multiple execution commands are operation-related (arithmetic, logic, etc.) commands.
Page 251: Axis Movement Operation
Program and Task Configuration • A program can contain up to 800 blocks. Block 2 ≤ N ≤ 800 • A block contains a command, a semi-colon, and a comment (this may be omitted). Command Comment • An NSTOP command, and an ABL/INC command, can be added at the beginning of a block.
Page 252 JOG/STEP P2AA12 Manual feed time constant • If the travel time is less than the acceleration time plus the deceleration time, a triangular curve will be created, as shown below. Case 1: PTP Operation Commands (MOVE, MOVEI, DATUM, and MOVET) The rates of acceleration and deceleration will be maintained while moving in a triangular curve.
Page 253 The rates of acceleration and deceleration will be maintained while moving in a triangular curve. This setting differs from P00M06 (pass mode) = 0 or 1 in that the maximum interpolation feed rate is used when calculating the acceleration and decel- eration times.
Page 254 Section 6-1 Program and Task Configuration Speed P00M01 Time P00M02 P00M03 • Relations between Axis Operation Function and Acceleration/Decelera- tion Classifica- Function Acceleration time Deceleration time Time or S-curve filter select tion Acceleration / S-curve filter time Deceleration constant Axis move-...
Page 255 Operating Mode Axis movement commands can be executed in either of two operating modes; one is Pass Mode and the other is Stop Mode. They can be changed using PASSMODE or STOPMODE command in a program. Pass Mode: In Pass Mode, when a consecutive operation has been specified, the program proceeds smoothly to the next operation without confirming completion of positioning.
Page 256 2 or higher. Ex) If P00002 is set to 4 and there are no parallel branches used in the pro- gram (i.e., if the number of branches in the program is 1), 4 divided by 1 equal 4, so this condition would be met.
Page 257 If the following conditions are met, multiple execution commands can be used between interpolation commands. The only difference between the conditions here and those for Pre-Ver. 2.0 MC Unit is that the operation does not have to begin with two consecutive interpolation commands.
Page 258 Deceleration: When the current speed command is slower than the previous speed command Acceleration/Deceleration The acceleration/deceleration times for MC Units with Ver. 2.0 or later can be Times and Pass Mode for changed as required during pass operation. (This is not possible for Pre-Ver.
Page 259 #IW0A00=2; Selects task 1 bank 2 acceleration/deceleration time MOVE [J01] 20000 F200000; Passes using the selected acceleration/de- celeration time END; Note P00111 to P00120 are task parameters. They can be set in advance from per- sonal computer Support Software. Speed 200000 100000...
Page 260 Section 6-1 Program and Task Configuration Input Variables The following variables are used to specify banks for each task. If a value not between 0 and 10 is specified, the acceleration and deceleration times in P00M02 and P00M03 will be used.
Page 261 Rapid Feed Rate Rapid Feed Rate The feed rate for the axis movement command MOVE and MOVEI can be set in the parameter [P2AA03: Rapid feed rate]. The speed can be changed using the same parameter [P2AA03: Rapid feed rate] before executing positioning.
Page 262 The feed rate for the axis movement commands MOVEL, MOVEC, and MOVETRAV can be set in the Operand F in motion programs. Overwriting the value in F can change the feed rate though it is not valid during operations. During motion program execution, the previously specified interpolation speed will be held until the newly set speed is enabled.
Page 263 Task override Axis movement 100% output MOVEL command Commands using the The following six commands use the counter latch function: Counter Latch Function Command Purpose for using Role of latch signal counter latch function DATUM: Origin search Detects origin...
Page 264 Program and Task Configuration Section 6-1 With variables in the following table, whether or not the counter latch has been completed can be confirmed: Variable Specifications Remark Output variables: 0: Started to execute function that Relation to SW022A Axis status bits:...
Page 265 Program and Task Configuration Section 6-1 Simultaneous Commands The operations when several commands are executed simultaneously on the (Overlap) to the Same One same one axis are as follows: Axis Command executed Classification Axis movement Axis operation Axis Setting simultaneously...
Page 266 Alarm [2018h: Synchronous slave axis specification error] will occur, and the program will be interrupted. Only MOVEMODI during MOVEL: Can be executed if a single axis is specified for each command. Otherwise, the function executed later will be ignored.
Page 267 Program and Task Configuration Section 6-1 Meaning Only latch cancel can be executed. Other cases will be as follows: When exe- cuted in parallel, the alarm [2016: Same axis specification multiplicity] will occur and the program will be interrupted. When executed in series, the alarm [301A: Counter latch resource violation] will occur and the program will be interrupted.
Page 268 Section 6-1 Program and Task Configuration Note As in the following cases, however, the operation is stopped (or started) with- out executing SPEEDR or TORQUER command. Therefore, the speed change rate or torque change rate specified in the previous SPEED or TORQUE command is used.
Page 269: Synchronous Command
• For the counter axis, specified speed = feedback speed. • There is no limit on the number of slave axes per one master axis. • The axis that is already operating as a slave axis can be specified as a master axis for another synchronous command.
Page 270 "Master axis travel distance > Slave axes travel distance" is true. In this case, the problem lies not in the resolution for 1 motor rotation on each motor, but in the relations on travel distances between the master and...
Page 271 Master axis [J01] Slave axis [J02] 91022 [pulse] > 10922 [pulse] In this case, the travel distance of the master axis is larger than the one of the slave axis. Thus, the condition "Master axis travel distance > Slave axis travel distance"...
Page 272 Explanation 1,2,3... 1. Having J02 as a master axis with the travel distance of 1000, J01 is moved to the position of 2000 through synchronization. In this operation, the ac- celeration interval of the slave axis is specified between the synchroniza-...
Page 273: Modal Data
Section 6-1 Program and Task Configuration 6-1-7 Modal Data Data that is selected by the following commands, and that can be omitted later in the program, is called modal data. Group Command Description ABL/INC Interprets the specified position either as an absolute value specification or as an incremental value specifica- tion.
Page 274: 6-1-10 Conditional Expression
Optional End Conditional Branching WHILE Repeat While Conditional expressions are shown in the following table. Immediate values or variables are the only the objects of comparison. If other data types are used, the program cannot be downloaded. Conditional Format Expression...
Page 275 Section 6-1 Program and Task Configuration B: Bit type, W: Word type, L: Long type, F: Real-number type, @: Indirect specification Classifi- Function Com- Notation Operand Range Immediate Variable cation mand example value Inte- Deci- point Simple Assign #MW- = #MW-...
Page 276 Section 6-1 Program and Task Configuration Classifi- Function Com- Notation Operand Range Immediate Variable cation mand example value Inte- Deci- point Logic #MW- = #MW- 1st Term Write opera- (Logical | #MW-; 2nd Term LONGMIN- Inte- Read tions LONGMAX 3rd Term...
Page 277 Section 6-1 Program and Task Configuration Classifi- Function Com- Notation Operand Range Immediate Variable cation mand example value Inte- Deci- point Functions Decimal FRAC #MF- = 1st Term Write FRAC#MF-; 2nd Term Within the opera- Read tion numerical value range...
Page 278: 6-1-12 Data Used For Operand
1 to (128 - address) 6-1-12 Data Used for Operand Immediate Value There are two kinds of immediate values; integer and decimal number. The ranges for each immediate value are listed below. • Integer: Value without decimal point Minimum value: − 2147483648...
Page 279: 6-1-13 Virtual Axis
<Example> The decimal number with the greatest No. decimals is shown in the following table. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 Number of digits after the...
Page 280: 6-1-14 I/O Axis
Always 0 PROG axis declaration If specified, the alarm [201Ah: Axis declaration error] will occur. Usage in each command If axis No. is specified on axes other than the synchronous master axis, the alarm [2007h: Axis reservation disable] will occur.
Page 281: 6-1-15 Parameters Having Influence On Axis Operation
Alarm [2019h: Parameter setting error] will occur and the program parameters is stopped. IORD/IOWR command Error completion Support tool Same as for axes without allocation, only reading from the MC Unit can be performed normally. Present value preset with Error completion IOWR Error on the communica- Occurs.
Page 282: 6-1-16 Coordinate System
It has nothing to do with axes or motion tasks. Starting a New Program If a new main program is started (the first execution after power is turned ON, Operation or execution in the Start Mode = 0 or 3), the machine coordinate system is always used.
Page 283: Command Overview
The offset value and coordinate system select that have been changed in a branch will affect other branches as well. Executing End Command If a program is ended using the END command, neither the offset value nor coordinate system select are initialized. Command Overview...
Page 284 ELECTRONIC CAM, CAMBOX Executes cam operation accord- Depends on the link SYNCHRONOUS ing to cam table and master axis. option. ELECTRONIC CONNECT Synchronizes the slave to the Synchronization SHAFT master in a fixed ratio to the established.
Page 285 Waits for specified period of Dwell time elapsed. time, and then executes next block. WAIT FOR CONDI- WAIT Waits for condition to be satisfied Condition satisfied. TION TO BE MET and executes the next block. OPTIONAL END STOPOP Aborts next block when condition Condition setting is satisfied.
Page 286: Command Format
Clears data block to zero. All data cleared. 6-2-2 Command Format The following notation is used for the format. Symbol Meaning <> Indicates the content, data Optional operand, omissible ---N--- The operand that can be specified up to the number shown. Required en quad...
Page 287 MOVET_[<axis name>]<position command value>---8---T<positioning time>; tioning Traverse MOVETRAV_Q<operating mode>[<winding axis name>]<winding axis rotations> [<traverse axis name>]<traverse axis winding width> L<number of layers> {[<rotations at starting edge>]}{J<rotations at ending edge>}{F<winding axis speed>}; Electronic cam, sin- CAM_[<axis name>]<Cam table number>K<displacement data multiplier>T<execu- gle axis tion time>...
Page 288 WORK_C<workpiece coordinate system number>; nate system select Workpiece coordi- OFFPOS_C<workpiece coordinate system number>[<axis name>] nate system offset <workpiece coordinate system offset amount>---8---; change Present position LATCH_[<axis name>]<latch position storing variable> latch {I<latch check start position>}{J<latch check end position.}; Single block ignored NSTOP_<other command>;...
Page 289 IF_<conditional expression>; <processing 1> {ELSE; <processing 2>} ENDIF; Repeat WHILE WHILE_<conditional expression>; <processing> WEND; Repeat FOR FOR_W<work register for repeat count> L<repeat end value>S<number of increment steps>; <processing>; NEXT; Parallel execution PARALLEL_N<number of branches>; <processing 1> {JOINT; <processing N>} JWAIT;...
Page 290 SFTR<shift object variable>_N<shift amount>; Shift left SFTL<shift object variable>_N<shift amount>; Data opera- BCD→BIN <variable>= BIN<numerical value>; tions BIN→BCD <variable>= BCD<numerical value>; Block transfer XFER<transfer source first data>_<transfer destination first data>_N<number of transferred data>; Clear CLEAR<first cleared data>_N<number of cleared data>;...
Page 291: Command List (Operand List)
Section 6-2 Command Overview 6-2-3 Command List (Operand List) The following table describes the operands that are used in commands. Operand Command: Meaning of the value Remark Axis name MOVE: Position command value These operands require distinction of axis names.
Page 292 CAMBOX: Link option PROG: Axis declaration MOVEC: Radius Indicates radius. CAM: Starting data number Indicates the start number and number of steps. CAMBOX: Starting data number FOR: Number of increment steps MOVET: Positioning time Indicates various times. CAM: Execution time...
Page 293: Program Number And Axis Declaration
"0000", the bit train for the axes to be used will be as shown below: J32 J31 J30 J29 J28 J27 J26 J25 J24 J23 J22 J21 J20 J19 J18 J17 J16 J15 J14 J13 J12 J11 J10 J09 J08 J07 J06 J05 J04 J03 J02 J01 ↓...
Page 294: Command Details
1.) note 2.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 295 1.) note 2.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 296 4.) (See note 3.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 297 Axis operating Axis m status bit: Positioning completed Circular Interpolation This command executes positioning with circular interpolation on two axes at (MOVEC) specified interpolation feed rate. Moreover, positioning with helical circular interpolation (2-axis circular interpolation + 1-axis linear interpolation) can be performed.
Page 298 4.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) Figures below the decimal point are to be omitted. (3) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 299 4.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) Figures below the decimal point are to be omitted. (3) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 300 [Number of turns] + a. When the start position is equal to the end position, the travel distance per block will be circular arc of [Number of turns] + 1.
Page 301 2.) note 3.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 302 • DATUM command performs the origin search for the specified axis. • Specifying the offset will set the origin of the machine coordinate system after an origin search to other than zero. (Specify zero to set it to zero.) • The operation patterns and speeds are determined by the parameters...
Page 303 • The coordinate system number specified using ORIGIN or WORK command • For the origin search executed for an axis using the absolute encoder, the machine coordinate origin is defined using an external signal as well. • DATUM command execution will be completed when origin detection for all the specified axes is completed.
Page 304 1.) note 5.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 305 Yes (See note 1.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 306 (Symmetric linear acceleration/deceleration is always performed.) • The parameter [P2AA03: Rapid feed rate] is ignored. • If the override is not 100.00%, the positioning time specified cannot be kept. • Positioning time does not include the time required for completing in-posi- tion check.
Page 307 (See note 5.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) Figures below the decimal point are to be omitted. (3) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position.
Page 308 • Without specifying Rotations at starting edge and Rotations at ending edge, there will be no winding at the edges. • The linked traverse allows up to 100 linked blocks, and the operation as a whole is executed in Stop Mode.
Page 309 Section 6-3 Command Details • In the linked traverse, up to 5 blocks are interpreted per unit scan. If more than 5 blocks are linked, the time [(No. of linked blocks/5) × Unit scan] will be required for the interpretation (i.e. from completion of executing the previous block to start of the linked traverse operation.
Page 310 PLnnnn+1 Displacement • If a minus sign is added to the CAM table number, the CAM data is read tracing the data numbers in the reverse order. • The range of Displacement data multiplier is from − 200.00 to 200.0% (0.01% unit, limited to the values that can be obtained from the internal...
Page 311 Restriction on phase: of CAM Data • To use the CAM data for "CAM (Electronic cam, single axis)" and "CAM- BOX (Electronic cam, synchronous)" commands, the phase data should be arranged in an ascending order (i.e. the greater the data number is,...
Page 312: Command For Axis Operations/Operation Cancel
• When these conditions are not met, "CAM (Electronic cam, single axis)" and "CAMBOX (Electronic cam, synchronous)" commands may cause the axis to stop operating, or to operate in an unexpected way. To avoid acci- dents, make sure that the conditions are met.
Page 313 1.) note 3.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 314 In this case, the master axis travel distance at constant speed is 0. • Master axis input ignores signs, and it is treated as the absolute travel dis- tance. Therefore, only the signs of [Slave axis travel distance] determine the direction of the slave axis operation.
Page 315 2.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) Figures below the decimal point are to be omitted. (3) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 316 × 102) Figures below the decimal point are to be omitted. (6) When CAM table is specified: The greatest CAM data number in CAM ta- When specified with the global variable: 8188 (1FFC Hex) When specified with the position data: 10238 (27FE Hex) (7) There is no influence.
Page 317 • When the master axis is in reverse rotation, the CAM data is read tracing the data numbers in the reverse order. • When Link option is one of 8 to 13 (Only for one cycle from the starting to ending data number), the synchronization will be completed once the master axis travels for Link distance in + or −...
Page 318 1.) note 2.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) Figures below the decimal point are to be omitted. Description • Synchronous operation is performed in the ratio Gear ratio numerator/ Gear ratio denominator.
Page 319 1.) note 4.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 320 (Marker sensor ON position + catch-up position offset). 3. The slave axis is operated synchronizing with the master axis in the ra- tio of 1 to 1. • Catch-up position offset is specified as the distance from Marker sensor ON position on the coordinate system of the slave axis.
Page 321 2.) note 3.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 322 1.) note 2.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) Figures below the decimal point are to be omitted. Description • The travel distance of the specified master axis is superimposed onto the slave axis operation.
Page 323 The maximum speed in actual operations is limited by the maximum ro- tation speed of the motor. (2) Word data is extended to long word data with a sign in the MC Unit. (3) With Rated % specification (P00004 bit2=0) The minimum command unit is 0.01%.
Page 324 [P00004.bit02] = 0 [0.01% of the rated speed] [P00004.bit02] = 1 [0.01r/min] • If Speed change rate is set to 0, the specified speed is output instantly. (If the mode is switched from other mode to the speed control mode, this value can be used as the output speed default value.)
Page 325 MOVE command. 2) When the position loop gain could not be read successfully due to in- correct setting of the servo reading parameter. In order to prevent shock, follow the instructions below: •...
Page 326 The maximum motor torque limits the maximum torque in actual operations. (2) Word data is extended to long word data with a sign in the MC Unit. (3) The minimum command unit is 0.01%. Real value = (Decimal immediate value or Variable of real number type) ×...
Page 327 Section 6-3 Command Details • During the command execution, the command code "001Bh" is output to the system variable "Command execution status" (SW0228 for Axis 1). (For details of command codes, see 4-5 System Variables Command Code in Command Execution Status on page 142.)
Page 328: Setting Command
2.) note 3.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 329 Previous MOVE command block Next Axis status bit: Positioning completed Axis status bit: Axis operating Absolute In axis operations, positioning is performed with absolute specification on Specification (ABL) each coordinate system. Command type Multiple execution command Format ABL; ABL_<other command>;...
Page 330 1.) note 2.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 331 Command Details For example, when changing the interpolation feed speed for motion task parameters with a unit cycle of 2 ms, the execution time will be 24 to 44 ms. Pass Mode The operating mode is switched to Pass Mode.
Page 332 1.) note 2.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) Figures below the decimal point are to be omitted. (3) There are three workpiece coordinate systems for each axis.
Page 333 Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) Figures below the decimal point are to be omitted. (3) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 334 2.) note 3.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) The actual value is determined by the setting value of the parameter [P5AA02: Position command decimal point position].
Page 335 4 × Unit cycle • When Unit cycle: Communication cycle = 2 : 1 • Do not restart the MC Unit, or restore power only to the MC unit (including temporary power interruption) when the Unit is waiting for a latch signal after executing LATCH command in which the latch check position has been specified.
Page 336: Control Command
• Especially, be cautious of temporary power interruption since it is impossi- ble to know when it happens. Should it happen on the MC unit, make sure to clear the latch check range by setting the servo driver so that its power...
Page 337 Example: If physical axes J02, J03, J04, J12, and J14 are used, program [PROG P000 Q0000280E;]. J32 J31 J30 J29 J28 J27 J26 J25 J24 J23 J22 J21 J20 J19 J18 J17 J16 J15 J14 J13 J12 J11 J10 J09 J08 J07 J06 J05 J04 J03 J02 J01 ↓...
Page 338 1500 to 1999 note 1.) note 2.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) Figures below the decimal point are to be omitted. Description • Sub-programs are executed. • Sub-programs can be nested up to 5 levels.
Page 339 0 to 60000 Yes (See note.) Note Word data is extended to long word data with a sign in the MC Unit. Description • The operation waits for the time period specified in Dwell time. The unit is in [ms].
Page 340 • The next block will not be executed until Conditional expression is satis- fied. • If the motion program is stopped (except for block stop) during WAIT com- mand execution, waiting for condition to be satisfied is cancelled and the command execution is completed.
Page 341 Operand Description • If the conditional expression is satisfied, processing 1 will be executed. If the conditional expression is not satisfied, processing 2 will be executed. • Processing 1 is described between IF and ELSE (can be described over multiple lines).
Page 342 INC MOVE [J01]100.00 [J02]200.00; WEND; The formats of conditional expressions are shown in the following table. Immediate values and variables are the only comparison objects. If a different data type is used, an alarm will occur in pre-analysis. Conditional Format...
Page 343 1.) note 2.) Note (1) Word data is extended to long word data with a sign in the MC Unit. (2) Figures below the decimal point are to be omitted. Description • Processing between FOR and NEXT will be repeatedly executed until Work resisters for repeat count becomes equal to or greater than Repeat end value.
Page 344 Number of branches 1 to 8 Description • Processing for the number of branches specified in PARALLEL command is executed in parallel. • The parallel branches queue at JWAIT command and parallel branching is completed.
Page 345 N (program end and parallel branch nesting cannot be executed inside parallel branching). • Each of processing 1, 2, and N can be described over multiple lines. • The following sequence is fixed when commands are executed in the order, processing 1, processing 2, and processing N.
Page 346 Note Word data is extended to long word data with a sign in the MC Unit. Description • If Conditional variable specified in SWITCH command matches Condi- tional constant specified in CASE command, only processing between CASE command with the matching constant and BREAK command will be executed.
Page 347 MOVE [J01]200000; J01 moved to the position 200000 NOPS; Block stopped till completion of single execution command MOVE #IW0B00 = 0055; Value output in Unit Cycle of MC unit next to the one where MOVE [J01]300000; single execution command NOPS was executed NOPS;...
Page 348 Program PROG P0001 Q00000001; Program declared MOVE [J01]200000; J01 moved to the position 200000 #IW0B00 = 0055; Value output in Unit Cycle of MC unit next to the one where MOVE [J01]300000; single execution command MOVE was executed. (See note.) #IW0B00 = 0000;...
Page 349 PROG P0001 Q00000001; Program declared PARALLEL N2; #PL0000 = #IL0B00 * 1000; Result of (IL0B00 x 1000) assigned to PL0000 #PL0001 = #IL0B02 * 500; Result of (IL0B02 x 500) assigned to PL0001 MOVEL [J01]#PL0000 F#PL0001; J01 moved to the position PL0000 at the speed PL0001 JOINT;...
Page 350: Simple Arithmetic Operation
• If the types are different on both sides, the type on the right is converted to that of the left. • If the value on the right side cannot be stored in the left side, the alarm [2005h: Operation overflow] will occur.
Page 351 • If the types are different on both sides, the type on the right is converted to that of the left. • If the value on the right side cannot be stored in the left side, the alarm [2005h: Operation overflow] will occur.
Page 352: Logic Operation
• If the types are different on both sides, the type on the right is converted to that of the left. • If the value on the right side cannot be stored in the left side, the alarm [2005h: Operation overflow] will occur.
Page 353 • If the types are different on both sides, the type on the right is converted to that of the left. • If the value on the right side cannot be stored in the left side, the alarm [2005h: Operation overflow] will occur.
Page 354: Function
Section 6-3 Command Details • Operation is performed in the type of the highest priority, and the op- eration result will be stored after being converted to the type on the left. • The integer immediate value is treated as long word type, and the dec- imal immediate value is treated as real number type.
Page 355 Input unit is [0.01deg]. The range of the specified data is -32768 to 32767 [0.01deg]. If input is outside the specified range, the alarm [200Fh: Other operand error] will occur. If the value on the right side is real number type: Input unit is [deg].
Page 356: Bit Operation
• If the types are different on both sides, the type on the right is converted to that of the left. • If the value on the right side cannot be stored in the left side, the alarm [2005h: Operation overflow] will occur.
Page 357: 6-3-10 Data Operation
1, it is considered to be true. On the other hand, if all the bits are 0, it is con- sidered to be false.
Page 358 Section 6-3 Command Details Note Setting range when viewed as BCD data. Description • BIN command converts the specified value (BCD data) into binary (BIN code). • BIN command can be used only for integer data. 1234 (BCD) 1234 (binary) BIN to BCD (BCD) The BCD command converts the BIN data into the BCD data.
Page 359 • If the transfer source and destination overlap with each other, the overlap is automatically processed and data is transferred so that it is not cor- rupted. • 256 words can be transferred in one scan. If the size exceeds 256 words, it is transferred over several scans. Transfer...
Page 360 • Data for the number of words specified in Number of cleared data is cleared to 0 from the address specified in First cleared data. • 256 words can be transferred in one scan. If the size exceeds 256 words, it is transferred over several scans.
Page 361 Section 6-3 Command Details...
Page 362: Pc Interface Area
Allocated Area List ........
Page 363: Overview
The number of motion tasks automatically sets the actual number of trans- ferred words. In addition, [the area range setting] in the allocated DM area and [the physical axis setting] in axis allocation parameters determine the number of Custom area words.
Page 364: About I/O Refresh
MC Unit’s Unit Cycle When the CPU Unit’s There is a possibility that none of data is notified to the MC Unit. In this case, Cycle Time and the MC set a longer or shorter Cycle Time for the CPU Unit.
Page 365 These areas are allocated through [Area range setting] in the allocated DM area words. The area range setting is used when the power is turned ON for the first time. Therefore, if changed afterwards, it will be ignored. The change will be enabled at the next power ON.
Page 366 (m+1)] and [Data area first address (m+3)], the first address of each area on the CPU Unit is specified. Up to the words for the biggest axis number set to other than [0:Unused] in the axis allocation parameter [P1AA01: Physical axis setting] are allocated.
Page 367: Cpu Unit's Influence
Section 7-1 Overview On the MC Unit, the custom I/O area can be treated as I/O variables in the motion program. When transfer direction is [MC Unit _ CPU]: Output variable When transfer direction is [CPU _ MC Unit]: Input variable...
Page 368: Operating Mode
Other than the above There is no influence on the MC Unit operation. CPU Unit Status The MC Unit operates as shown in the table below when the CPU Unit is in the following state: CPU Unit status MC Unit operation CPU Unit fatal error: •...
Page 369: Manual Mode
Section 7-2 Operating Mode • The mode can be set for each axis. ON (1) is Automatic Mode and OFF (0) is Manual Mode. • In Manual Mode, operations of the MC Unit are controlled directly from the CPU Unit using the PC interface areas.
Page 370 Servo Lock During execution of the following functions, the Busy flag will be turned ON. After execution of a function, turn the bit OFF, check if the BUSY flag is OFF, and then execute the other functions. • Error counter reset, STEP, JOG, Machine origin return, Origin search,...
Page 371: Automatic Mode
• In this example, Axis 1 is operated with Motion task 1. 1,2,3... 1. Set the MC Unit to Automatic Mode. To specify the axis to be used in the program, turn ON the axis control bit [Manual/Automatic mode (15 bits of word x+0).
Page 372 The program is resumed from where it was stopped. • Resuming motion program when executing MOVETRAV/MOVELINK/CAMBOX (1 cycle) commands: When stopped midway, the program resumes for the remaining travel distance. In case of block stop, the program for the entire travel distance is executed again.
Page 373 Section 7-2 Operating Mode In case of ABL specification ABL MOVE [J1] 2000 [J2] 0; _ When this block is interrupted ABL MOVE [J1] 3000 [J2] 0; Start Mode Operation Start point Interruption End point Start point End point Resumes pro-...
Page 374 • The following command is executed. MOVE [J01]500 • This command means to turn axis 1 once (360 ° ) and then to position to 140 ° in the second turn. • Assume that the above command is executed, but a deceleration stop is executed at 120 °...
Page 375 Section 7-2 Operating Mode In case of ABL specification ABL MOVE [J1] 2000 [J2] 0; _ When this block is interrupted ABL MOVE [J1] 3000 [J2] 0; Start Mode Operation Block stop Resumes pro- Start point End point Start point...
Page 376 For R1 to R3, use work bits. In this program, the program [P0001] is executed in motion task 1. For actual operation, change the axis on which the motion program is to be executed, motion task, and program number as needed.
Page 377 Section 7-2 Operating Mode Related PC Interface Area The list below is for the motion task 1. the list for motion tasks 2-8 is the same List as motion task 1. Classification Word Variable Name Specifications Motion task 1 IW0340...
Page 378 Timing Chart movement (including deceleration stop) are shown below. In this example, Axes 1 and 2 are operated with motion task 1 and the Motion task 1 Control bit [Deceleration stop] is used for stopping. In the timing chart, Axes 1 and 2 are operated and they are stopped with deceleration stop in midway.
Page 379 000102 Pause Button 000103 Start Mode Switch 000104 Note When setting the custom bit area from WR200, the area range for the Unit is set as shown below: Area type specification on the CPU 0002h (WR) Bit area first address...
Page 380 (n+17.02) Motion program operating MC Unit and CPU Unit • Do NOT set the same Cycle Time as the Unit Cycle of the MC Unit or Process Cycle the Cycle Time of [1/ integer] multiple when using the Minimum Cycle Time setting.
Page 381: Allocations For The Cpu Unit
Decimal system is applied to the other values using multiple bits. When controlling with the rise (or fall) of the bits from the CPU Unit to the MC Unit, the change of bits is processed in the MC Unit, not in the CPU Unit.
Page 382 EEPROM in the Servo ↓: Nil 07-11 Reserved Reserved 12-15 Present Value Moni- Selects data to be output to the present value mon- tor Select itor. 0: Zero output 1: Feedback position (coordinate system currently being selected) 2: Feedback position (machine coordinate system)
Page 383 Motion task 1 IW0340 Motion Task Alarm 0: Nil Control bit Reset 1: Does not turn ON the bit [Motion Task Alarm] ↑: Clears the alarm occurring on motion task level ↓: Nil Motion Program 0: Nil Start 1: Nil ↑: Starts the motion program operation following...
Page 384 Motion task 8 n+11 IW0347 00-15 Same as for Motion Same as for Motion Task 1 Control bit Task 1 CIO Input Area Words for the Unit (MC Unit → CPU, 13 words) Classification Word Variable Name Specifications Alarm identifica- n+12...
Page 385 Unit Ready 0: Unit is not ready for accepting commands 1: Unit is ready for accepting commands Unit Alarm 0: No alarm occurring on Unit level or Unit Alarm Reset is ON 1: Alarm occurring on Unit level Flash Save Com-...
Page 386 Specifications Motion task 1 n+17 OW0340 00 Motion Task Alarm 0: No alarm occurring on motion task level or Status bit Motion Task Alarm Reset is ON 1: Alarm occurring on motion task level Motion Program 0: Motion task is not executing program operation...
Page 387: Dm Area Words For Unit (20 Words, Cpu Unit_Mc Unit)
Section 7-3 Allocations for the CPU Unit 7-3-2 DM Area Words for Unit (20 Words, CPU Unit_MC Unit) DM Output Area for the Unit (CPU → MC Unit, 20 Words) Default Setting Area Classification Word Variable Name Specifications Unit area range...
Page 388 When mounting several MC Units on the same PLC, make sure that the oper- ation data areas of the MC Units do not overlap. Since MC Units do not detect the error even if custom bit areas of different Units are overlapping in PLC, a malfunction may result.
Page 389 Area type specification First address (Hex) Explanation • Area type specification (word m+2) Specifies the memory area of PLC to which the custom data area is allo- cated. 00: Does not use the custom data area 01: CIO area Specifies CIO area of PLC starting from the specified first address (m+3).
Page 390 (word m+2), EM area is fixed at Bank No.0. Note Do not set the bank No. of the file memory on PLC. Specifying EM area of the file memory bank No. causes the alarm [0044h: CPU memory error]. When mounting several MC Units on the same PLC, make sure that operation data areas do not overlap.
Page 391 PORT Area First Address Data configuration Setting range 0000 to XYZZ Hex (X = 0 or 8, Y = 0 to 4, ZZ = 00 to A0) No. of transferred 0000 to XXXX Hex (XXXX varies depending on the data area type.)
Page 392 Section 7-3 Allocations for the CPU Unit For details of bank and file memory of EM area, refer to “SYSMAC CS Series CS1G/H-CPU __ -EV1, CS1G/H-CPU __ H Programmable Controllers Opera- tion Manual (Cat. No. W339-E1-@@)”. • First address (word m+5)
Page 393 PORT_G DM 32000 to 32159 OW 0EC0 to 0F5F ← PORT_H DM 32160 to 32199 OW 0F60 to 0F87 DM Output Area Words for the Unit (CPU Unit → MC Unit, 18 words) Data Area Classification Word Variable Name Specifications...
Page 394 Word Variable Name Specifications Motion task 1 m+42 OW0360 00-15 Motion Task Alarm Outputs the code of the alarm occurring on motion Status data Code task level. m+43 OW0361 00-15 Executing Motion Outputs the program No. of the program currently Program No.
Page 395: Custom Bit Area
Section 7-3 Allocations for the CPU Unit 7-3-3 Custom Bit Area Custom Bit Area (CPU → MC Unit, 32 words) Classification Word Variable Name Specifications Axis 1 Control bits IW0440 Axis Alarm Reset 0: Nil 1: Does not turn ON the bit [Axis Alarm] ↑: Clears the alarm occurring on axis level and...
Page 396 ABS Origin Setting 0: Nil 1: Nil ↑: Sets the absolute encoder origin ↓: Nil Axis Override Enable 0: Disables axis override value (override 100% is used) 1: Enables axis override value ↑: Nil ↓: Nil JOG/STEP Direction 0: Sets the JOG and STEP operation direction...
Page 397 Section 7-3 Allocations for the CPU Unit Classification Word Variable Name Specifications Axis 26 control bits x+25 IW0459 00-15 Same as for Axis 1 Same as for Axis 1 Axis 27 control bits x+26 IW045A 00-15 Same as for Axis 1...
Page 398 Axis 1 Status bits x+32 OW0440 00 Axis Alarm 0: No alarm occurring on axis or MLK slave or Axis Alarm Reset is ON. 1: Alarm occurring on axis or MLK slave Machine Origin 0: Machine coordinate system FB position is...
Page 399: Custom Data Area
Name Specifications Axis 1 Control data IW0480 00-15 Axis 1 Override Sets the override value to be used for the axis. 0.00 to 327.67 [%], 0.01% unit Axis 2 Control data IW0481 00-15 Axis 2 Override Same as for Axis 1 Control data...
Page 400 Same as for Axis 1 Control data Axis 32 Control data d+31 IW049F 00-15 Axis 32 Override Same as for Axis 1 Control data Custom Data Area (MC Unit → CPU, 96 words) Classification Word Variable Name Specifications Axis 1 Status...
Page 401 Allocations for the CPU Unit Classification Word Variable Name Specifications Axis 3 Status d+38 OW0486 00-15 Same as for Axis 1 Same as for Axis 1 Status data data Status data d+39 OW0487 d+40 OW0488 Axis 4 Status d+41 OW0489 00-15...
Page 402 Allocations for the CPU Unit Classification Word Variable Name Specifications Axis 19 Status d+86 OW04B6 00-15 Same as for Axis 1 Same as for Axis 1 Status data data Status data d+87 OW04B7 d+88 OW04B8 Axis 20 Status d+89 OW04B9 00-15...
Page 403 Section 7-3 Allocations for the CPU Unit Custom Area (CPU ← → MC Unit, 8 Areas × 160 words) Classification Word Variable Name Specifications General I/O A IW0B00 00-15 General I/O A Reflects the data from general output A Word 1-160...
Page 404: Interface Specifics
The MC Unit supports processing of great amounts of data and varieties of peripheral devices to realize multi-axis applications. Due to the fact, it takes the MC Unit a certain period of time (8 seconds min.) to get ready for opera- tion.
Page 405 Alarm Occurring], and [Unit Alarm] turn ON and the alarm code will be stored in the Unit status data [Unit Alarm Code]. • If several alarms occur, only the code of the first alarm will be stored in [Unit Alarm Code].
Page 406 Section 7-4 Interface Specifics Alarms are reset on the basis of each type. Therefore, execute the alarm reset over the Unit, Task, and Axis to clear an alarm occurring on the MC Unit with- out fail. Timing Chart Basic operation (Alarm Occurring):...
Page 407 Section 7-4 Interface Specifics Alarm that cannot be reset occurs: When the bit [Unit Alarm] is turned OFF, whether reset has been accepted or not will be checked. When [Unit Alarm Reset] is turned OFF, [Unit Alarm] bit will be turned ON.
Page 408 IW0300 System Parameter Save Output Function With this function, system parameters that have been changed using IOWR instruction in the ladder program can be saved into the Flash ROM of the MC Unit. Command and Operation Name Specifications System Parameter...
Page 409 • When saving is completed (normal completion or error completion), the bit [Flash Save Completed] will turn ON. • The same status bit is used for saving position data. Therefore, it is not recommended to save system parameters simultaneously with position data.
Page 410 Section 7-4 Interface Specifics The timing chart will be the same as the above even at error completions. Use the bit [Unit Alarm] to confirm normal completion or error completion. (Confirm with the alarm as it seldom happens.) If [System Parameter Save] is turned OFF before completion: Turning OFF after reception will not interrupt saving.
Page 411 Data in Flash Memory Current Updated The timing chart will be the same as the above even at error completions. Use the bit [Unit Alarm] to confirm normal completion or error completion. (Confirm with the alarm as it seldom happens.)
Page 412 Section 7-4 Interface Specifics Function • To use the actual positions on an application in motion programs as posi- tion data, the present positions are stored in position data. • Generally, there are following 2 operations: • Teaching Condition Setting: The axis and address of teaching object will be specified when the bit [Teaching Condition Setting] is turned ON.
Page 413 • When the bits [Command Disabled/Enabled] for the axes specified with [Teaching Axis Setting 1-16] and [Teaching Axis Setting 17-32] are OFF, or when the bits [No Origin] for any of the axes are ON. • When the addition of [Teaching Address Monitor] and the addresses...
Page 414 In Torque control No effect Status bits Busy No effect In Servo Lock No effect No Origin Cannot execute Teaching if it is turned ON. Axis Operating No effect Positioning Completed No effect Positioning Completed (No.2) No effect Axis Machine Lock Status...
Page 415 Setting #00000001 Teaching Condition n+0.03 Setting Completed Teaching Storing Teaching Condition First Address Setting #0000 Setting m+20 n+0.03 Teaching Condition Setting DIFU Work bit Teaching Execution Condition n+0.04 Teaching Type n+15.05 No Origin Teaching Execution Teaching Type Completed Switch n+0.05 n+0.05...
Page 416 Section 7-4 Interface Specifics Timing Chart Teaching Condition Setting (Normal completion): Completed normally, and the address monitor is updated. Changing only the address after the rise of [Teaching Condition Setting] cannot be accepted. Unit Control Bit: Teaching Condition Setting Unit Control Bit:...
Page 417 Section 7-4 Interface Specifics Teaching Condition Setting (Error Completion): Error occurs because the Error occurs because address is 10240 or higher. No. of axes is zero. Unit Control Bit: Teaching Condition setting Unit Control Bit: No. of axes = 0 No.
Page 418 Section 7-4 Interface Specifics Teaching Execution (Normal completion): Completed normally, and The feedback position is stored. the address will be incremented. Unit Control Bit: Teaching Execution Unit Control Bit: Teaching Type Unit Status Bit: Teaching Warning Unit Status Bit: Teaching Execution...
Page 419 IW0300 Servo Parameter Save Output Function With this function, the servo parameters that have been changed using IOWR instruction in the ladder program are saved into both the Flash ROM of the MC Unit and the EEPROM of the Servo.
Page 420 • When saving is completed (normal completion or error completion), the bit [Flash Save Completed] will turn ON. • The same status bit is used for saving position data. Therefore, it is not recommended to save servo parameters simultaneously with position data.
Page 421 Data in Flash Memory Current Updated The timing chart will be the same as the above even at error completions. Use the bit [Unit Alarm] to confirm normal completion or error completion. (Confirm with the alarm as it seldom happens.)
Page 422 Section 7-4 Interface Specifics Command and Operation Name Function Present Value Moni- Selects data to be output to present value monitor. tor Select 0: Zero output Outputs 0. 1: Feedback position (coordinate system currently being selected) Outputs feedback position on the selected coordinate system.
Page 423 • The operation data such as axis position and speed is output to [Present Value Monitor]. • When [Present Value Monitor Select] is set to “0” or “11” and above, 0 will be output to [Present Value Monitor Status] and [Present Value Monitor].
Page 424: Unit Status Bits
Word Variable Name n+15 OW0303 Unit Ready Input Function This bit indicates the status of operation preparation in the Unit. Status Condition Words Name Specifications n+15 Unit Ready 0: The Unit is not ready to accept commands. 1: The Unit is ready to accept commands.
Page 425 Section 7-4 Interface Specifics • The bit [Unit Ready] will be turned ON after the power is turned ON, the initial processing is completed, and the motion task becomes ready to receive commands. • During normal operations, the bit [Unit Ready] will be turned OFF when an alarm that requires the system stop occurs.
Page 426 Status 1: Stopped with a forced stop request The bit [External Forced Stop Request] is turned ON on the timing starting the stop for all the slaves after receiving [Task Control Setting (axis, task stop)] successfully while it will be turned OFF when it receives [Task Control Setting (axis, task stop cancel)] successfully.
Page 427: Motion Task Control Bits
(Note that all the programs and CAM data other than the ones being exe- cuted are also the objects.) • If the bit [Start Mode] is 0 or equivalent to 0, [Motion Program Number] will be referenced when [Motion Program Start] is turned ON.
Page 428 Pass Mode section. Note 1-shot output may occur. In that case, depending on the Scan Time of the lad- der program and the Unit Scan Time of the MC Unit, the output may not be reflected in the ladder program.
Page 429 Note When several multiple execution commands are executed in one Unit Scan, regardless of the Scan Time of the ladder program or the Unit Scan Time of the MC Unit, complete execution status cannot be reflected in the ladder pro- gram.
Page 430 Section 7-4 Interface Specifics Program Example <Example of starting the program (program No. 1) using Axes 1 and 2 with motion task 1> x+0.15 Axis 1 Automatic/Manual Mode Automatic/Manual x+1.15 Switch Axis 2 Automatic/Manual Mode In Automatic Mode x+32.15 x+33.15...
Page 431 Turning ON [Motion Program Number] during operation is ignored. Turning ON [Motion Program Start] during operation is ignored. Start Mode and Program Number at the rise of Executing Motion Program the bit [Motion Program Start] are referenced. Number is held even after operation completion.
Page 432 Executing Motion Block Number (Single execution command) Motion Task Status Data: Executing Motion Block Number (Multiple execution command) Note This is the case where 4 commands can be executed simultaneously in 1 scan. Word Variable Name IW0340 Deceleration Stop (Task 1) Output...
Page 433 • The motion program execution cannot be started when the bit [Decelera- tion Stop] is ON. • Turning OFF the bit [Deceleration Stop] after turning it ON once will not interrupt the deceleration. • Following operations will occur for commands without movement: •...
Page 434 For details, see Motion Program Start and Start Mode on page 404. Effect of Other Functions Effect on Other Functions When the bit [Deceleration Stop] is turned ON, turning ON the bit [Motion Pro- gram Start] will not start the motion program execution. System Parameter...
Page 435 #MW1000 = 3000; ABL MOVEL [J01]#MW1000 [J02]#MW1000; After deceleration stop is completed, END; Executing Motion Program Number and Executing Motion Block Number will be held. The bit [Motion Program Operation Completed] is turned ON because END command has not been executed. Speed...
Page 436 Programs to be executed Row No. PROG P100 Q00000003; PASSMODE; MOVEL [J01]1000; The bit [Deceleration Stop] is turned ON after MOVEL [J02]1000; having stated the execution of this block. END; Executing Motion Program Number and Executing Motion Block Number will be held after completion of deceleration stop.
Page 437 IW0340 Block Stop (Task 1) Output n+11 IW0347 Block Stop (Task 8) Function With this function, the motion program is stopped at the end of the block cur- rently being executed. Command and Operation Name Specifications Motion Program 0: Nil...
Page 438 • Turning OFF the bit [Deceleration Stop] after it has been turned ON will not interrupt the block stop operation. • When the bit [Block Stop] is turned ON after an axis operation start com- mand has been executed, operations described in the table below will...
Page 439 Block Stop is executed even for blocks with [NSTOP command: Single block ignored] specification (stopping is prioritized). Effect on Other Functions Turning ON the bit [Motion Program Start] will not start motion program execu- tion while the bit [Block Stop] is turned ON. System Parameter...
Page 440 #MW1000 = 3000; ABL MOVE [J01]#MW1000 [J02]#MW1000; The bit [Block Stop] turns ON END; to stop at the end of the block. After block stop completion, Executing Motion Program Number and Executing Motion Block Number will be held. The bit [Motion Program Operation...
Page 441 END; Although the 3 block is currently being executed, execution of the 4 block has already been started. Therefore, the operation will stop at the end of the 4 block. [J01] speed Time [J02] speed Time Motion Task Control Bit:...
Page 442 • [Block Stop] and [Single Block Operation Mode] are similar from the view- point that the operation is stopped at the end of the block, however, follow- ing differences can be observed between them:...
Page 443 ↓: Nil • If motion program execution is started while the bit [Single Block Opera- tion Mode] is ON, only one block will be executed and the operation will be stopped with Block Stop. • If [Single Block Operation Mode] is turned ON during motion program operation, the same operation as for that of [Block Stop] will occur.
Page 444 For details, see Motion Program Start and Start Mode on page 404. Effect of Other Functions Operation does not stop at the end of the block with [NSTOP command: Sin- gle block ignored] specification. Effect on Other Functions...
Page 445 #MW1000 = 3000; ABL MOVE [J01]#MW1000 [J02]#MW1000; END; Stopping at the end of the block makes the bit [In Block Stop] turn ON. After block stop completion, Executing Motion Program Number and Executing Motion Block Number will be held. Since END command has not been executed, the bit [Motion Program Operation Completed] is not turned ON.
Page 446 One of them is used in motion program execution depending on the speed. • The task override can be applied to the speed specified by operand F in the motion program. The relations between each command and override are shown in the table...
Page 447 Interface Specifics Section 7-4 Effect of Other Functions Effect on Other Functions Speed of the functions with axis movement is affected. Program Example Override Data Setting #0000 Task Override Enable Condition m+23 n+4 to 11.07 Task Override Enable Timing Chart Basic Operation: The bit [Task Override Enable] is turned OFF.
Page 448 IW0347 Motion Task Alarm Reset (Task8) Function When an error that requires stopping operation occurs in the MC Unit, it is detected as an alarm. Removing the cause and executing alarm reset can clear the alarms that occurred, except for some alarms.
Page 449 Reset 1: Does not turn ON the bit [Motion Task Alarm]. ↑: Clears the alarm occurring in motion task. ↓: Nil Turning ON the bit [Motion Task Alarm Reset] can reset alarms on the motion task level. Status Condition Name...
Page 450 • Unit alarm • Task alarm • Axis alarm Alarms are reset on the basis of each type. Therefore, execute the alarm reset over the Unit, Task, and Axis to clear an alarm occurring on the MC Unit with- out fail.
Page 451 Motion Task Status Data: XXXX Motion Task Alarm Code Internal Alarm Status Basic Operation (Alarm Reset): When the bit [Motion Task Alarm] is turned OFF, whether reset has been accepted or not will be checked. Motion Task Control Bit: Motion Task Alarm Reset...
Page 452 Section 7-4 Interface Specifics When an alarm that cannot be reset occurs: When the bit [Motion Task Alarm] is turned OFF, whether reset has been accepted or not will be checked. The bit [Motion Task Alarm] will be turned ON when the bit [Motion Task Alarm Reset] is turned OFF.
Page 453 1: Could not start motion program operation (Axis declaration, Axis mode) 1-shot output may occur. In that case, depending on the Scan Time of the lad- der program and the Unit Scan Time of the MC Unit, the output may not be reflected in the ladder program.
Page 454 0: Started motion program operation successfully. 1: Could not start motion program operation (Axis declaration, Axis mode) • The bit [Start Warning] is turned ON in the following cases and it will be turned OFF when motion program operation is started successfully.
Page 455: Axis Control Bits, Axis Status Bits
• The bit [Manual/Automatic Mode] of the axis specified by PROG com- mand is OFF. • A unit alarm, motion task alarm, or an alarm of the axis specified by PROG command is occurring, or the bit [External Forced Stop Request] is...
Page 456 ↑: Deceleration stop (JOG, STEP, and Origin Search) ↓: Nil • When the bit [Deceleration Stop] is turned ON, the operation of each func- tion in the table below will be stopped with deceleration. • When the bit [Deceleration Stop] is ON, execution of each function in the table below will be prohibited.
Page 457 ↓: Cancels Servo Lock state ↓: Nil • Servo is locked when the bit [Servo Lock] is turned ON, and Servo is unlocked when the bit [Servo Unlock] is turned ON. • While the bit [Servo Unlock] is ON, the bit [Servo Lock] is ignored.
Page 458 • Once the bit [Servo Lock] is turned ON, the processing will not be inter- rupted (i.e. the bit [In Servo Lock] will turn ON) even if the bit [Servo Lock] is turned OFF before the rise of the bit [In Servo Lock].
Page 459 JOG Operation (Axis 32) Function • The axis is moved while the bit [JOG Operation] stays ON. • [Axis Override] is applied to the speed. For details of timing, etc., see “Relation between Task Override and Axis Override” (page 423).
Page 460 0: Nil 1: Continues JOG operation ↑: Starts JOG operation ↓: Stops JOG operation JOG/STEP Direction 0: Sets the direction of JOG and STEP operation to positive direction 1: Sets the direction of JOG and STEP operation to negative direction ↑: Nil...
Page 461 Axis Not Used/Used JOG cannot be executed when In Manual/Automatic Mode JOG cannot be executed when Effect on Other Functions System Parameter The settings of the following parameters determines the speed pattern: Parameter No. Name P2AA02 Maximum manual feed rate P2AA04...
Page 462 Section 7-4 Interface Specifics Timing Chart ■ Pre-Ver. 2.0 MC Units, or MC Units with Ver. 2.0 or Later with P00004 bit 05 set to 0 Basic Operation: The bit [Positioning Completed] is not included Direction cannot be changed in completion condition.
Page 463 Section 7-4 Interface Specifics Timing Chart ■ MC Units with Ver. 2.0 or Later with P0004 bit 05 set to 1 Basic Operation: The bit [Positioning Change the rotation direction Completed] is not included using the JOG/STEP Direction Bit. in completion condition.
Page 464 Interface Specifics Section 7-4 • When the axis completes to move for the specified travel distance, it auto- matically decelerates to stop. (The travel distance for the deceleration stop is included in the specified travel distance.) • [Axis Override] is applied to the speed. For details of timing, etc., see “Relation between Task Override and Axis Override”...
Page 465 ON. In Manual/Automatic Mode STEP cannot be executed when ON. Effect on Other Functions System Parameter The settings of the following system parameters determine the speed pattern and STEP operation travel distance: Parameter No. Name P2AA02 Maximum manual feed rate...
Page 466 The direction cannot be Completed] is not included changed after STEP in completion condition. operation has been started. Speed In order to complete the operation, check if the bit [Positioning Completed] is turned ON, and then turn OFF the bit [STEP Operation].
Page 467 • When the machine origin is detected, the axis will automatically deceler- ate to stop. [Axis Override] is applied to the origin search feed rate. For details about timing, etc., see “Relation between Task Override and Axis Override”...
Page 468 ↑: Starts Origin search ↓: Stops Origin search Origin search operation will be started when the bit [Origin Search] is turned ON. Even if the machine origin is not detected, the axis decelerates to stop when the bit is turned OFF. Status Condition...
Page 469 In Manual/Automatic Mode Origin search cannot be exe- cuted when ON. Effect on Other Functions When an origin search operation is started, the bit [No Origin] will be turned System Parameter The following system parameters determine the operation pattern and speed: Parameter...
Page 470 Used/Used Lock Mode Occurring x+0 to 31.06 Origin Search Timing Chart Basic Operation: The bit [Positioning Completed] is included in the completion conditions. Operation Origin search operation Axis control Bit: Origin Search Axis Status Bit: Machine Origin Axis Status Bit:...
Page 471 • The axis Automatically will decelerate to stop when the bit [Machine Ori- gin] is detected. • [Axis Override] is applied to the speed. For details on timing, etc., see “Relation between Task Override and Axis Override” (page 423).
Page 472 ↓: Stops Machine origin return (PTP) The machine origin return operation will be started when the bit [Machine Ori- gin Return] is turned ON. Even if the axis has not reached the machine origin, it decelerates to stop when the bit is turned OFF.
Page 473 ON. In Manual/Automatic Mode Machine origin return cannot be executed when ON. Effect on Other Functions System Parameter The following system parameters determine the speed pattern: Parameter No. Name P2AA02 Maximum manual feed rate P2AA04 Manual feed rate...
Page 474 Section 7-4 Interface Specifics Timing Chart Basic operation: There must be an origin already The bit [Positioning completed] determined when starting the operation. is included in the completion conditions. Machine origin return operation Operation Axis Control Bit: Machine Origin Return...
Page 475 IW045F Error Counter Reset (Axis 32) Function The error counter pulses that accumulated in a pressing operation, etc. using position control and torque control are forcibly cleared to put the axis into the positioning completed state. Command and Operation Name...
Page 476 [Error Counter Reset] is turned ON. Note Actually, Errors are not generated. When the bit [Axis Operating] is OFF: • The error counter reset processing will be executed when the bit [Error Counter Reset] is turned ON. • When the bit [Axis Operating] is ON:...
Page 477 Error Counter Reset x+32 to 63.05 Axis Operating Timing Chart Basic operation 1 (The bit [Error Counter Reset] is turned OFF after checking the bit [Positioning Completed].): The bit [Axis Operating] is OFF. Therefore, the error counter reset processing is immediately started.
Page 478 Section 7-4 Interface Specifics Basic operation 2 (The bit [Error Counter Reset] is turned OFF without check- ing the bit [Positioning Completed].): The bit [Axis Operating] is OFF. Therefore, the error counter reset processing is immediately started. Because the bit [Error Counter Reset] is turned...
Page 479 Section 7-4 Interface Specifics Execution when the bit [Axis Operating] is ON (in Manual Mode): Waits until the bit [Axis Operating] is turned OFF, and executes the error counter reset. Speed Time Axis Control Bit: Axis Control Bit: Error Counter Reset...
Page 480 Specifications Forced Origin 0: Nil 1: Nil ↑: The present position is defined as the origin on the machine coordinate system (disabled during operation). ↓: Nil The machine origin will be defined when the bit [Forced Origin] is turned ON.
Page 481 Busy 0: Not executing any of the functions listed below. 1: Executing one of the functions listed below, or the com- mand bit is ON. JOG, STEP, Origin Search, Machine Origin Return, Error Counter Reset, Forced Origin, and ABS Origin Setting No Origin 0: Origin on machine coordinate system is defined.
Page 482 63.01 x+0 to 31.09 Forced Origin Machine Origin Timing Chart Basic operation: The bit [Positioning Completed] must be ON when starting the forced origin operation. Axis Control Bit: Forced Origin Axis Status Bit: Machine Origin Axis Status Bit:...
Page 483 Interface Specifics Function The present position will be defined as the machine origin when the bit [ABS Origin Setting] is turned ON and the positional relation between the origin and ABS encoder value is saved into the flash ROM. With this function, the need for origin searches when switching ON the ABS encoder will be eliminated.
Page 484 ON. In Manual/Automatic Mode ABS origin setting cannot be exe- cuted when ON. Effect of Other Function System Parameter The following system parameter determines the position after ABS origin set- ting: Parameter No. Name Remark P4AA12 ABS origin offset...
Page 485 One of them is used in motion program execution depending on the speed. • The axis override can be applied to the speed specified by operand V in the motion program or the speed set in the axis parameter.
Page 486 0 to 32767 [0.01%] 0.00% if value out of range is input. • The value in [Axis Override] is enabled only while the bit [Axis Override Enable] is turned ON. When the bit is OFF, override 100.00% is used. • The bit [Axis Override Enable] and data [Axis Override] are always refer- enced.
Page 487 31.11 Axis Override Enable Timing Chart Basic Operation: The bit [Axis Override Enable] is turned OFF. Therefore, override 100% is used. The bit [Axis Override Enable] is turned ON, so [Axis Override] is enabled. [Axis Override] is outside of the range, therefore, override 0% is used.
Page 488 Axis Machine Lock (Axis 32) Function • With Axis machine lock, output for axis movement is stopped to debug the sequences other than the ones for the axis movement. • Even though command output for axis is stopped, the command position...
Page 489 1: Axis is being used. (In Manual Mode: Axis is used for JOG etc., In Automatic Mode: Axis is declared in the operating program) Status of the bit [Axis Machine Lock] is reflected in the bit [Axis Machine Lock Status]. Effect of Other Functions...
Page 490 Effect on Other Functions In Axis machine lock state, the origin search operations (with DATUM com- mand, Axis Control Bit: Origin Search) will be executed in the same way as the operations with the Axis Control Bit [Forced Origin]. System Parameter Program Example x+0 to 31.13...
Page 491 Section 7-4 Interface Specifics Timing Chart Basic Operation: The bit [Axis Machine Lock Status] will be changed (turned ON/OFF) after the bit [Axis Operating] is turned OFF. Command speed Time Feedback speed Time Axis Control Bit: Axis Machine Lock Axis Status Bit:...
Page 492 Interface Specifics Operation in Speed or Torque Control: In Speed or Toque Control, it is not guaranteed that the axis will not move when the command output is stopped. Therefore, the bit [Axis Machine Lock Status] is not changed (turned ON/OFF). Due to the same reason, while the bit [Axis Machine Lock Status] is 1 (ON), commands are output not as Speed or Torque command, but as Position command.
Page 493 • Does not turn ON In Manual/Automatic • No effect Mode Effect on Other Functions The functions on each axis are limited depending on ON/OFF of the bit [In Manual/Automatic Mode] as shown below: Function In Manual/Automatic Mode OFF (Manual)
Page 494 OFF when the bit [Axis Not Used/Used] is turned OFF after the interruption. • If the bit [In Manual/Automatic Mode] for the axis declared by PROG com- mand is OFF (0) when starting a motion program, the bit [Start Warning] will be turned ON and the motion program cannot be executed.
Page 495 Interface Specifics Section 7-4 Axis operation switch in Manual Mode: Deceleration will be started when the bit [Manual/Automatic Mode] is changed (turned ON/OFF). The bit [In Manual/ Automatic Mode] will be changed (turned ON/OFF) Speed when the deceleration stop is completed.
Page 496 Section 7-4 Interface Specifics Switch during program operation in Automatic Mode: Deceleration is started when the bit [Manual/Automatic Mode] is changed (turned ON/OFF). The program below is executed: Only [J01] is switched to Manual Mode. The bits [Axis Not MOVEL [J01]20000 [J02]10000;...
Page 497 Occurring], [Axis Alarm Occurring 1-32], and [Axis Alarm] will be turned ON, and the alarm code will be stored in [Axis Alarm Code]. • When several alarms occur at the same time, the code of the alarm that was detected first will be stored in [Axis Alarm Code].
Page 498 • Unit alarm • Task alarm • Axis alarm Alarms are reset on the basis of each type. Therefore, execute the alarm reset over the Unit, Task, and Axis to clear an alarm occurring on the MC Unit with- out fail.
Page 499 Axis Status Data: Axis Alarm Code XXXX Internal Alarm Status Basic Operation (Alarm Reset): When the bit [Axis Alarm] is turned OFF, whether reset has been accepted or not will be checked. Axis Control Bit: Axis Alarm Reset Alarm Identification Data:...
Page 500 Interface Specifics Section 7-4 When an alarm that cannot be reset occurs: When the bit [Axis Alarm] is turned OFF, whether reset has been accepted or not will be checked. When the bit [Axis Alarm Reset] is turned OFF, the bit [Axis Alarm] will be turned ON.
Page 501 Section 7-4 Interface Specifics When an alarm occurs while the bit [Axis Alarm Reset] is ON: Another alarm occurred while the bit [Axis Alarm Reset] is ON. When an alarm occurs while the bit [Axis alarm Reset] is ON, the bit [Axis Alarm] will not be turned ON.
Page 502 Section 7-4 Interface Specifics • 1-shot output may occur. In that case, depending on the Scan Time of the ladder program and the Unit Scan Time of the MC Unit, the output may not be reflected in the ladder program.
Page 503 0: Origin on machine coordinate system is defined. 1: Origin on machine coordinate system is not defined. • When the MC Unit is powered ON, the bit [No Origin] will be turned ON. It will be turned OFF through the operations of the following functions. Exe- cuting present position preset using IOWR will not turn OFF the bit.
Page 504 The bit [No Origin] will be turned OFF when Origin Search is completed normally. If the origin search method is “Origin at power ON”, the bit [No Origin] will be turned OFF simultaneously when the bit [Command Disabled/Enabled] is turned ON.
Page 505 Remark MOVEC Command: Circular Interpolation In Pass Mode MOVETRAV Command: Traverse In Pass Mode • The status (ON/OFF) of Axis machine lock will not be changed while the bit [Axis Operating] is ON. System Parameter Timing Chart Basic Operation: Command speed...
Page 506 1: The bits will be turned OFF when moving out of the in-position range. • In Speed or Torque control, the bits are always OFF because there is no target position. • 1-shot output may occur. In that case, depending on the Scan Time of the ladder program and the Unit Scan Time of the MC Unit, the output may not be reflected in the ladder program.
Page 507 Section 7-4 Interface Specifics System Parameter The range where the bits are turned ON/OFF is determined by the following system parameter: Name Pn0500 In-Position Range P3AA07 No.2 In-Position Range Note It is generally recommended to set the parameters above so that [Pn0500 = P3AA07] is satisfied for the sake of positioning and interpolation feed accu- racy.
Page 508 • Error amount is checked only during position command output. • 1-shot output may occur. In that case, depending on the Scan Time of the ladder program and the Unit Scan Time of the MC Unit, the output may not be reflected in the ladder program.
Page 509 OFF when counter latch is requested through the operation of the functions above. Effect on Other Functions The bit functions as the condition to carry forward the operation steps for the functions in the table above. System Parameter...
Page 510 1: Allocated and implemented (1 for virtual axis uncondi- tionally) • The bit for the axis that was allocated as a real axis will be turned ON when axis initialization processing is completed after communications were established. When disconnection due to communications error occurs, it will be turned OFF.
Page 511 No effect. (The bit [Busy] also has effect on the functions affected by this bit. Duration of the bit [Busy] staying ON is longer than that of the bit [Axis Not Used/Used], which means that the bit [Busy] includes the bit [Axis Not Used/Used] consequentially.
Page 512: Establishing The Origin
System Parameters ........
Page 513: Overview
The position where the motor is stopped is determined as the origin (forcibly clear to 0) by turning ON the bit [Forced Origin] in the PC Interface Area. See “Forced Origin” (page 457) in SECTION 7 PC Interface Area for details on the timing chart and other details.
Page 514 With the ABS encoder, the present position can be defined by reading the absolute value from the encoder when the MC Unit is turned ON if the PLC (MC Unit) or servo driver was turned OFF once. Because of this, there is no need to perform origin searches every time when turning ON the devices.
Page 515: Input Signals Required For Origin Search
There are four possible settings for the origin search methods. Origin at Power ON Mode • The position of the motor when the power is turned ON is defined as the origin automatically. • If an origin search is performed in this mode, the position where the origin search is started will become the origin.
Page 516 OFF and the axis travels for the final travel distance to define an origin. • An alarm will occur if a Limit input signal is input before the Origin proxim- ity input signal. • When there is no Origin proximity input signal, a limit input signal can be used instead.
Page 517: Origin Search Operations
This section provides basic examples of origin search patterns for each mode. Origin at Power ON Mode The position of the motor when the power is turned ON is automatically defined as the origin. Therefore, there is no origin search operation.
Page 518 Description 1,2,3... 1. When the origin search is executed, the axis is moved in the specified di- rection at the specified origin search feed rate. 2. When the origin proximity input signal is input, the speed is changed to the origin search approach speed.
Page 519 Origin Search Operations Description 1,2,3... 1. When the origin search is executed, the axis is moved in the phase-Z de- tection direction at the origin search approach speed. 2. After the origin proximity input signal is turned OFF, the speed is reduced at the first rise of the phase-Z.
Page 520: Absolute (Abs) Encoders
3. After the origin proximity input signal is turned OFF, the speed is reduced at the first rise of phase-Z. 4. The machine origin will be defined after the axis travels back for the excess distance at the origin search creep speed.
Page 521: Abs Encoder Origin Setting
ABS origin setting for the MC Unit Follow the above procedure in the following cases: • When starting up the absolute position detection system for the first time • When the servomotor was replaced • When alarm related to the absolute encoder occurred...
Page 522 0, or when the encoder has been left disconnected from the bat- tery for a long period. Along with the ABS encoder setup, ABS origin must be set in the MC Unit. This is for resetting rotational count data of the ABS encoder, which should be accompanied by initialization of the axis present value to 0 in the MC Unit.
Page 523 2. Turn OFF the power once, and then ON again. The alarm (A.81) will not be cleared when the setup operation is complet- The alarm will be cleared after the power is turned OFF once (check the power-indicator goes OFF), and then ON again. If no error occurs after power ON, the setup is completed.
Page 524 Note If the alarm does not occur after battery unit replacement, it is not necessary to initialize the MC Unit. If the battery unit is replaced correctly before its bat- tery drain, no alarm should occur normally. Setting Up When In case of battery drain, the absolute data in the ABS encoder will be cleared.
Page 525 MC Unit and ABS encoder. (3) Do not execute ABS origin setting at least for one second after the main power supply for the Servo Driver or control power supply is turned ON.
Page 526: Other Operations
Teaching Execution ........
Page 527: Teaching
It can be specified with Teaching axis setting. Teaching axis setting 1-16 is for Axes 1 to 16 and Teaching axis setting 17-32 is for Axes 17 to 32. To make an axis a teaching object, turn ON (1) the bit corresponding to the Axis No.
Page 528 • The bit [Teaching Execution] is turned ON when the teaching condition has not been set. • For any of the axes specified in the bits [Teaching Axis Setting 1-16] and [Teaching Axis Setting 17-32], The bit [Command Disabled/Enabled] is OFF, or the bit [No Origin] is ON.
Page 529 Section 9-1 Teaching • It will be turned OFF when the bit [Teaching Execution] is turned OFF. Teaching Address Monitor • The status [Teaching Address Monitor] indicates the teaching address. • When teaching is completed normally, the address displayed in [Teaching...
Page 530 Section 9-1 Teaching DM Area Words for Unit (MC Unit to CPU Unit) Classification Word Variable Name Specifications Unit Status data m+39 OW0311 00-15 Teaching Address Outputs the address of the current teaching Monitor object. 9-1-6 Program Example DIFU Work bit...
Page 531 Section 9-1 Teaching 9-1-7 Timing Chart Teaching Condition Setting (Normal completion): Completed normally, and the address monitor changes Changing only the address after the automatically. rise of the bit [Teaching Condition Setting] cannot be accepted. Unit Control Bit: Teaching Condition Setting...
Page 532 Section 9-1 Teaching Teaching Execution (Normal completion): The feedback position is stored. Completed normally, and the address will be incremented. Unit Control Bit: Teaching Execution Unit Control Bit: Teaching Type Unit Status Bit: Teaching Warning Unit Status Bit: Teaching Execution...
Page 533: Debugging The Program
PL1000 stored stored PL1007 PL1008 PL100F PL1010 PL1017 Debugging the Program The debug function is described here, and the following functions are used for debugging the programs. Debug function Debugged Operation Debugging unit program Single Block Operation Motion program Ladder, Support tool Motion task...
Page 534 • The same timing is used in Pass Mode. The program will be stopped at the end of the current block if the bit [Single Block Operation Mode] is ON before start of the next block execution.
Page 535 If the bit [Single Block Operation Mode] is already ON before execution of par- Execution allel branching, each branch will be executed one block at a time. At the end (JWAIT command) of parallel execution, branches follow execution of the branch with the most blocks.
Page 536 • When the Machine Lock status is cleared, the command position will be the one before the Machine Lock state. Timing Chart The bit [Axis Machine lock] will be checked on the timing when the bit [Axis Operating] is turned OFF, and the Machine Lock status will be changed accordingly.
Page 537: Coordinate System
Axis Control Bit: Origin Search will be the same as the operation of Axis Control Bit: Forced Origin. (This is to prevent the axis from moving endlessly. It is caused by the fact that the axis does not move at all in Machine Lock state and no external signal will be input.)
Page 538 When a new main program operation is started (the first execution after the Program Operation power is turned ON or execution in Start Mode = 0 or 3), the machine coordi- nate system will be always used. The offset value of the previously executed program will be used, however, the coordinate system select will not be inher- ited to the new program.
Page 539 • Lower limit of the limited axis = -(P5AA04 × P5AA06 × LONGMAX)/(No. of encoder pulses × P5AA05) No. of encoder pulses: If the type of encoder is 16-bit, it is 65536 pulses / r (= 10000 Hex). P5AA04: Command unit/1 machine rotation...
Page 540 No. of Multi-turns 9-3-3 Software Limit This is a function to provide software limit value on the coordinate system to prevent the machine from moving outside of the specified operating range. Normally, the limit value is set before the hardware limit sensor.
Page 541 ON. Function • In the MC Unit, when the bit [ABS Origin Setting] is turned ON, the rela- tions between the absolute data read from the absolute encoder when communications were established and the coordinate system managed in the Unit will be saved in the Flash memory.
Page 542 However, to execute the axis operation exceed- ing the limit of the multi-turn data, it is required to match the reset timing of the coordinate system managed in the MC Unit and the reset timing of the...
Page 543 Rotation amount The same present value can be obtained from the same multi-turn data. Note that, however, there is no guarantee on the value of the number of multi- turns (SL021A: Number of multi-turns) on the machine coordinate system.
Page 544 When Multi-turn Reset Similar to the case above, the correct present value cannot be obtained when Cycle is Shorter than the reset cycle of the multi-turn data is shorter than the cycle of the machine Machine Coordinate coordinates system. System Cycle...
Page 545: Backup And Restore Function
Backup and Restore Function Backup and Restore Function When replacing the Unit, etc., all the data in the MC Unit can be saved in the memory card of the CPU Unit at once. The saved settings can be set in another MC Unit using the memory card easily.
Page 546 FINS area →(1) ↓(2) Flash memory Memory card <Additional note> 1: Restore/Program Read command 2: Backup Recording Device medium 9-4-1 Procedures for Backup and Restore CPU Unit front panel DIP switch MCPWR-LED BUSY-LED Memory card power-dispatch stop button Memory card slot...
Page 547 (MCPWR-LED on the CPU Unit front panel is lit.) 2. Turn ON the DIP switch SW7 on the front panel. 3. Press down the memory card power-dispatch stop button at least for 3 sec- onds. BUSY-LED is lit and writing to the memory card starts.
Page 548: Program Example
10-2-1 Using 64-Point I/O Module....... . 10-2-2 Using Counter Module ........
Page 549: Program Example
1 is output to the general output (0BA1). ↓ 4. [J01]0, [J02]0 Program The numbers 01) to 15) are used only for the sake of explanation. They are not needed in programming. 01) PROG P001 Q00000003; 02) MOVE [J01]10000 [J02]50000;...
Page 550 • At the rise of the general input (IW0B00), positioning with linear interpola- operation tion is performed from the present position to the position [J01]10000, [J02]50000. • The positioning will be repeated up to 10 times till the content of the gen- eral input (IW0B01) becomes 1. 50000 50000...
Page 551 04) The axes move in CCW direction to the position [J01]30000, [J02]20000 with circular interpolation of radius “10000”. (Since a positive value is specified for radius, the center angle is smaller than 180 degrees (a quar- ter of the circle).) 05) The axes move to the position [J01]30000, [J02]30000 with linear interpo- lation.
Page 552 02) Stop Mode is selected. 03) The task variable for counting (ML0000) is reset. 04) The position data (PL0102) is set to 0. (The first position data read with indirect specification) 05) The position data (PL0103) is set to 1. (The first position data read with indirect specification) 06) The process through 06) to 13) is repeated 3 times.
Page 553 Section 10-1 Program Example 14) This is the end of FOR command from 06). 15) The program is completed. 10-1-5 Positioning with Workpiece Coordinate System with Subprograms Explanation of the Changing coordinate systems and using subprograms, the same operation is operation executed repeatedly in different positions on the machine coordinate system.
Page 554 08) The coordinate system is switched back to the machine coordinate. 09) The axes return to the origin on the machine coordinate system. 10) to 13) After return to the origin, 1 is output to the general output (OW0BA0) and the program will wait until the general input (IW0B00) becomes 1.
Page 555 04) The axes move with linear interpolation and acceleration time of 1000ms to the position [J01]20000, [J02] − 10000. 05) to 06) Once positioning is completed, 1 is output to the general output (OW0BA0). 07) to 08) Once the general input (IW0B00) becomes 1, the general output (0BA0) is reset.
Page 556 02) Stop Mode is selected. 03) The task variable for counting (DL0000) is reset. (For [J02]) 04) The first travel distance of [J02] is entered into the position data (PL0011). 05) With FOR command, the process through 05) to 09) is repeated 5 times.
Page 557 02) The task variable for counting (DL0002) is reset. (For [J01]) 03) With FOR command, the process through 03) to 07) is repeated 10 times. 04) The axes [J01] and [J02] move based on the values in the position data (PL0010) and (PL0011) respectively.
Page 558 10-1-8 Stopping a Program with General Input Explanation of the • The program advance is held while the general input is ON. operation • The axis keeps going back and forth between positions 0 and 20000 until IW0B00 becomes 1. General input...
Page 559 01) A program No. and axes to be used are specified. program 02 Stop Mode is selected. 03) The first travel distance (50000) is entered into the position data. (A posi- tion exceeding the target position) 04) The general input (IW0B00) is set to 0.
Page 560 Section 10-1 Program Example • The target position is to be specified within the range of 0 to 360 degrees. Passing the position of 360 (0) degrees clears the present position to 0. 1,2,3... 1. Enter a target position into the position data using IOWR instruction.
Page 561 Generally speaking, setting the feed forward gain of the servo system too high causes overrun (Overshoot) when stopping or reversing at the target position. To prevent this, the feed forward gain of 20% for lin- ear interpolation and 60% for circular interpolation are set in this example.
Page 562 02) Pass Mode is selected. 03) to 04) The feed forward gain of 20% is set. 05) The axes move to the position [J01]20000, [J02]10000 with linear interpo- lation. 06) to 07) The feed forward gain of 60% is set.
Page 563 07) Positioning with linear interpolation is performed to the position [J01]10000, [J02]10000. 08) to 09) When [J01] reaches 2500, 1 will be output to the general output (OW0BA0). 10) to 11) When [J01] reaches 5000, 1 will be output to the general output (OW0BA1).
Page 564 • The CPU Unit transmits 2 of position data to the MC Unit using IOWR instruction and starts the MC Unit immediately. • In this case, the data transfer to the MC Unit and the command for posi- tioning can be executed within 1 scan.
Page 565 Section 10-1 Program Example When no external input is turned ON, [J01] returns to the origin without opera- tion of other axes. External input Interrupt feed amount When the external input is turned ON, the axis stops at X, and the axis returns to the...
Page 566 Attention • When the speed of the axis exceeds the maximum rapid feed rate (P2AA01), the alarm [200Bh: Time specification error] will occur. • If override other than 100% is used, the specified time period cannot be kept. 20000 3 sec...
Page 567 01) A program No. and axes to be used are specified. program 02) To make 20 winds per layer, the winding axis rotations are set to 7200 deg (360 deg × 20 winds). Also, to make 10 layers, the number of layers (L) is set to 10.
Page 568 Note (1) For winding axis, unlimited feed mode (P5AA07: 0010h) has to be set. (2) In linked traverse, up to 100 blocks can be linked, and the operation is ex- ecuted in Stop Mode. (3) The linked blocks are treated as 1 block.
Page 569 04) The program will wait until the general input (IW0B00) becomes 1. 05) [J01] performs the cam operation in 10 seconds based on the cam table 06) to 07) After positioning is completed, 1 will be output to the general output (OW0BA0).
Page 570 02) The position data used as a workpiece coordinate is cleared to 0. 03) When the general input (IW0B00) is not 1, the process through 03) to 14) is repeated. 04) to 05) The workpiece coordinate system (C1) is enabled.
Page 571 5000. The slave performs 1 cycle of the cam operation while the master travels for 60000. 1 will be output to the general output once the mas- ter reaches the position 90000. The synchronization is repeated with WHILE command.
Page 572 Program Example 06) The program will wait until the general input (IW0B01) becomes 1. 07) The slave axis performs 1 cycle of the cam operation based on the cam table 1 while the master travels for 60000. (The slave axis will start cam operation once the master reaches the posi- tion 15000.)
Page 573 1 to 1 will be performed. • In this example, trailing synchronization is performed with the slave exe- cuted by the motion task 1 and the master executed by the motion task 2. (The program starts the slave first, and then the master.)
Page 574 • The operation of the specified master axis is superimposed on the slave operation axis. • In this example, the operation of the master axis is divided into 3 intervals and the operation of the 2 interval is superimposed on the slave. (The...
Page 575 01) A program No. and axes to be used are specified. 02) Stop Mode is selected. 03) The master axis moves to the position 50000 at 500rpm. 04) to 05) After positioning is completed, 1 will be output to the global general variable (MW0000).
Page 576 06) The master axis moves to the position 100000 at 500rpm. 07) The master axis moves to the position 150000 at 1000rpm. 08) to 09) After positioning is completed, 0 will be output to the global general variable (MW0000). 10) The master axis moves to the position 200000 at 1000rpm.
Page 577 01) A program No. and axes to be used are specified. program 02) The axis moves to the position 50000 with linear interpolation. 03) SPEED command operation is started with 50% of the rated speed of the motor. 04) 1 is output to the general output (OW0BA0).
Page 578 • A target position is changed during positioning. operation • In this example, the axis is moving to the position 20000 with linear inter- polation. The target position (20000) will be changed to the position 40000 if the general input is ON when the axis reaches the position 10000.
Page 579 10) The program is completed. 10-1-26 Present Position Latch (LATCH) Explanation of the • The present position of a specified axis is saved to the word for variables. operation • In this example, the axis moves to the position 100000 (a position exceed- ing the target position).
Page 580 Single Block Operation Mode) 09) Positioning is performed based on the result of the arithmetic operations. 10) The program is held for 5 seconds. (Not stopped at the end of the block in Single Block Operation Mode.) 11) The axes return to the origin.
Page 581 • This program is used, for example, when executing interpolation com- mands simultaneously. • In this example, 3 axes are operated with linear interpolation and they are simultaneously operated with PARALLEL command. Axis movement in Parallel Normal axis movement...
Page 582 07) This is the end of WHILE command from 02). 08) to 20) With SWITCH command, when the conditional variable (ML0000) is 1, 2, or 4, processing 1, 2, or 3 will be executed respectively. Pro- cessing 4 will be executed when the conditional variable is not 1, 2, or 4.
Page 583: Slave Modules
I/O variables The following is the relations between the I/O module with the above parame- specifications ter settings and I/O variables in the MC Unit. (The addresses are the ones for the I/O module allocated as Axis 3.) Input variables...
Page 584 • Appropriate parameter settings enable data link between I/O variable addresses of each axis and the I/O module. • For details of the I/O variable area, see 4-6 I/O Variables (page 138). 10-2-2 Using Counter Module This section describes the parameter settings, the initial module settings, and the allocation examples when the counter module is connected to the MECHATROLINK device.
Page 585 (4) Executing present position preset on the module during execution of syn- chronous command makes the MC Unit to recognize (though not true) that the axis was moved from the position before the preset to the one af- ter the preset, which causes the slave axis to operate.
Page 586 (register) depending on the mode. Therefore, make sure that the timings of setting and monitor do not overlap. In addition, make sure to reset the set values to “0” after the setting is com- pleted. In some mode, data of the setting values (OW0052 to OW0055) is enabled immediately when the mode is set.
Page 587 ON: Mode setting signal is effective N-SET1 Counter 1 The notch point setting preset signal Notch point setting Notch point is set at the rise of the signal (OFF-ON). P-SET1 Counter 1 The counter’s current value preset signal Current value setting Current value is set at the rise of the signal (OFF-ON).
Page 588 Program example With the above settings, the program that makes the slave axis [J04] link to the input of the counter module [J05] as the master axis is shown below (The same specification method as the normal axes can be used): PROG P001 Q00000009;...
Page 589 Indicates that the setting operation was completed nor- normal mally. Stays ON while the setting signal is ON. PNACK1 Parameter setting error Indicates that the setting operation caused an error. Stays ON while the setting signal is ON. 6, 7 Not used...
Page 590 Word 1 Alarm is reset at the rise of the signal (OFF-ON). CAN1 Cancel This signal cancels axis movement. Axis movement is canceled at the rise of the signal (OFF- ON). MONSEL1 Monitor selector This signal switches the monitor mode.
Page 591 Appropriate setting enables setting of the following values of Word 2. OW0035 • Target position setting • Parameter settings Meaning of the parameters No. select and setting value of the pulse output module Parameter Parameter No. setting Name Setting range (units)
Page 592 = Word No. (1 or 2) Program examples • When operating the pulse output module from the MC Unit, the operating conditions have to be set first. After that, start commands can be sent. (When starting operations consecutively under the same operating condi- tions, sending a start command can start operations if the operating con- ditions have been already set.)
Page 593 Section 10-2 Slave Modules !Caution When operating an axis with the pulse output module, make sure to set the Output Current OFF signal (OW0030 bit13) to “1”. If an axis movement com- mand bit is turned ON with the Output Current OFF signal (OW0030 bit13) set to “0”, the alarm [03: Move reference when output current is OFF] will occur.
Page 594 ------ Output current OFF signal OFF END; Monitor parameters • When checking the parameters that have been set, users cannot see the data directly. An example of checking methods is shown below. • The setting of the parameter No. 02 (JOG speed, JOG Accel/decel time) for word 1 is read and assigned to desired variables.
Page 595: Others
;The application consist on a pick and place operation with high torque detection ;in the axes to detect mechanical lockings. ;Axes 1 & 2 are an X-Y table and Axis 3 is the vertical axis. Two sen- sors confirm ;that the vertical axis is in the 'up' or 'down' position.
Page 596 This example is the motion program for a ‘Bag making’ machine. The machine consist in a feeding roll that feeds the bag plastic film that is soldered and cut- ted. The program receives two data from the MMI (via the PC backplane): the feed length and the speed in bags/minute.
Page 597 ;VARIABLES FROM/TO PLC: ;IW0B00 is bag length ;IW0B01 is speed (bag/min) ;IW0B02 is a bitwise word to give the bits to start (b0) and the confir- mation than the cutter is in the STOP position (b2) ;IW0B03 is the expected distance to move after the mark ;OW0BA0 Gives the START order to the cutter (rising edge)
Page 598 RETURN; Example 3 This example describes the operation of a flying shear, to cut material to a programmed length on the fly. The example shows the use of a ‘counter unit’. This counter unit (PL2900) is a Yaskawa device via Mechatrolink II that allows connecting to the system a line-driver encoder as master encoder.
Page 599 This example shows how to handle with the safety and the sequence of other motion programs without the direct management of the PC. This is useful when you want a fast reaction or a local control in the MCH. Depending on the operation maybe it is necessary to disable some automatic data exchange between PC and MCH (P00007 and P00008).
Page 600 IF #IB0B000==1; Wait for the reset signal #IB03410=1; Task 2 Alarm Reset #IB03420=1; Task 3 Alarm Reset ;---- RESET FOR OTHER TASKS (if necessary) ---- #IB04400=1; Axis 1 Alarm Reset #IB04410=1; Axis 2 Alarm Reset #IB04420=1; Axis 3 Alarm Reset #IB04430=1;...
Page 601 #IB04423=0; #IB04433=0; #IB04443=0; RETURN; PROG P502 Q00000000;RUN Application program ;---------------------------------------------------------------------- ;Load the suitable motion programs in its task and run the task 2 and ;---------------------------------------------------------------------- #IW0362=1; Load program 1 in TASK 2 #IW0363=10000; Override for task 1 to 100% #IB03411=0;...
Page 602 Section 10-3 Others PROG P503 Q00000000;ALARM management ;------------------------------------------------------------ ;Write here the necessary actions to do in front of an alarm. ;Specially notifying to the PLC what happened ;------------------------------------------------------------ #OW0BA1=1111; RETURN;...
Page 603 Section 10-3 Others...
Page 604: Troubleshooting
11-9-1 Area Configuration ........
Page 605: Troubleshooting
Is the power OFF? 11-1-2 Problems and Countermeasures • If any errors that are not covered in the following tables occur, print out the contents of the PC Interface Area and related DM Area words using the CX-Programmer or other Support Tools and provide them to your OMRON representative.
Page 606 ON. An internal fuse has blown. Check the fuses. Replace the fuse and determine what caused it to blow. (Refer to the troubleshooting section in the applicable CPU Unit opera- tion manual).
Page 607 • Check whether another axis Turn OFF the other axis control cannot be exe- ON at the same time. control bit is ON at the same bit and then turn ON the bit [Ori- cuted. time. gin Search]. (Change the ladder program.) •...
Page 608 Check the MC Unit parameters Set the parameters correctly, unstable. incorrectly. with the Support Tool. transfer them to the MC Unit, and write them to flash memory. The Servo Motor power Check the Servo Motor power Correct the wiring. lines and encoder lines are lines and encoder lines.
Page 609 Increase the in-position range in the Motion program. There are The machinery is vibrating. Check for foreign objects in the Make any necessary repairs. unusual noises. machinery’s moving parts, and inspect for damage, deforma- tion, and looseness.
Page 610 • Re-adjust the gain. weak. on, which place a torsion load on the axes. The mechanical structure is • Perform auto-tuning. producing stick slip (high- • Manually adjust the gain.
Page 611: Countermeasures
• The error that has occurred is stored in the system variable as the error log. But it is not backed up. To save the error log even after a restart, use the IORD instruction to read the error log from the CPU Unit and then it must be saved in the CPU Unit.
Page 612 Alarm and warning detected in MECHATROLINK-II device 4000h – 40FFh The lower byte (rightmost two digits) indicates the alarm code for the MECHA- TROLINK-II device. Since there is an alarm code [00h] in the servo driver, [4000h] is considered to be the alarm.
Page 613 When a motion task-related alarm occurs: 1,2,3... 1. Task status The bit [Motion task alarm] is turned ON, and the alarm code is set. 2. Alarm identification data The bit [Alarm Occurring] is turned ON, and the bit [Motion Task Alarm Oc- curring] is turned ON.
Page 614 • The bit [Command Disabled/Enabled] for any of the axes specified in [Teaching Axis Setting 1-16] and [Teaching Axis Setting 17-32] is OFF (disabled), or the bit [No Origin] for any of the axes is ON (No origin has been defined). Check the bits and correct them as needed.
Page 615: Error Indicators
(For each motion ON. Check if the bits are OFF. task) • A motion task was started with [Motion Program No.] other than 0 to 499. Check if n+24 [Motion Program No.] is within 0 to 499. • The motion program specified with [Motion Program No.] does not exist. Create and download an appropriate program using the Support Tool, or check if the specified pro- gram No.
Page 616: Unit-Related Alarm Codes
Refer to the sections 11-4 Unit-related Alarm Codes to 11-6 Axis-related Alarm Codes for details on the alarm codes. Among these alarm codes, the code of the alarm generated first will be output to n+11 in the allocated bit area.
Page 617 [ms] service monitor time. Check end refresh prohibition in CPU system setup. If prohibited, cancel it and turn the power OFF once, and then ON again. Increase CPU Unit cyclic service monitor time and turn the power OFF once, then ON again.
Page 618 • Release the file memory function of CPU Unit, correct the allocation of the area used for the file mem- ory function so that it does not overlap with the area used for custom data area or custom I/O...
Page 619: Motion Task-Related Alarm Codes
Motion Task-related Alarm Codes 11-5 Motion Task-related Alarm Codes Motion task alarm codes are common for all tasks, but the alarm code output area is different for each task. The following are the alarms that occur in pro- gram execution. Motion Task-related Alarm...
Page 620 Cause and remedy Timing Rank Reset code Error Detail code code Axis reserva- 0372h 2007h 2007h The axis that was declared in a program When a Deceler- Enabled tion disable could not be reserved. program is ation 0379h executed. stop •...
Page 621 This error occurs when the speed specified by the above formula exceeds the axis– speed parameter [P2AA01: Maximum rapid feed rate]. Check if the setting of the param- eter is correct, and if so, correct the pro- gram. Number...
Page 622 SYNC, ADDAX) • TORQUE • SIN, COS, ASIN, ACOS, SQT, LGN, BIN, Correct the applicable operands. 2010h 2010h --- Circular inter- 2011h 2011h Travel distance specified in MOVEC is too When Deceler- Enabled polation travel great. MOVEC is ation distance over executed.
Page 623 2017h 2017h --- Synchronous 2018h 2018h The axis that is specified as a slave axis has When syn- Deceler- Enabled slave axis already been used as the master axis.
Page 624 F- ROM (when individual, specify servo parameter), and restore the power. Axis declara- 201Ah 201Ah Axis other than servo/virtual axis is included When Deceler- Enabled tion error in the axis declaration.
Page 625: Axis-Related Alarm Codes
Section 11-6 Axis-related Alarm Codes 11-6 Axis-related Alarm Codes Axis related alarm codes are common for all axes, but the alarm code output area is different for each axis. Axis-related Alarm Code When an axis-related alarm occurs, the following bits will indicate the status:...
Page 626 300Bh 300Bh Detected MECHATROLINK communica- Any time Servo OFF Enabled tions alarm tions errors twice in a row. Or the No. of error detections specified in [P1AA06: MECHATROLINK-II communications error detection setting] has been exceeded. The followings are the possible causes: •...
Page 627 Driver (NS115) or MC Unit may be broken. Replace the bro- ken one with a new unit. Absolute 300Dh 300Dh Data from the ABS encoder could not be When Servo OFF Enabled encoder error processed normally.
Page 628 ON when a one direc- search stop 0399h tion-mode origin search was executed. Check the status of the limit switch in the origin search start direction. Also check and correct the origin search start position. (See 8-4 Origin Search Operations (page 494) for details.)
Page 629 ON while waiting for the origin search stop signal (while waiting for the rise of phase-Z after the fall (ON to OFF) of the origin prox- imity limit switch). Check if the settings of the axis parameter [P4AA06: Origin determine signal] and the...
Page 630: Mlk Device Alarm Codes
Set the parameters so that the formula above is satisfied. 11-7 MLK Device Alarm Codes MLK(MECHATROLINK-II) device alarm codes are valid for all axes, but the alarm code output area is different for each axis. MLK Device Alarm Code Alarm occurring and alarm codes are set in the following allocations.
Page 631 The operations are stopped according to the rank of [MECHATROLINK-II slave axis error 1] or [MECHATROLINK-II slave axis error 2]. Although it is written that the alarm resets are all enabled, the alarms that cannot be reset on the slave side will be detected again.
Page 632: Servo Driver Warnings
A.91 Overload This warning is given before an overload alarm (A.71 or A.72) is reached. An alarm is likely to occur if operation is continued without any changes. Check the load to see if it is suitable. A.92 Regenerative This warning is given before a regeneration overload alarm (A.32) is reached. An alarm is overload likely to occur if operation is continued without any changes.
Page 633: Error Log
Error Log 11-9 Error Log Up to twenty errors detected and notified on the MC Unit can be stored in the system variable in the MC Unit as the error log. The system variables (error log) will be cleared when the power is restored or the Unit is restarted.
Page 634 Section 11-9 Error Log Error code The error codes are classified into the CPU errors and MC Unit errors. CPU Error Codes Error Error name Detailed code Cause code 1st byte 2nd byte (Hex) 0001 CPU WDT error The watchdog timer alarm occurred on CPU Unit.
Page 635 Section 11-9 Error Log MC Unit Error Codes In the detailed codes of each error, the alarm code of each error is set. There- fore, all the alarms will be stored in the error log. Error code Error name Detailed code...
Page 636: Maintenance And Inspection
12-1-1 Inspection Points ........12-1-2 Handling Precautions ........
Page 637: Routine Inspection
More frequent inspections may be advis- able depending on the operating environment. Maintain the inspection sched- ule once it has been set. Checks to be sure that the power supply, ambient temperature, humidity, and other specifications are within the specifications.
Page 638 12-1-2 Handling Precautions • Turn OFF the power before replacing the Unit. • If a Unit is found to be faulty and is replaced, check the new Unit again to ensure there are no errors. • When returning a faulty Unit for repair, make a detailed record of the Unit’s malfunction and take it together with the Unit to your nearest...
Page 639 4. Turn ON the Servo Driver and PLC. 5. Set the bit [Servo Parameter Save] ON using the Programming Console or the ladder program on PLC to save servo parameters in the MC Unit into the Servo Driver. 6. Turn OFF the PLC and the Servo Driver.
Page 640: 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. W419-E1-04 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
Page 641 Revision History...
Page 642 Regional Headquarters OMRON EUROPE B.V. Wegalaan 67-69, NL-2132 JD Hoofddorp The Netherlands Tel: (31)2356-81-300/Fax: (31)2356-81-388 OMRON ELECTRONICS LLC 1 East Commerce Drive, Schaumburg, IL 60173 U.S.A. Tel: (1)847-843-7900/Fax: (1)847-843-8568 OMRON ASIA PACIFIC PTE. LTD. 83 Clemenceau Avenue, #11-01, UE Square,...
Page 643 Authorized Distributor: Cat. No. W419-E1-04 Note: Specifications subject to change without notice Printed in Japan This manual is printed on 100% recycled paper.

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