Download Print this page

Omron CS1W-MC221 - 02-2008 Operation Manual

Omron CS1W-MC221 - 02-2008 Operation Manual

Motion control units

Table of Contents

Advertisement

Quick Links

Download this manual

Cat. No. W359-E1-04

CS1W-MC221(-V1)/421(-V1)

Motion Control Units

OPERATION MANUAL

Table of Contents

Advertisement

Chapters

Table of Contents

Troubleshooting

Need help?

Need help?

Do you have a question about the CS1W-MC221 - 02-2008 and is the answer not in the manual?

Questions and answers

Summary of Contents for Omron CS1W-MC221 - 02-2008

Page 1 Cat. No. W359-E1-04 CS1W-MC221(-V1)/421(-V1) Motion Control Units OPERATION MANUAL...
Page 2 CS1W-MC221(-V1)/421(-V1) Motion Control Units Operation Manual Revised February 2008...
Page 4 OMRON, 1999 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 6 Control System Configuration and Principles........
Page 7 Controlling the MC Unit from the CPU Unit ....... . .
Page 8: Table Of Contents
SECTION 11 Getting Started ........495 11-1 Operation Details .
Page 9 Index..........669 Revision History ........677...
Page 10 Motion Control Unit. Refer to 1-12 Overview of Version 1 Upgrades for an outline of the new features added to the CS1W- MC421-V1 and CS1W-MC221-V1. (“-V1” is omitted in this manual.)
Page 12 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 products for which unit versions are being managed, as shown below.
Page 13 The unit version is displayed as 1.1 in the Unit Version Number field of the above example. Use this display to confirm the unit version of the Motion Con- trol Unit connected online. Using the Unit Version A unit version label is provided with the Motion Control Unit. This label can be...
Page 14 Version Upgrade Information Improvements from Pre-Ver. 1.1 to Version 1.1 The following improvements have been made. Pre-Ver. 1.1 Ver. 1.1 The absolute encoder functionality for The absolute encoder functionality for OMNUC G-series Servo Drivers is not OMNUC G-series Servo Drivers is sup- supported.
Page 16 WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS...
Page 17 The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products: •...
Page 18 PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements.
Page 20 Conformance to EC Directives ........
Page 21: Intended Audience
This manual provides information for using the MC Unit. Be sure to read this manual before attempting to use the Unit and keep this manual close at hand for reference during operation.
Page 22: Operating Environment Precautions
Operating Environment Precautions • The CPU Unit 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 23: Application Precautions
MC Unit, will not be cleared. • Do not turn OFF the power supply to the Unit while data is being written to flash memory. Doing so may cause problems with the flash memory.
Page 24 • Remove the label after the completion of wiring to ensure proper heat dis- sipation. Leaving the label attached may result in malfunction. • Do not apply voltages to the Input Units in excess of the rated input volt- age. Excess voltages may result in burning.
Page 25: Conformance To Ec Directives
Unit. Not checking the program may result in an unexpected opera- tion. • Do not attempt to take any Units apart, to repair any Units, or to modify any Units in any way. • Perform wiring according to specified procedures.
Page 26: Conformance To Ec Directives
Conformance to EC Directives surge killers must be connected or other measures taken external to the PLC. The following methods represent typical methods for reducing noise, and may not be sufficient in all cases. Required countermeasures will vary de- pending on the devices connected to the control panel, wiring, the config- uration of the system, and other conditions.
Page 27 Conformance to EC Directives xxviii...
Page 28: Features And System Configuration
Performance Chart ........
Page 29: Features
Overview The CS1W-MC421 and CS1W-MC221 are CS-series Motion Control Units that can control four axes and two axes, respectively. With their internal G-lan- guage programming, they can be used for advanced motion control opera- tions, such as traversing, and their multi-tasking capability allows operations to be performed independently for each axis.
Page 30: Description Of Features
The response time from when a start command is received from the CPU Unit Start Commands from until the command voltage is output from the MC Unit is 8 ms for two axes and CPU Unit 12 ms for four axes (MC421 only). This is 1.5 times faster than the previous models.
Page 31: System Configuration
Cables System Configuration The MC Unit receives control signals (CW limit, CCW limit, origin proximity, and emergency stop input signals) from the Rack and control panel, and out- puts command voltages to the servo driver. 1-2-1 System Configuration Example (CS1W-MC421)
Page 32 1. A special Driver Connection Cable is available for OMRON U-, H-, M-, W-, and G-series Servo Drivers. A cable can also be prepared by the user. 2. A special cable is available for connecting to a Terminal Block. The cable can also be prepared by the user.
Page 33 I/O. Power supply for the Servo Driver interface: 24 V Power supply for the external I/O: 24 V Cable to Connect CPU Unit to a IBM PC/AT or Compatible Running CX-Motion and CX-Programmer Unit Port on Unit...
Page 34: Basic Operations
The MC Unit has been developed for use in simple positioning applications using servomotors. Depending on the machine being controlled, the accuracy of the MC Unit should be about five to ten times higher than the machine being controlled. Applicable machines are as follows: Conveyor Systems: X/Y tables, palletizers/depalletizers, loaders/unloaders, etc.
Page 35: Motion Control
Control programs are created in the G language. PTP Control PTP control is used to control each axis (X and Y axis) independently. Posi- tioning time depends on the travel distance and speed of each axis. Example: Moving from the origin to the X-axis coordinate of 100 and Y-axis coordinate of 50 at the same speed.
Page 36 Section 1-3 Basic Operations CP Control CP control is used to position by designating not only the starting point and the target point, but also the path between these two points. Both linear inter- polation and circular interpolation are possible.
Page 37: Other Functions
Changes the present position according to specified position data. Teaching Obtains the present position to create position data. Zones A Zone Flag turns ON when the present position is within a preset range. Override (Real Time Changes the speed during PTP, linear interpolation, or circular interpolation Speed Change) operations.
Page 38: Summary Of Function
Manual Modes Override Electronic gear Note Positioning operations using the MC Unit are performed based on two coordi- nate systems: A reference coordinate system and a workpiece coordinate system. The reference coordinate system is the most fundamental one for positioning operations.
Page 39: Control System Configuration And Principles
Control System Configuration and Principles 1-4-1 Servo System The servo system used by and the internal operations of the MC Unit are briefly described below. Semi-closed Loop System The servo system of the MC Unit uses a semi-closed loop system. This sys- tem is designed to detect actual machine movements by rotation of the motor in relation to a target value.
Page 40 Section 1-4 Control System Configuration and Principles 3. When the speed control voltage is received by the servo driver, it rotates the motor at a speed corresponding to the speed control voltage. The ro- tational speed is in proportion to the speed control voltage.
Page 41 6. Unless the target position is given, the error counter constantly maintains the stopped position. 7. If the motor axis moves slightly due to a drift in the driver or voltage output, the error counter receives a feedback pulse from the rotary encoder and a speed control voltage is output in the reverse direction, causing the motor to rotate toward its original position.
Page 42: Feedback Pulses
Phase B When using Servomotors by other manufacturers, check carefully the encoder specifications. If the definition differs from the ones given above, take one of the following actions: • Reverse the phase-B wiring between the MC Unit and the servo driver.
Page 43: Specifications
0.2 A or less for 24 VDC Weight (Connec- 450 g max. 540 g max. tors excluded) Safety standards Conforms to UL (Class 2), CSA (class 2), and EC specifica- tions. External 130.0 x 35.0 x 100.5 mm 130.0 x 70.0 x 100.5 mm dimensions...
Page 44 Manual Mode: Mode for executing manual commands from CPU Unit (PLC interface area) or Teaching Box. • The Automatic or Manual Mode is set according to the PLC interface area of the CPU Unit. • There are a total of 11 Automatic Mode commands, including origin search, reference origin return, JOG, and error reset.
Page 45 0.1% to 100.0% (Setting unit: 0.1%) Axis control Zone settings Up to 8 zones/axis can be set. Backlash Can be set from 0 to 10,000 pulses. correction In-position zone Can be set from 0 to 10,000 pulses. Position loop gain 1 to 250 (1/s)
Page 46 Note 1. The MC Unit must be mounted to the CPU Rack to use D codes. D codes will not be sent to the CPU Unit if the MC Unit is mounted to a CS Expan- sion Rack. 2. The number of MC Units that can be mounted under one CPU Unit must...
Page 47 If a posi- tion is beyond the range that can be handled by these devices, it will be indi- cated as the maximum (399,999,999) or minimum (–399,999,999) value until the position returns within the range that can be indicated.
Page 48: Overview Of Operations
Forced origin Forcibly sets the present position to 0 to establish it as the origin. (In an absolute encoder system, only the present position of the MC Unit will be set to 0.) Absolute origin setting Sets the origin for an absolute encoder.
Page 49 CS1W-MC421 only.) Traverse function Executes winding (traverse operation). Speed control Moves a maximum of either two or four axes at a controlled speed. Interrupt feeding Moves a specified axis for a fixed amount when a general input is turned ON. With interrupt feeding, positioning without an interrupt signal can be executed.
Page 50: Performance Chart
A zone flag turns ON when the present position enters a preset range. Unlimited Feed Mode, unlimited Moves the axis with no limit. In this mode, a range present position display for refreshing the present position can be speci- fied.
Page 51: Cx-Motion Functions
Zone Flag notification MC221: 14.08 ms The time required for one Zone Flag time MC421: 34.08 ms to respond. Note The above typical values will change depending on the task and axis configu- ration. 1-5-3 CX-Motion Functions Function Explanation Program editing Creating, changing, and clearing MC programs.
Page 52: Teaching Box Functions
Protects or clears protection for the memory (position data area, system parameters) in the MC Unit. Absolute origin setting Sets the absolute encoder’s mechanical origin to 0, and establishes it as the origin. Executed when first using a absolute encoder or after replacing the absolute encoder.
Page 53: Data Exchange
Section 1-6 Data Exchange Data Exchange The CPU Unit Controls the MC Unit through the PLC interface area in the CPU Unit during I/O refreshing and by data inputs and outputs at a any time. 1-6-1 Overall Structure CPU Unit...
Page 54: Explanation
CPU Unit to the MC Unit. Likewise, data in the 30 words from n+18 to n+47 (containing status information) is input from the MC Unit to the CPU Unit.
Page 55: Internal Block Diagram
Section 1-6 Data Exchange from the CPU Unit or CX-Motion. The saved data is then automatically read to internal memory when the MC Unit is powered up or restarted. 1-6-3 Internal Block Diagram Unit number setting switch indicators Teaching CS1 bus...
Page 56: Data Transfer Overview
There are three ways to transfer data between the CPU Unit and the MC Unit, as shown below. 1,2,3... 1. The CX-Motion can be used to transfer data to or from the MC Unit via the CPU Unit. Personal computer...
Page 57: Overview Of G-Language Programs In The Mc Unit
Number of Tasks and Axes The X and Y axes can be used with the CS1W-MC221, and the X, Y, Z, and U axes can be used with the CS1W-MC421. Each axis can be used in only one task, i.e., any axis assigned to one task cannot be used in another task.
Page 58 Section 3-2 Determining the Task Configuration. Tasks and Blocks The MC Unit is capable of storing a total of 2,000 blocks of programming. The maximum number of blocks that can be executed in each task depends on the number of tasks as shown in the following table.
Page 59: Manual And Automatic Operation
1-7-2 Manual and Automatic Operation Each task of the MC Unit can be executed either in Manual or Automatic Mode. In the Automatic mode, MC programs created in the G language are executed. In the Manual mode, manual commands from the CPU Unit or the Teaching Box are executed.
Page 60: G Language
1-7-3 G Language The G language is used widely in position control and its main feature is that it is very easy to write for programming. Program functions can be entered sim- ply by entering a “G” and a 2-digit numerical code, then adding any needed parameters.
Page 61 The number of blocks and number of programs are the total numbers of blocks and programs being used. A maximum of 100 programs and 2,000 blocks can be used in the MC Unit. A maximum of 800 blocks can be used in any one program.
Page 62: G-Language Codes
(MC Unit output) M code reset (input from CPU Unit) 1-7-4 G-language Codes The following table provides a summary and brief description of the G-lan- guage commands. For a more detailed explanation, refer to SECTION 7 G- language Programming. Code Name...
Page 63 M code Outputs an M code. D (See note.) D code Starts an external interrupt task for the CPU Unit. Note D codes are either new for CS1W-MC221/MC421 MC Units, or the specifica- tions have been changed from earlier MC Units.
Page 64: Commands Listed According To Purpose
(with high-speed synchronization between the ladder diagram program and the MC Unit). To control an axis in a fixed direction (for a Unlimited feeding function turntable or fixed-direction conveyer). To refresh the present position in a 360 range, for example, during unlimited feeding (remembering the number of turns).
Page 65: Comparison With Earlier Mc Unit Model
When unlimited feeding is speci- Not supported. unlimited feeding fied for an axis, the software limit is ignored. The present position refresh range can be set. Note Two-axis MC Unit: This function applies to the X axis when a 2-axis, 1-task configuration is used.
Page 66 Section 1-9 Comparison with Earlier MC Unit Model Four-axis MC Unit: This function applies to the X axis when a 4-axis, 1-task configuration is used. Item CS1W-MC221/MC421 C200H-MC221 Interrupt feeding (G31) Positioning is possible even Speed control remains in effect without any interrupt signal.
Page 67: Changing From The C200H-Mc221 To The Cs1W-Mc421/Mc221
CX-Motion. 1-9-1 Changing From the C200H-MC221 to the CS1W-MC421/MC221 Be careful of the following points when changing over from the earlier MC Unit, the C200H-MC221, to either a CS1W-MC421 or CS1W-MC221 MC Unit. Position Data C200H-MC221 data can be used as is.
Page 68 DM 1800 to DM 1801 The data area allocations are as follows for the CS1W-MC421 and CS1W- MC221. The words allocated DM Area and EM Area are not used. The bit allocations within words are also different, so the ladder diagram programs must be revised.
Page 69: Basic Operating Procedure
Use the CX-Motion to set the system parame- and to 3-3 System Parameters ters, transfer them to the MC Unit, and back them up to flash memory. Refer to the CX-Motion Online Help Use the CX-Motion to create an MC program...
Page 70: Methods For Using Mc Unit Functions
1,2,3... 1. G-language programs (MC programs) 2. Commands from the CPU Unit to the MC Unit using the PLC interface ar- 3. Setting system parameters (using CX-Motion or IOWR). Note The PLC interface area allocations are examples based on the CS1W-MC221 (X and Y axes, tasks 1 and 2).
Page 71 Methods for Using MC Unit Functions Section 1-11 Function Method Page MC program PLC Interface Area System parameters (G language) Error counter reset O (Word n+7/9, bit 04), Automatic/Manual Driver alarm reset O (Word n+7/9, bit 11), Automatic/Manual M code reset...
Page 72: Overview Of Version 1 Upgrades
Servo Driver and Servomotor. ter axis for electronic gear or electronic cam A virtual axis can be used as the input axis for the electronic gear func- control. Enables opera- tion or the electronic cam function to enable using these functions with- tions such as position out using an external encoder.
Page 73 The present position (encoder) at the leading edge of an external input Can be used for pur- (present position can be obtained. The present position is recorded by means of a hard- poses such as providing hardware latch) ware latch, enabling highly accurate compensation.
Page 74 Section 1-12 Function Summary and features Advantages Memory links The MC Unit's Position Data Area can be linked with words in the CPU • No ladder programming Unit's CIO, DM, and EM Areas. is required, so program size can be reduced.
Page 75: Using Customized Functions
The entire system, the CPU Unit's easy backup operation on a Memory Card mounted in including MC Unit data, the CPU Unit. It can then be restored from the Memory Card and veri- can be backed up. fied. Override Function Selection...
Page 76 To retain compatibility with earlier versions, the customized functions are ini- tially set so that they cannot be used. For any particular function to be used, the setting must be made specifically for that function.
Page 77 Bits 00 to 04: Customized function selection bits Bits 05 to 15: Reserved for system. (Set to 0.) Destination unit D+0: MC Unit’s unit number, 0 to 95 (0000 to 005F hex) number and number D+1: 0002 hex of words to transfer...
Page 78 • If the Teaching Box is in Enabled Mode or Occupy Mode. • If a number other than 3 is specified as the number of words to be trans- ferred. • If the data in words S+0 and S+1 is not correct.
Page 79 1-12-1-1 Virtual Axes This section describes setting and using virtual axes. Overview Virtual axes can be used internally by the MC Unit even with no external devices (such as servo drivers, servomotors, or encoders) or external I/O con- nected. By executing the IOWR instruction in the CPU Unit's ladder program, the X, Y, Z, or U axis can be specified as a virtual axis.
Page 80 1840 hex (&6208): Virtual axis setting First source word Transfer data: S+0: For each axis (bits 00 to 03), specify whether that axis is to be used normally or as a virtual axis. Bit 00: X axis Bit 01: Y axis...
Page 81 IOWR Data Error (Equals Flag ON) • The data in S+0 or S+1 is not within the acceptable range. • One or more of the axes specified by the task axis declaration is servo- locked. • An axis not specified by the task axis declaration is specified as a virtual axis.
Page 82 For the input axis, a sync encoder input, MPG input, encoder feedback input (X, Y, Z, or U), virtual axis position command value (X, Y, Z, or U), or real axis position command value (X, Y, Z, or U) can be specified.
Page 83 While the electronic gear function is being executed, the gear ratio can be changed in real time from the G-language program. It is possible to integrate other axes (i.e., other than the input axis and operat- ing axis) with the axis that is being operated by the electronic gear. This enables position compensation according to other axis positions.
Page 84 Command value U Input axes* Note: The items indicated by asterisks* can be set with this function. It is not possible, however, to set the same axis as an input axis, operating axis, and integrated axis. Settings 1) With the IOWR instruction, enable using the synchronized control functions of the customized functions, and then 2) with the G language, specify G01 for register E31 to execute.
Page 85 Section 1-12 Overview of Version 1 Upgrades An error (number out of range) will occur if a number from 1996 to 1999 is specified as the first address in the operand table. Operand Table Data name Data range Unit Explanation...
Page 86 • An error (number out of range) will occur if a value outside of the range shown in the above table is set or if a value that cannot be specified is set. Note An error will occur if a non-integer is specified for integer-only data.
Page 87 Section 1-12 Overview of Version 1 Upgrades Relationship to Other G The relationships of the electronic gear function to other G codes are Codes described in the following table. For information on G codes, refer to SECTION 7 G-language Programming .
Page 88 G01 (E31) Register Not related. function Relationship to Bits/Flags The relationships of the electronic gear function to control bits and flags are described in the following table. Bit/Flag name Relationship to electronic gear function Automatic/Manual If the mode is switched from automatic to manual during elec-...
Page 89 MPG input Can be used as electronic gear function G-code command input. Relationship to Errors The relationships of the electronic gear function to errors are described in the following table. Error classification Relationship to electronic gear function System errors When a system error occurs, the electronic gear function is stopped for all tasks.
Page 90 (input) in the electronic gear function's oper- and table. • If the master axis and slave axis are switched and then the slave axis is operated by the electronic gear function with respect to the master axis...
Page 91 Input axis The cam table can be used for either reciprocating cam operation (with the same stroke ratio for 0 and 360 ) or feed cam operation (with different stroke ratios for 0 and 360 ). It is possible to integrate other axes (i.e., other than the input axis and operat- ing axis) to the axis that is being operated by the cam table.
Page 92 Y Command value Z Command value U Input axes* Note: *The items indicated by asterisks* can be set with this function. It is not possible, however, to set the same axis as an input axis, operating axis, and integrated axis.
Page 93 G01. Operand Operating axis Axis First address of operand table (E31) An error (number out of range) will occur if the sum of the first number in the operand table plus the size of the operand table exceeds 1999.
Page 94 1. MPG position command values can- not be set. 2. The same axis as the operating axis and integrated axis cannot be speci- fied. 3. An axis from a separate task can be specified. Integrated axis 0: None Specifies the axis (position command...
Page 95 The normal range is from 0 to 1. From here on, the descriptions are the same as for +9 and +10 according to the cam table size, alter- nating between cam angle and stroke ratio.
Page 96 Section 1-12 Overview of Version 1 Upgrades • An overflow error will occur if the stroke width is not within a range of 0 to 7FFF FFFF hex after being converted to pulse units at the operating axis pulse rate.
Page 97 When repeating is set for the end condition, the function operates with relative movement even when the 0 position is crossed. Therefore, feed cam opera- tion is used if the stroke ratio is different for cam angles 0 and 360 . (See the diagrams below.)
Page 98 Section 1-12 Stroke Ratio Extraction The cam angle is taken as a search key, and a dichotomizing search is made of the cam table. If there is matching data, the stroke ratio is obtained. If there is no matching data in the cam table, an interpolation value is found from the previous and subsequent data.
Page 99 G01 (E31) (Register Not related. function) Relationship to Bits/Flags The relationships of the electronic cam function to control bits and flags are described in the following table. Bit name Relationship to electronic cam function Automatic/Manual If the mode is switched from automatic to manual during elec-...
Page 100 Turns OFF during electronic cam execution regardless of pleted Flag inputs. Deceleration Stop Bit Uses up pulses accumulated in the error counter and stops. Relationship to External The relationships of the electronic cam function to external I/O are described in the following table.
Page 101 The black dots represent the points set in the cam table. The MC Unit executes interpolation with straight lines from 0˚ to 360˚. In this example, the stroke ratios are the same for 0˚ and 360˚, so reciprocating cam operation is...
Page 102 Stop Mode, the axis operation command for the next block is not executed and the program does not end. (2) Be careful of the execution timing when using G code commands for syn- chronized control functions in more than one task. There is only one E register, E31, that is used in the G code commands for synchronized con- trol functions.
Page 103 • If the master axis and slave axis are switched and then the slave axis is operated by the electronic cam function with respect to the master axis...
Page 104 In the acceleration and deceleration areas (with operation at different rates of speed for the cam axis and stroke axis), make the cam table as detailed as possible. In a constant speed area (with operation at a fixed speed for the cam axis and stroke axis), one entry can be made at each end of the constant speed area.
Page 105 This function ends an electronic gear or electronic cam for the specified axis and moves to the next block. Either the current operation or the one in the pre- read buffer can be canceled. The current operation is canceled if 0 is speci- fied.
Page 106 1-12-1-5 Register Function (REGIST) (Hardware Latch of Present Position) Overview This function stores the present value of an axis at a position data address in the MC Unit on the rising edge of a specified external signal (i.e., a general- purpose input or phase Z).
Page 107 Operands Axis to latch Axis First address of operand table (E31) An error (number out of range) will occur if the specified first address of the operand table is greater than 1996. Operand Table Data name Data range Unit Description...
Page 108 G31, G28, or a manual origin search while the latch condition is being monitored for a G code command for the register func- tion. The rising edge of the input will be detected for only one or the other of these functions.
Page 109 Bit/Flag name Relationship to register function Forced Block End Bit The blocks before and after the register function will be paused, but the G code command for the register function itself will not be ended.
Page 110 O designation, and the L designation. Linked G32 commands are executed in Stop Mode using the speed designa- tion in the first block with G32. For the rotating axis (X/Y) designations, the number of windings (rotations) per layer or the pitch can be specified.
Page 111 Layers = 1 Number of windings per layer = 1.234/0.1234 360 = 3600 degrees (10 rotations) N004 G32 X 0.2468 Y 2.468 O540 L2 ..Direction of rotation = Negative, Direction of traverse axis = Nega- tive Pitch = 0.2468 Winding width = 2.468 mm End specification = 540 degrees (1.5 rotations)
Page 112 (1) When the pitch (i.e., the travel distance of the traverse axis for a 360-de- gree turn of the rotating axis) can be specified for the X or Z axis, 0 cannot be specified and the upper limit of the winding width is 745654.
Page 113 A start specification can be made. An error will occur (number out of range) if a non-specified value is set. A1991/A1993 0 to 3999 9999 Decimal can be placed anywhere as long as there are no more than 4 decimal places. Note Start Specification...
Page 114 Note Ending is placed on hold for integrated sec- tions. Only the next block is skipped. All blocks with linked G32 commands skipped. Link (pass) condition Executing the next G32 for the Programming a G32 command for the same axis same axis and rotating direc- and rotating direction in the next block.
Page 115 Overview Position data addresses A1970 to A1985 can be allocated to user-specified addresses in I/O memory in the CIO, DM, or EM Areas. This reduces the work required to write ladder programs because this position data is automatically transferred between the CPU Unit and MC Unit without any special program- ming.
Page 116 • If an intelligent transfer requested immediately before has not been com- pleted. • If the Teaching Box is in Enabled Mode or Occupy Mode. • If a number other than 2 is specified as the number of words to be trans- ferred. • If the data is out of range.
Page 117 This function operates only for the stopover M code. If a normal M code or a stopover with a D code is specified, the operation is performed with the normal specifications.
Page 118 Each bit in the word data corresponds to one digit in the position data. If a bit in the word data is 0, the digit in the position data will be 0. If a bit in the word data is 1, the digit in the position data will be 1.
Page 119 #00020000 (Repeated in the same way for the other areas.) 3. Wait for refreshing. (Wait until the I/O refresh has been performed twice af- ter 10 ms has passed from execution of IOWR.) 4. Start operation with the G-language program.
Page 120 1-12-1-8 Resetting M Codes with Program Execution Stopped Overview If this function is enabled, the M Code Reset Bit allocated in the CPU Unit can be used to reset the M code from the CPU Unit even when program execution is stopped.
Page 121 General-purpose output 1 A1999 (1) Axis number: 0 = X axis, 1 = Y axis, 2 = Z axis, 3 = U axis, 4 to 9 = Invalid (2) Zone number: 1 to 8 = Zones 1 to 8, 9 = Invalid...
Page 122 The response time is 2.1 to 4.1 ms. Note The response time is the time from when the encoder reaches the edge of the zone until the general-purpose output is turned ON or OFF on the MC Unit. Application Example Set the axis and zone for general-purpose output as shown in the following table.
Page 123 Section 1-12 Overview of Version 1 Upgrades 1,2,3... 1. Set in A1999. (Use CX-Motion to set 34231201 directly or set it with the following ladder program.) Execution condition DIFU R1 (Work bit) Sets the following data, with D00000 as the first source word.
Page 124: Easy Backup Function
CS1-H CPU Unit, the CPU Unit's easy backup operation automatically backs up not only all the data in the CPU Unit, but also the following data in the MC Unit's flash memory. The data is automatically backed up, restored, and verified using a Memory Card inserted in the CPU Unit •...
Page 125 Restoring MC Unit Data The files on the Memory Card can be read and set in the MC Unit. Set the DIP Files from a Memory Card switch on the CPU Unit's front panel as shown below, and then turn ON the power to the CPU Unit.
Page 126 Memory Card Verification The MC Unit data file on the Memory Card will be compared with the data in the MC Unit's internal flash memory for verification. When the Memory Card power button is pressed, the MCPWR indicator on the CPU Unit's front panel will flash once and then remain lit while the data is being compared.
Page 127 3. With an electronic cam, approximately how long is the period while waiting for a trigger? It is approximately twice as long as the time from one servo cycle to the next (i.e., approx. 2 to 4 ms). 4. How is the output axis PV handled during synchronized control, during an interruption, or at completion?
Page 128: Installation
Wiring Connectors ........
Page 129: Nomenclature And Unit Settings
Section 2-1 Nomenclature and Unit Settings Nomenclature and Unit Settings This section shows the names of the MC Unit components and explains the meanings of the LED indicators. It also explains how to set the unit number. 2-1-1 Nomenclature CS1W-MC421...
Page 130 If anything other than the above is set, an error will be generated when the power is turned ON. As long as it does not overlap with the unit number of another Special I/O Unit mounted at the same PLC, any settings can be made within these ranges.
Page 131: Installation
Mounting to the Backplane Use the following steps to mount or remove MC Units. 1,2,3... 1. Mount the Unit to the Backplane by hooking the top of the Unit into the slot on the Backplane and rotating the Unit downwards. Hook Backplane 2.
Page 132: 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 133: Dimensions
Section 2-2 Installation 2-2-4 Dimensions CS1W-MC421 CS1W-MC221...
Page 134: Wiring
2-3-1 I/O Connector The I/O connector is used primarily for wiring to external I/O. There are con- nections for each axis’s CW and CCW limit inputs, emergency stop inputs, and origin proximity inputs, as well as general I/O connections. Special cables and terminals can be connected to the I/O connector.
Page 135 Note 1. “NC” stands for normally closed and “NO” stands for normally open. 2. Either NC or NO logic can be used for the origin proximity inputs. This set- ting is a machine parameter. 3. Pin numbers 15, 20, 23, and 24 are not used.
Page 136 Note 1. “NC” stands for normally closed and “NO” stands for normally open. 2. Either NC or NO logic can be used for the origin proximity inputs. This set- ting is a machine parameter. 3. General outputs cannot directly drive the motor brake. They must be uti- lized through bit control.
Page 137 Section 2-3 Wiring Connection Example The following diagram shows an example connection for just the X axis. Wire the Y, Z, and U axes in the same way. I/O Connector Relay 24 VDC Emergency limit limit stop input input input...
Page 138 Wiring Section 2-3 Connection Example The following diagram shows an example connection for just the X axis of the CS1W-MC221. Wire the Y axis in the same way. XW2B-2036-6 Terminal Label Normally closed (NC) Normally open (NO) Origin 24 VDC...
Page 139: Drv Connectors
DRV Connectors The DRV connectors are used primarily to connect servo drivers. The DRV X- Y connector is for the X and Y axes, and the DRV Z-U connector is for the Z and U axes. Note Special driver cables, which are sold separately, are available for OMRON G, W, U-, H-, and M-series Servo Drivers.
Page 140 Section 2-3 Wiring DRV X-Y Pin Allocation The following diagram shows the pin allocation for the DRV X-Y connector. Pins 6, 7, 24, and 25 are not used. DRV X-Y connector Connector pin arrangement DRV X-Y connector DRV Z-U connector...
Page 141 Wiring Section 2-3 DRV X-Y Pin Functions The following table explains the functions of the pins in the DRV X-Y connec- tor. Symbol Name Function +24V 24 VDC input External power supply’s 24-VDC input (for the X-Y axes) DC GND 24 VDC input ground External power supply’s 24-VDC ground (for the X-Y axes)
Page 142 Section 2-3 Wiring DRV Z-U Pin Functions The following table explains the functions of the pins in the DRV Z-U connec- tor. This connector is on the CS1W-MC421 only. Symbol Name Function +24V 24 VDC input External power supply’s 24-VDC input (for the Z-U axes)
Page 143: Driver Cables (Optional)
Driver Cables (Optional) When using OMRON’s U-, H-, M-, W-, or G-series Servo Drivers, use Special Driver Cables that are available as options to connect the MC Unit to Servo Drivers. These Special Driver Cables will eliminate the need for wiring.
Page 144 For Cables for single-axis models, only one connector is available for the MC Unit side and only the X-axis or Z-axis signal line is wired. If the above Cables are not used, then use the connector and case provided with the Unit and connect them in combination with the connector.
Page 145: Wiring Connectors
2. Spot-solder the wires and connector terminals. 3. Solder the wires. 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...
Page 146: Connection Examples For Special Servo Driver Cable
Note Signals marked with asterisks are used with an absolute encoder. These sig- nals will be connected even for an incremental encoder if the specified cable is used, but this will not interfere with operation. Do not connect these signals when wiring a custom cable for an incremental encoder.
Page 147 Note Signals marked with asterisks are used with an absolute encoder. These sig- nals will be connected even for an incremental encoder if the specified cable is used, but this will not interfere with operation. Do not connect these signals when wiring a custom cable for an incremental encoder.
Page 148 Note Signals marked with asterisks are used with an absolute encoder. These sig- nals will be connected even for an incremental encoder if the specified cable is used, but this will not interfere with operation. Do not connect these signals when wiring a custom cable for an incremental encoder.
Page 149 Note Signals marked with asterisks are used with an absolute encoder. These sig- nals will be connected even for an incremental encoder if the specified cable is used, but this will not interfere with operation. Do not connect these signals when wiring a custom cable for an incremental encoder.
Page 150 Y-(U-)axis phase A input Y-(U-)axis phase B input Y-(U-)axis phase B input Y-(U-)axis phase Z input Y-(U-)axis phase Z input Y-(U-)axis speed control Y-(U-)axis speed control ground (See note.) Note Ground the shielded line to the connector bracket on the MC Unit side.
Page 151 Wiring Section 2-3 Connection to M-series Models Special Driver Cable: R88A-CPM00 M2 CS1W-MC421/MC221 MC Unit DC Power Supply DRV X-Y (Z-U) connector AC Servo Driver 24-VDC input R88D-M Series 24-VDC input ground Black X-(Z-)axis alarm input X-(Z-)axis run output X-(Z-)axis alarm reset output...
Page 152: Mpg Wiring
With the CS1W-MC421, it is wired with an MPG connector. With the CS1W- MC421, there is an MPG terminal at the I/O connector. Recommended MPG Use a line driver model for the MPG. The LGF-003-100 (by Sumtak) is recom- mended. Snap-on Connectors...
Page 153: Interface Circuits
Note 1. IN 1 to 4: 0.1 ms max. 2. The MC Unit’s input circuits (CWL (X to U), CCWL (X to U), and ORG (X to U)) are high-speed response circuits. Take the chattering time (bounce time) of input signals into consideration.
Page 154 Output Residual voltage 1.0 V max. Photocoupler External supply voltage 24 VDC The circuit in the following table is used to interface RUN (X to U) and ALMRS (X to U). Item Specification Circuit Configuration Max. switching capacity 10 mA/24 VDC...
Page 155: Wiring Precautions
Section 2-3 Wiring The circuit in the table below is used to interface phase inputs A, A, B, B, Z, and Z (for X to U) and MPG-A, MPG-A, MPG-B, and MPG-B. Item Specification Circuit Configuration Signal level EIA RS-422-A...
Page 156 Solenoid Surge absorber Note Connect a surge-absorbing diode or surge absorber close to the relay. Use a surge-absorbing diode with a voltage tolerance at least five times greater than the circuit voltage. Noise may be generated on the power supply line if the same power supply line is used for an electric welder or electrical discharge unit.
Page 157: Motor Runaway
Runaway Due to Faulty If the phase-A and phase-B feedback input lines are wired in reverse (crossed Wiring dotted lines at 1 in the figure), the servolock will not be effective and the motor will run out of control. 1,2,3...
Page 158 Section 2-3 Wiring 2. If the phase A and phase B feedback input lines are wired in reverse, the error counter receives the information as a rotation in the CCW direction. 3. As a result, the error counter having a count in the CCW direction attempts to zero the count by outputting a control voltage to the motor driver in the CW direction.
Page 159: Wiring Check Function
Section 2-3 Wiring In order to prevent this, repair the wiring or adjust the 0 V of either the MC Unit or the servo driver so that the 0 V levels match, and, to be on the safe side, implement fail-safe measures in the system.
Page 160: Failsafe Circuits
Section 2-4 Failsafe Circuits made in the machine parameters. For details, refer to SECTION 3 MC Unit Internal Data Configuration or the CX-Motion Online Help. Failsafe Circuits To protect against unforeseen problems that may occur during operation, pro- vide failsafe circuits, as those shown below, in the positioning system in which the MC Unit is used.
Page 161: Failsafe Principles
Stopping the Motor with an Error Counter Warning Error Counter Warnings The Error Counter Warning Flag will be turned ON to notify the CPU Unit if the number of pulses in the error counter exceeds the value set as the Error Counter Warning Value in the System Parameters.
Page 162 Warning Flag in the PLC Interface Area is turned ON whenever the Error Counter Warning Value is exceeded. The CPU Unit uses an external output to send an emergency stop input to the MC Unit when it detects that the Error Counter Warning Flag has turned ON.
Page 163 Error Counter Overflows When the error counter overflows, a speed reference voltage of 0 V will be output to the Servo Driver for 0.5 s and then the operation command output to the Servo Driver will be turned OFF. The value of the error counter at which an overflow occurs can be controlled using the Error Counter Function Selection Bit.
Page 164 Zones can be set in the Zone Parameters in the System Parameters so that a Zone Flag will be turned ON in the CPU Unit when the motor is within a zone. Refer to Zone Parameters on page 167 for details.
Page 165: Failures In The Feedback System
Sensors can be mounted in dangerous areas to stop the machine by turned OFF the main circuits of the Servo Drivers. To be sure that the failsafe mea- sure is dependable, sensors are mounted in areas where the machine must never enter.
Page 166: Wiring Check Troubleshooting
If a clockwise or counterclockwise limit sensor is activated, a speed reference voltage of 0 V will be output to the Servo Driver for 0.5 s and then the opera- tion command output to the Servo Driver will be turned OFF. One of the Sys- tem Parameters can also be set to stop using the pulses remaining in the error counter (with the servo still locked).
Page 167: Wiring Error Cause And Countermeasures
The following table list possible causes of such errors, and sug- gests countermeasures that can be taken. !Caution When a wiring error occurs, be sure to turn OFF the power supply before checking the wiring or setting the machine parameters.
Page 168: Checking For Wiring Errors
Servo Driver autotuning, refer to the Servo Driver manual. 6. Adjust the gain at the MC Unit. If this is done by means of Servo Driver au- totuning, read the Servo Driver’s position loop gain and use CX-Motion to set that value in the MC Unit’s servo parameter.
Page 169: Connecting Peripheral Devices
The following example illustrates how to combine these parameters. Example In this example it is assumed that the default settings are in effect for the machinery, and that positioning moves in the minus (–) direction with plus (+) position command values from the MC Unit.
Page 170: Connecting A Personal Computer To The Cpu Unit
For details, refer to the SYSMAC CS Series Programmable Controller Operation Manual (W399). Note It is also possible to connect the computer to the port for the Serial Communi- cations Board/Unit if the port is set to Host Link Mode.
Page 171: Connecting The Teaching Box
CQM1-CIF02 Connect to RS-232C port Peripheral Cable CQM1-CIF01/02 CS1W-CN114 Peripheral port The following cables can be used to connect an RS-232C cable to the com- puter. Unit Port on Unit Port on Serial Model numbers Length Remarks computer...
Page 172 3. Plug the Connecting Cable into the MC Unit connector marked “T.B.” Removing the Cable Using your fingers, press in and hold the clamps on both sides of the connec- tor and pull out the connector. Unlocking...
Page 173 Section 2-7 Connecting Peripheral Devices...
Page 174: Mc Unit Internal Data Configuration
Task Configuration ........
Page 175: Data Configuration
IOWR instruction. Note The override function selection (6120) can be used only with Unit Ver. 1.15 or later, and with Units whose model number ends in -V1. Data Transfer Methods The following methods are used to transfer the preceding data between MC Units, to read monitor data, and to execute all functions in the command area.
Page 176: Determining The Task Configuration
3-2-1 Task Configuration A maximum of 4 tasks can be set with the CS1W-MC421. A task is a unit that is used to execute a program. If four tasks are executed simultaneously, the MC Unit will function like four controllers capable of controlling the X, Y, Z and U axes.
Page 177 Not used for task 4 The MC programs are managed by the number of tasks, and new MC pro- grams must be created for a new task configuration if the above parameters are changed after the MC programs have been created. Refer to the following procedure for changing the task configuration.
Page 178: System Parameters
Specifies servo system information such as the position loop gain and in-position. Note All data can be read by specifying the address of the data in the IORD instruc- tion. Position data as well as acceleration/deceleration time, interpolation acceleration/interpolation deceleration time, MPG ratio, zone parameters and servo parameters in coordinate parameters, and feed-rate parameters from system parameters can be transferred to the Unit using the IOWR instruction.
Page 179: Description Of System Parameters
Not used. Not used. The MC programs are managed by the number of tasks, and new MC pro- grams must be created for a new task configuration if the above parameters are changed after the MC programs have been created. Refer to 3-2 Deter- mining the Task Configuration for the procedure to change the task configura- tion.
Page 180 Origin position in the workpiece coordinate system (offset from the reference origin) The machine origin is the origin set at origin search and is where the encoder counter reads zero. It is set from the absolute origin setting when an absolute encoder is used.
Page 181 MPG ratio (1 to 4)/electronic gear (1 to 4) A maximum of four ratios can be set for pulses when an MPG or sync encoder is used (numerator and denominator set separately).
Page 182: System Parameter Addresses
Set the in-position (positioning complete width) based on the accuracy required by the system. It will take longer to position the equipment if the in- position is set lower than is necessary.
Page 183: Data Configuration For System Parameters
In the table, R means the parameter is read-only and R/W means the data can be read and written. Only the X and Y axes and tasks 1 and 2 are avail- able with the CS1W-MC221. Numbers for addresses and default settings are hexadecimal on top and are decimal in parenthesis () at the bottom.
Page 184 Specifies whether to use an MPG or a sync encoder. X = 0: MPG, X = 1: Sync encoder Sync encoder ratio Specifies the sync encoder ratio. X = 0: ratio of 4, X = 1: ratio of 2, X = 2: ratio of...
Page 185 X = 1: Interpolation deceleration time Acceleration mode Specifies whether to linearly interpolate or accelerate just one axis or to accelerate the axis at a fixed rate until the start of pass operation. X = 0: Invalid, X = 1: Valid (Fixed accel- eration)
Page 186 Axis mode Display unit Axis Mode Specifies the Axis Feed Mode. X = 0: Normal Feed Mode, X = 1: Unlimit- ed Feed Mode Display unit Specifies unit displayed by CX-Motion. 0: mm 1: inch 2: degree 3: pulse...
Page 187 03 00 (4206) (4231) (4256) (4281) ratio 0000 Specifies the multiplier ratio for the encoder. X = 0: ratio of 4, X = 1: ratio of 2, X = 2: ratio of 1 106F 1088 10A1 10BA Encoder 0000 00 15...
Page 188 Range: FD9DA601 to 026259FF Hex ( 39999999 to (39999999) 39999999) If the negative software limit is set to 18F Hex (399), the minimum setting unit is 0.01, and the unit is mm, the negative software limit would be 3.99 mm (399 0.01).
Page 189 CW/CCW deceleration method Specifies the deceleration method when the CW or CCW limit input signal is detected. X = 0: Accumulate pulses to stop, X = 1: Decel- erate to a stop Origin deceleration method Specifies the origin deceleration method.
Page 190 ( 39999999 to 39999999) The minimum setting unit is set to 2 (for 0.01), the display unit is set to 0 (for mm) and the refer- ence origin offset is 3.99 [mm] (i.e., 399 x 0.01) if the data is 399. If the value is changed, the new value will be valid when the next origin search is executed.
Page 191 The range varies with the encoder resolution, pulse rate and display unit. The minimum setting unit is set to 2 (for 0.01), the display unit is set to 0 (for mm) and the maximum feed rate is 3.99 [mm/s] (i.e., 399 x 0.01) if the data is 399.
Page 192 (In Unit Ver. 1.14 or earlier, the limit input in the direction opposite to movement is monitored. In Unit Ver. 1.15 or later and Units with model number ending in -V1, the limit input in the direction of movement is monitored. Take this into consideration in system design.)
Page 193 These addresses are reserved for the system. (4419) (4444) (4469) (4494) for the system Note The above parameters are used as the electronic gear ratio setting when MPG is selected in the unit parameters or the MPG ratio and sync encoder are selected.
Page 194 Zone 2 Zone 1 Valid timing Sets timing for validating zone settings. X = 0: Enables a zone at the end of the origin search, X = 1: Enables a zone whether or not the origin search is completed. Zone 1 to 8 Enables or disables zone 1 to zone 8 settings.
Page 195 Top: L + 1, MC221 MC421 Bottom: L 1199 11B2 11CB 11E4 Zone 3 Sets the negative or positive direction range of zone 0000 (4505) (4530) (4555) (4580) negative 0000 direction The data configurations, ranges, and units for the...
Page 196 0000 Brake OFF time Sets the brake OFF time (the duration from the brake OFF output of the MC Unit to the actual brake OFF operation) when the output port is set for a brake output. Range: 0000 to 2710 hex (0 to 10000 [ms])
Page 197: Timing That Validates Transferred System Parameters
3-3-5 Timing that Validates Transferred System Parameters Note Be sure to turn the MC Unit power OFF and then ON after system parameters have been transferred. The unit parameters and machine parameters will not change unless the power is turned back ON.
Page 198: System Parameters
Number of Axes Set a range of 1 to 4 axes for the CS1W-MC421. The default setting is 4 axes. Set a range of 1 to 2 axes for the CS1W-MC22. The default setting is 2 axes.
Page 199 System Parameters Section 3-3 Acceleration Time Selected The machine moves to the next operation in the preceding interpolation accel- eration time. The machine moves to the next op- Speed eration in the preceding interpolation acceleration time (Ta). Pass time before the next target.
Page 200 ON. In this case, the data that is being transferred will be deleted. Refer to 6-16 Auto- matic Loading for more details.
Page 201 +39,999,999 when the minimum setting unit is set to 1 (the default setting). The minimum setting unit can be set to 0.1, 0.01, 0.001, or 0.0001 to provide greater precision but a more limited range, as shown in the following table.
Page 202 Feeding for details on these settings. These parameters determine the unit that will be used when monitoring the present values. While each axis is con- trolled by pulses in the MC Unit, the present value is monitored in units that will display on the peripheral device.
Page 203 (error code: 003C) is generated, has been changed in the following way. The change is effective for models with -E9 at the end of the lot number, and for models with lot numbers 991118 or later. Specifications before Change After the driver alarm input signal is received, brake output and RUN com- mand output are turned OFF with the following timing.
Page 204 This parameter sets the encoder resolution. Encoder resolution is the number of pulses (encoder frequency dividing ratio) that can be output per encoder revolution. It can be set from 1 to 65,535 and the default setting is 1,000 pr. Make sure the resolution satisfies the following condition.
Page 205 The pulse rates are set independently for the X and Y axes. Each can be set from 1 to 100,000. The default setting is 1. Set the X and Y pulse rates so that the X/Y ratio doesn’t exceed 1.
Page 206 Method speed origin search when a search is executed. It also selects whether to use the origin proximity input signal or to use the limit input signal as the original proximity input signal. The default setting is to use the origin proximity input signal. If the origin prox-...
Page 207 This parameter checks the feedback pulses if check pulses are not returned within the time set here. The setting range is from 0 to 99 and the time is 10 times (x 10 ms) the set value. The default setting is 10 (100 ms).
Page 208 Section 3-3 System Parameters The setting range will vary with the minimum setting unit and pulse rate in the machine parameters. X-axis reference origin offset value Reference origin Y-axis reference origin offset value Mechanical origin This parameter is set when you want to move the origin after the mechanical origin has been found.
Page 209 Therefore, the setting range would be 1 to 200. When the minimum setting unit is 0.01, the possible setting range would be 0.01 to 200.00. In the example above, the display unit is mm. The SV unit would be pulses/s if the display units were pulses.
Page 210 These parameters set the high- and low-speed feed rates for origin searches. Origin Search Feed Rates The high-speed feed rate is the feed rate at which the axis is moved until the origin proximity input signal is detected during an origin search. The origin search low-speed feed rate is used after the origin proximity input signal is received until phase Z is detected.
Page 211 Set the zone ranges after selecting Set for the zone. Positive (+) and Negative When the present value is within the range set here, the zone flags for zones (–) Zone Settings 1 to 8 will turn ON in the PLC interface area.
Page 212 This parameter sets the number of pulses used to monitor accumulated pulses in the error counter. The Error Counter Function Selection (bit 07 of word n) can be used to set either error counter error detection (default setting) or an error counter warn- ing.
Page 213 Error counter function selec- tion Set this parameter for each axis being used. The setting range is 0 to 65,000 and the default setting is 10,000. In Position When positioning an axis, the Positioning Completed Flag in the PLC inter- face area is turned ON when the pulse distribution is completed and the axis is in position.
Page 214: Position Data
(Max. motor speed) Backlash Correction This parameter sets backlash correction for the mechanical system. The set- ting range is 0 to 10,000 pulses and the default setting is 0 pulses. Refer to 6-15 Backlash Correction for more details. Brake ON/OFF Time This parameter sets the brake ON/OFF time.
Page 215: Position Data Addresses
0000 to 1999) 2 positions: 0006 hex 3 positions: 0009 hex 4 positions: 000C hex The preceding addresses 0000 to 1999 are specified using A0000 to A1999 in G language. 3-4-2 Position Data Configuration Each position is comprised of three words. Refer to SECTION 4 Data Transfer and Storage for more details about transferring data.
Page 216: Monitor Data
ON/OFF status for all I/O signals to the MC Unit, present positions, and other data that can be monitored. All data can be read from an MC Unit using IORD instruc- tions.
Page 217 Note The data range for addresses 6058 to 6061 is –39,999,999 to 39,999,999. It is provided so that C200H-MC221 addresses can be accessed. Use addresses 6074 to 6077 to set values outside of this range, e.g. to set the pulse rate to 1/100.
Page 218: Monitor Data Configuration
If an axis error occurs for the axis being controlled by task1, an axis error code will be set, but the task 1 error code in this area will remain at 0000. The error code is set to 0000 Hex when the system is normal.
Page 219 Driver alarm reset output Sensor ON output 177C I/O monitor data Outputs the ON or OFF status of each MC Unit I/O signal on the Z and (6012) (Z/U) U axes. The data configuration is the same as that for I/O monitor data (X/Y).
Page 220 Range: FD9DA601 to 026259FF Hex ( 39999999 to 39999999) The minimum setting unit is set to 2 (for 0.01), the display unit is set to 0 (for mm) and the reference origin offset is 3.99 [mm] (i.e., 399 x 0.01) if the data is 399.
Page 221 Range: FD9DA601 to 026259FF Hex ( 39999999 to 39999999) The minimum setting unit is set to 2 (for 0.01), the display unit is set to 0 (for mm) and the reference origin offset is 3.99 [mm] (i.e., 399 x 0.01) if the data is 399.
Page 222 L+1: Leftmost bit, L: Rightmost bit Range: FD9DA601 to 026259FF Hex ( 39999999 to 39999999) The minimum setting unit is set to 2 (for 0.01), the display unit is set to 0 (for mm) and the reference origin offset is 3.99 [mm] (i.e., 399 x 0.01) if the data is 399.
Page 223: Command Area
• Transferring position data (read/write). • Using the CX-Motion allows downloading of MC programs and position data to an MC Unit from the external memory device of a personal com- puter. (Autoloading) • Presetting the present position for an axis.
Page 224: Command Area Addresses
3-6-1 Command Area Addresses In the table, W means the data can be written only and R/W means the data can be read and written. Refer to 3-6-2 Command Area Data Configuration for details on the configuration of data that is read, and refer to SECTION 4 Data Transfer and Storage for details on the procedure for executing these func- tions.
Page 225 Specifies the DM or EM area storing position data that will be transferred. X = 0: DM area, X = 1 to D: Corresponds to banks 0 to C in the EM area First destination address for transferred position data Specifies the first destination address number in MC Unit internal RAM for the transferred position data.
Page 226 L+1: Leftmost 16 bits, L: Rightmost 16 bits Range: FD9DA601 to 026259FF Hex ( 39999999 to 39999999) The minimum setting unit is set to 2 (for 0.01), the display unit is set to 0 (for mm) and the reference origin offset is 3.99 [mm] (i.e., 399 x 0.01) if the data is 399.
Page 227 Section 3-6 Command Area...
Page 228 Data Storage ......... . . IOWR and IORD Specifications ........
Page 229: Data Transfer And Storage: Overview
Unit specified.) 6000 to 6081 Monitor data 6100 to 6120 Command area (See note.) Note Command Area address 6120 (override function selection) can be used only with Unit Ver. 1.15 or later, and with Units whose model number ends in -V1.
Page 230: Types Of Data
Note A system setting error can occur when system parameters are transferred to an MC Unit. To enable the parameters when this happens, save the parame- ters in flash memory, and then turn MC Unit power OFF and ON or restart the MC Unit.
Page 231: Using Iowr And Iord Instructions To Transfer Data
Data Transfer and Storage: Overview Note 1. From CX-Motion, all data is read or written at the same time. Only portions of one type of data cannot be specified. 2. All parameters must be written. Refer to SECTION 3 MC Unit Internal Data Configuration for details.
Page 232 1. Set the following data for the operands of the IORD instruction. C: The first address in the MC Unit with the system parameter to be read. S: The destination unit number and total number of words for the position data that will be transferred.
Page 233: Transferring Position Data Using The Command Area
The transfer source area designation (DM or EM). Specifies the DM or EM area that is storing position data that will be transferred. X = 0: DM Area, X = 1 to D: Correspond to banks 0 to C in the EM Area...
Page 234 S+5: Always 0000 hex 3. Set the position data to be transferred in the DM/EM Area beginning at the word specified for S+2. Each position requires three words. 4. Execute the IOWR instruction to transfer position data to the MC Unit.
Page 235: Data Storage
The transfer source area designation (DM or EM). Specifies the DM or EM area that will store position data. X = 0: DM Area, X = 1 to D: Corresponds to banks 0 to C in the EM Area 3. Execute the IOWR instruction to transfer position data to the MC Unit.
Page 236: Iowr And Iord Specifications
Section 4-2 IOWR and IORD Specifications !Caution Do not save data to flash memory during operation or while a motor is being driven. Doing so can result in unexpected operation. IOWR and IORD Specifications 4-2-1 IOWR: INTELLIGENT I/O WRITE IOWR...
Page 237 • The number of system parameter words transferred was not two. format or not within acceptable ranges. • The value of the MC Unit address plus the number of words trans- ferred divided by 3 exceeded 07CF hex (upper position data limit 1999), the last address for position data.
Page 238 0002 D0101 345678.90. 76D2 D0102 020F D0103 0002 D0104 614E 123456.78. D0105 00BC D0106 0002 D0107 7C88 387654.32. D0108 FDB0 D0109 0003 E240 123.456. D0110 D0111 0001 Note Each position requires three words. Refer to 3-4 Position Data for details.
Page 239 ON. Data writing bit 06 of word n + 10/n + 18, data write error bit 7 of word n + 10/n + 18, data reading bit 08 of word n + 10/n + 18, and data read error...
Page 240: Iord: Intelligent I/O Read
3. The range of the data transferred from the CPU Unit is checked. If the data is within range, it is moved to the specified addresses. If the data is not within range, the data is not moved, the Error Flag (CIO n+10/n+18 bit 14) is turned ON, and the error code is output to CIO n+11/n+19.
Page 241 Operand Description First destination word Specifies the first word of the CPU Unit to store the data that will be read. The following areas can be specified as the destination start word address. Refer to the SYSMAC CS Series Programmable Controller Operation Manual (W399) for details.
Page 242 IOWR and IORD Specifications Ladder Programming Examples Refer to the following examples of actual data read using an MC Unit with the unit number 0 mounted in a CS. In these examples, the IORD operands are assumed to be correct.
Page 243 IOWR instruction will not be executed if a designation is incorrect. 2. The MC Unit performs a data check to see if the MC Unit can process the data designated with the operands. The Equals Flag will be turned ON if the MC Unit can process the data.
Page 244: Transferring Data Using The Command Area
IOWR instruction will not be executed if a designation is in correct. 2. The MC Unit performs a data check to see if the MC Unit can process the data designated with the operand. The Equals Flag will be turned ON if the MC Unit can process the data.
Page 245 Transferring Positions to Addresses A0456 to A0460 Using the Command Area A total of 2,000 data items or 6,000 words can be transferred at one time when the command area is used. The following example will transfer position data for 5 positions to the MC Unit.
Page 246 6 words to be transferred (transfer data for position data always 6 words). OUT (Work bit) OUT (Work bit) Settings Transfer Data for Position Data in DM Area and Position Data that will be Transferred from DM Area 000F D0100 Total number of words written: 15...
Page 247 Reading Position Data from A0456 to A0460 Using the Command Area A total of 2,000 data items or 6,000 words can be read at one time when the command area is used. The following example will read position data for 5 words from an MC Unit.
Page 248: Saving Data
Transferred position data and system parameters are written to internal MC Unit memory where they will be used, but they will be lost if MC Unit power is turned OFF or the Unit is restarted. The data must be stored in flash memory using the command area to save the data in the MC Unit.
Page 249: Ladder Program Example
(S) and execute the IOWR instruction. 00 15 03 00 Set X =to 1 (S + 1: 0000, S: 0001) when saving (writing) position data and system parameters to flash memory. S is the source start word address (S) set in the IOWR instruction.
Page 250: Exchanging Data With The Cpu Unit
Data Transfer Words ........
Page 251: Overall Structure
Overall Structure Section 5-1 Overall Structure The CPU Unit controls the MC Unit through the PLC Interface Area during I/O refreshing (as shown in the following illustration) and by transferring data to and from the MC Unit when required. The following example is for the CS1W-MC421. PLC Interface Area addresses for the CS1W-MC221 are shown in parentheses.
Page 252 I/O READ (IORD), is executed, data is transferred between these words and the MC Unit’s internal memory. The first word allocated as the PLC Interface area is specified as “n” and can be calculated as follows: n: CIO 2000 + 10 unit number The CS1W-MC421 is allocated 50 words and the CS1W-MC221 is allocated 30 words.
Page 253: Plc Interface Area
94 and 95. 3. Because the CS1W-MC421 is allocated five unit numbers, it cannot be as- signed unit numbers 92 to 95. 4. Make sure that the same unit numbers are not used by other Special I/O Units. 5-1-2...
Page 254: Flash Memory
• G-language programs Note Refer to 4-3 Saving Data for details. 5-1-4 Restart Flags A Restart Flag can be turned ON and then OFF to restart the MC Unit without turning the power OFF and back ON again. Bit address Function...
Page 255: Controlling The Mc Unit From The Cpu Unit
5-2-1 Manual and Automatic Modes There are two ways to control the MC Unit: Manual Mode or Automatic Mode. The mode can be changed using the Automatic/Manual Mode Bit in the PLC Interface Area. The mode can be set for each task. ON: Automatic Mode, OFF: Manual Mode.
Page 256 A transition in the bit from 1 (ON) to 0 (OFF) (See note.) Note Transitions in bits are determined in the MC Unit and are not always detect- able when using the DIFU and DIFD instructions in the program in the CPU...
Page 257: Manual Mode
: Starts servo-lock. priority Each command is executed on the OFF to ON transition of its control bit. When more than one command is executed at the same time, the commands will be processed in the above order of priority. The following table shows the meanings when the control bits are ON or OFF.
Page 258 Stop command is ON. The Origin Search, Reference Origin Return, Jogging, and Enable MPG com- mands are executed on the OFF to ON transition of the bit status, and con- tinue operation while the control bit is ON. To interrupt operation, turn the control bit OFF or execute the Deceleration Stop command.
Page 259: Automatic Mode
2. Set the program number of the program to be executed. (Word n+2) 3. Turn ON the Program Number Read Bit (bit 07 of word n+3) so that the pro- gram number set in word n+2 will be read by the MC Unit.
Page 260 Program Execution Flag The Program Execution Flag is equivalent to the Manual Mode’s Busy Flag. This flag is ON while the MC program is being executed; it is OFF when pro- gram execution is completed or stopped. Cycle Start Bit...
Page 261 A transition in the bit from 1 (ON) to 0 (OFF) (See note.) Note Transitions in bits are determined in the MC Unit and are not always detect- able when using the DIFU and DIFD instructions in the program in the CPU...
Page 262 Cycle Start Bit The above ladder program is a sample program for task 1. !Caution When executing a positioning command with an MC program, all the affected axes must be servo-locked (i.e., the Servo-lock Bit must be ON). Therefore, be sure to include the above R4 condition.
Page 263 Section 5-2 Controlling the MC Unit from the CPU Unit Word Allocations for Programming Example Item MC221 Unit #0 MC421 Unit #0 R1 (Work Bit) W50001 R2 (Work Bit) W50002 R3 (Work Bit) W50003 R4 (Work Bit) W50004 Automatic/Manual Mode Bit (n+3 01)
Page 264: Plc Interface Area
Bit changes from 0 (OFF) to 1 (ON). (See note.) Bit changes from 1 (ON) to 0 (OFF). (See note.) Note For outputs, this is determined by the MC Unit, and not the CPU Unit, so in some cases it may be rejected using the DIFU/DIFD instructions.
Page 265 Section 5-3 PLC Interface Area CS1W-MC221 PLC Interface Area Outputs (CPU Unit to MC Unit) n = CIO 2000 + 10 x unit number (words) Word Contents Description Page Controls Optional Input 0 Optional Input 0 turned ON. Common to Optional Input 0 turned OFF.
Page 266 Task 1 Specifies program number executed in Automatic Mode. If the Program Number Read Bit is ON, the program number will be read when the Cycle Start Bit is turned ON and the specified program will be executed from the beginning.
Page 267 Task 2 Specifies the program number executed in Automatic Mode. If the Program Number Read Bit is ON, the program number will be read when the Cycle Start Bit is turned ON and the specified program will be executed from the beginning.
Page 268 PLC Interface Area Section 5-3 CS1W-MC221 PLC Interface Area Outputs (CPU Unit to MC Unit) n = CIO 2000 + 10 x unit number (words) Word Contents Description Page X-axis Deceleration Stop Deceleration Stop Control Bits (Man- Prohibits other manual commands.
Page 269 Y-axis override 0001 to 07CF (4-digit Hex) (Decimal: 0001 to 1999) Control Bits Decimal: 0001 to 1999 → 0.1% to 199.9% (0.1% increments) (Man- ual/ Auto) Specifies the override for axis operations. This override value is used while the override setting is enabled.
Page 270 Section 5-3 PLC Interface Area CS1W-MC221 PLC Interface Area Outputs (CPU Unit to MC Unit) n = CIO 2000 + 10 x unit number (words) Word Contents Description Page Y-axis Deceleration Stop Deceleration Stop Control Bits (Man- Prohibits other manual commands.
Page 271 Error code (4-digit Hex) Normal: 0000 The above is the error code format of the MC Unit. An error code is valid while the Error Flag is ON. If an error occurs, check the error type data to find the...
Page 272 Task 1 M code 0000 to 03E7 (4-digit Hex) (Decimal: 0000 to 0999) Status Flags The M code is output, which is valid when the M strobe is turned ON. n+13 00 to Task 1 Executing program number 0000 to 03E7 (4-digit Hex) (Decimal: 0000...
Page 273 00 to Task 2 M code 0000 to 03E7 (4-digit Hex) (Decimal: 0000 to 0999) Status Flags The M code is output, which is valid when the M strobe is turned ON. n+17 00 to Task 2 Executing program number 0000 to 03E7 (4-digit Hex) (Decimal: 0000...
Page 274 X-axis 00 to X-axis present position (32-bit signed data) n+21 Status Flags The present position of the reference coordinate system is output. The position of the decimal point is determined by the system parameter settings. n+21 n+20 Present Position Range: FD9DA601 Hex to 026259FF Hex ( 39999999 to 39999999) Example: The present position of 100 (FFFFFF9C Hex) is output as shown below.
Page 275 Y-axis 00 to Y-axis present position (32-bit signed data) n+24 Status Flags The present position of the reference coordinate system is output. The position of the decimal point is determined by the system parameter settings. n+24 n+23 Present Position Range: FD9DA601 Hex to 026259FF Hex ( 39999999 to 39999999) Example: The present position of 100 (FFFFFF9C) is output as shown below.
Page 276 Section 5-3 PLC Interface Area CS1W-MC421 CS1W-MC421 PLC Interface Area Outputs (CPU Unit to MC Unit) n = CIO 2000 + 10 x unit number (words) Word Contents Description Page System General Output 1/Brake Output port turned ON. Controls (Manual/ Output X Output port turned OFF.
Page 277 Section 5-3 PLC Interface Area CS1W-MC421 PLC Interface Area Outputs (CPU Unit to MC Unit) n = CIO 2000 + 10 x unit number (words) Word Contents Description Page Controls Optional Input 0 Optional Input 0 turned ON. Common to (Manual/ Optional Input 0 turned OFF.
Page 278 Auto) Specifies the program number executed in Automatic Mode. If the Program Number Read Bit is ON, the program number will be read when the Cycle Start Bit is turned ON and the specified program will be executed from the beginning.
Page 279 Contents Description Page Control Bits 00 to 15 Task 3 program number 0000 to 03E7 (4-digit hexadecimal) (Decimal: 0000 for Task 3 to 0999) Refer to Control Bits for Task 1 in n+2. 00 to 15 Control Bits for Task 3 Refer to Control Bits for Task 1 in n+3.
Page 280 X-axis override 0001 to 07CF (4-digit Hex) (Decimal: 0001 to 1999) Control Bits (Manual/ Decimal: 0001 to 1999 → 0.1% to 199.9% (0.1% increments) Auto) Specifies the override value for axis operation. This override value is used while the override setting is enabled. n+11 Deceleration Stop Deceleration Stop (Manual/ Prohibits other manual commands.
Page 281 Contents Description Page n+12 Y-axis 00 to 15 Y-axis override 0001 to 07CF (4-digit hex) (Decimal: 0001 to 1999) Control Bits (Decimal: 0001 to 1999 0.1% to 199.9% (0.1% increments) Refer to X-axis Control Bits in n+10. n+13 00 to 15 Y-axis Control Bits Refer to X-axis Control Bits in n+11.
Page 282 Task 4 error X-axis error Y-axis error Z-axis error U-axis error When an error occurs, an error output indicating the error type will be turned ON and will remain valid until the error is corrected. Autoloading Autoloading started. Autoloading finished.
Page 283 Status Normal: 0000 The above is the error code format of the MC Unit. An error code is valid while the Error Flag is ON. If an error occurs, check the error type data to find the type of error, such as a system, tasks 1 to 4, X-axis to U-axis error.
Page 284 00 to Task 1 M code 0000 to 03E7 (4-digit Hex) (Decimal: 0000 to 0999) Status Flags The M code is output, which is valid when the M strobe is turned ON. n+21 00 to Task 1 Executing program number 0000 to 03E7 (4-digit Hex) (Decimal: 0000...
Page 285 X-axis 00 to X-axis present position (32-bit signed data) n+37 Status Flags The present position of the reference coordinate system is output. The position of the decimal point is determined by the system parameter settings. n+37 n+36 Present Position Range: FD9DA601 Hex to 026259FF Hex ( 39999999 to 39999999) Example: The present position of −100 (FFFFFF9C) is output as shown...
Page 286 Y-axis present position (32-bit signed data) n+40 Status Flags The present position of the reference coordinate system is output. The position of the decimal point is determined by the system parameter settings. n+39: Rightmost 16 bits, n+40: Leftmost 16 bits Refer to X-axis present position in n+36 and n+37.
Page 287: Interface Specifics
MC221 and bit 05 of word n+18 for the CS1W-MC421. “n” is the first word allocated to the MC Unit as a PLC Interface Area and it can be calculated from the unit number set on the front of the Unit as follows:...
Page 288: System Controls
The CS1W-MC221 does not have brake outputs X and U. !Caution If a brake output is being used for a vertical axis and the Brake Output Bit is turned ON for that axis when the servo is unlocked, the axis will descend. You must confirm safety before turning ON a Brake Output Bit.
Page 289 MC421 Output Manual or Auto This bit can be turned ON to reset errors that have occurred during autoload- ing. The bit should be kept ON until the Autoloading Error Flag (n+10, 05, n+18, 05) turns OFF. Autoloading can be controlled using the IOWR instruction. Refer to 4-1 Data Transfer and Storage: Overview and 6-16 Automatic Loading for details.
Page 290 Error Counter Function Selection Bit Word Valid mode MC221 MC421 Output Manual or Auto This bit is used to specify the operation of the error counter. It can be used to set either error detection (default) or a warning indication.
Page 291 Interface Specifics OFF: Error Counter Error Detection An error will be generated if the error counter warning value set in the system parameters is exceeded and the error code will be set for an error counter overflow. The axis for which the error was detected will stop as shown in the following timing charts.
Page 292: Controls Common To All Tasks
MC421 Output Manual or Auto Turn ON this bit to reset MC Unit errors. This bit must be kept ON until the Error Flag turns OFF. When the Error Flag turns OFF, error type data will turn OFF as well.
Page 293: Task Control Bits
The number must be between 0000 and 03E7 hex (0000 to 0999 decimal). When the Program Number Read Bit is ON, the program numbers in these words will be read when the Cycle Start Bit is turned ON and the program will be executed from the beginning.
Page 294 Task 3 Task 4 These bits are used to specify the mode for each task. Turn ON a bit to spec- ify Automatic Mode; turn OFF a bit to specify Manual Mode. In Manual Mode, manual origin searches, manual origin returns, and jogging are possible. In Automatic Mode, the MC programs can be executed.
Page 295 The Cycle Start Bit is read at the start of each block and execution continues if it is ON. If the Cycle Start Bit is OFF, the program will be stopped. In Pass operation, the next block will be executed even if the Cycle Start Bit is OFF but the program will be stopped after the next block has been completed.
Page 296 (n+3, 02) Program Number (n+2) Program Number Read Bit (n+3, 07) P001 execution P002 execution Program execution Pass Operation: The Cycle Start Bit is OFF, so execution is stopped after N005 has been completed. N003 X100 F100 N004 X300 F200 N005...
Page 297 Cycle Start Bit Note When executing positioning command in a MC program, all of the axes being used must be servo-locked (Servo Lock ON Flags ON), so be sure to add a condition like R4 in the program example above.
Page 298 An origin search was executed. Jogging was executed. A servo lock was executed. c) The Cycle Start Bit was turned ON to continue operation after return- ing to Automatic Mode. For example, the following type of operation is possible: The program can be temporarily suspended while moving to X10000 and stopped at a position before the demand position, e.g., X500.
Page 299 These bits are used to execute programs one block at a time. The Single Block Bits and Cycle Start Bits are used together. • A single block can be executed by turning ON a Single Block Bit and then turning the Cycle Start BIt ON and then OFF.
Page 300 Any axes that are operating will be decelerated to a stop. If the block being executed is waiting for an M code reset, the M code will be cleared to 0, the M strobe will be turned OFF, and then program execution will be stopped.
Page 301 Program Number Read Bit is OFF. Operation of the Cycle Start Bit is disabled as long as the Pause Bit is ON. (The program won’t be executed when the Cycle Start Bit is turned ON if the Pause Bit is ON.)
Page 302 These bits reset the M code output for each task. If M code 0 to 499 is output in the program, that block will wait for an M code reset and other commands will not be executed. The M Code Reset Bit can be turned ON to clear the M code to 0 and turn OFF the M Strobe Flag.
Page 303 Section 5-4 Interface Specifics When M codes 500 to 999 are being output and this bit is turned ON, the M code will be reset in either Automatic or Manual Mode. Signal Function If an M code is on standby (M000 to M499), the M code will be reset.
Page 304 These bits specify reading the number of the MC program that will be exe- cuted in each task. Status is read when the Cycle Start Bit turns ON. If a bit is ON when the Cycle Start Bit turns ON, the Program Number set in the PLC Interface Area will be read and the specified program will be executed from the beginning.
Page 305 Task 2 Task 3 Task 4 These bits are set to specify which position is used for teaching. There are two positions that can be specified: Target Position and the Present Position. • Target Position: The present position of the command •...
Page 306: Axis Control Bits
The setting must be between 0001 and 07CF hex (0001 to 1999 decimal) cor- responding to 0.1% to 199.9%. Refer to the Override Setting Bits on page 299 for the types of axis feed oper- ations for which the overrides are effective.
Page 307 0001 Hex (See note.) override (50.0%) designated override Note: Can be used with Unit Ver. 1.15 or later, and with Units whose model number ends in -V1. Unit Ver. 1.14 or earlier will use default operation. Programing Example Refer to the Override Setting Bits on page 299.
Page 308 Origin Search Bit is turned OFF while the search is in progress. Keep the bit ON until the No Origin Flag turns OFF. When the Origin Search Method machine parameter has been set to set the origin at power ON, that position will be the origin for manual origin searches.
Page 309 Z axis n+17 U axis These bits can be turned ON to move to the origin of the reference coordinate system using PTP control. The high-speed feed rate, acceleration time, and deceleration time are used during the operation. The override (0.1% to 100.0%) are effective for the manual origin return. An error will occur if a Reference Origin Return Bit is turned ON but the mechani- cal origin hasn’t been established.
Page 310 Z axis n+17 U axis These bits are used to jog the axes. The axis is moved in the specified jog direction when a bit is turned ON and decelerates to a stop when a bit is turned OFF. Jogging is performed with PTP control using the high-speed feed rate, accel- eration time, and deceleration time.
Page 311 U axis These bits can be turned ON to reset the error counters to 0. An error counter will be reset only once each time the bit turns ON. The error counter will be reset at the following times.
Page 312 (n+22, 05/n+38, 05) Error Flag (n+10, 14/n+18, 14) If the Error Counter Reset Bit is ON at the completion of an origin search operation, the error counter will be reset to 0. Resetting an Error Counter in Automatic Mode The following functions are performed by the Error Counter Reset Bit in Auto- matic Mode.
Page 313 The following example shows linear interpolation on the X axis in Stop Mode. The same functionality and timing is used for linear interpolation for multiple axes or for circular interpolation. In this example, it is assumed that the error counter warning function has been set for the error counter.
Page 314 Section 5-4 Interface Specifics Operation in Stop Mode In this example, the error counter is set to generate error counter warnings. N000 P000 X N010 G11 Stop Mode specified. N020 G01 X100 F100 N030 G01 X-100 F100 Etc. The pulses in the error counter have...
Page 315 N020 G01 X100 F100 N030 G01 X200 F100 N040 G01 X300 F100 etc. Program execution is restarted when Error Counter Reset Bit is turned OFF. Speed reference Time The error counter is reset here Error Counter Reset Bit Operation in Pass Mode...
Page 316 The axes will not necessarily stop at the same time when PTP control (G00, G26, G27, or G28) is being performed for two or more axes. Operation will be as follows if an Error Counter Reset Bit is turned ON during PTP control.
Page 317 The software limits are checked when this command is executed, and the present position won’t be set to 0 and an error will occur if the position of the origin is not within the software limits.
Page 318 The present position in the MC Unit is stored as the absolute position in the system parameters (machine specification parameters), and the present posi- tion in the MC Unit is set to 0. The current system parameters are then saved in non-volatile memory.
Page 319 U axis These bits are used to start MPG or sync encoder operation. As long as a bit is ON, the input pulses from the MPG/sync encoder will be read and multiplied by the MPG/Sync Ratio to perform MPG operation.
Page 320 U axis These bits are used to lock the servo. The processes listed below are per- formed when a bit turns ON. The bit is ignored if the servo is already locked. 1,2,3... 1. If an absolute encoder is being used, the present position is read from the encoder and the origin is established.
Page 321 Section 5-4 Interface Specifics Using Brake Signal and Wiring Check The Busy Flag will not turn OFF until the wiring check has been completed even if the Servo-lock Bit turns OFF. Servo-lock (n+7, 09/n+11, 09) Tboff: Brake OFF time Ts: Wiring check time...
Page 322 Processing will not be interrupted even if a deceleration stop is specified dur- ing execution of this command. This command is ignored if the Busy Flag is ON. Keep the command bit ON until the Servo-lock Flag turns ON. Turn OFF the command bit after the Servo-lock Flag turns ON. Timing Charts...
Page 323 The servo-unlock process won’t be interrupted even if the deceleration stop command is executed. A Servo-unlock Bit is ignored if the Busy Flag is ON. Keep the bit ON until the Servo-lock Flag turns OFF and then turn OFF the bit when the Servo-lock Flag turns OFF.
Page 324 Processing will not be interrupted even if a deceleration stop is specified dur- ing execution of this command. Keep the command bit ON until the Servo-lock Flag turns OFF. Turn OFF the command bit after the Servo-lock Flag turns OFF.
Page 325 Interface Specifics 1,2,3... 1. Switch to Manual Mode and lock the servo. 2. Switch back to Automatic Mode. 3. Turn ON the Cycle Start Bit. Program execution will start from the block where program execution was canceled. Signal Function Servo-unlock operation started.
Page 326 U axis These bits are used to change the feed rates. When a bit is turned ON, the override set for the axis will be read and applied. When a bit is OFF, operation will be determined by the override function selec- tion (see note) as follows: Override function selection = 0000 hex: The overrides are applied.
Page 327 Override Function Selection: 0001 Hex (See note.) Note: Can be used with Unit Ver. 1.15 or later, and with Units whose model number ends in -V1. Unit Ver. 1.14 or earlier will use default operation. Programming Example Set the override in...
Page 328: System Status
Z-axis error (See note.) U-axis error (See note.) Note The CS1W-MC221 does not support tasks 3, task 4, the Z axis, or the U axis. The Error Type Data can be used to identify the task and axis for which an error occurred when the Error Flag (n+10, 14/n+18, 14) turns ON.
Page 329 Section 5-4 Interface Specifics Timing Chart The following timing chart shows the status when an error occurs for task 1. Error Flag (n+10, 14/n+18, 14) Error Type Data (n+10, 00/n+18, 00) (n+10, 01/n+18, 01) (n+10, 02/n+18, 02) (n+10, 03/n+18, 03)
Page 330 Input The Autoloading Error Flag will turn ON when an error occurs at the start of or during autoloading. The following errors can be detected. Errors on CX-Motion The following items are checked on the CX-Motion when the IOWR instruction is executed in the CPU Unit and errors are generated if any problems are found.
Page 331 Input The Data Reception Flag will turn ON when position data is read as a result of executing the Position Data Read Command (17D7 hex) for the Command Area using the IOWR instruction in the ladder diagram. This flag will not turn...
Page 332 This flag will be turned ON for the following errors. The = Flag will turn ON for the following errors, but the Error Flag in the PLC Interface Area will turn ON and the read will not be completed normally.
Page 333 Input The Teaching Box in Enable Mode Flag is ON when the Teaching Box is in Enabled Mode. Use this flag as a condition to interlock the ladder program for this mode. When this flag is ON, the only commands that can be received from the CPU Unit are the Error Counter Function Selection, Deceleration Stop, Forced Block End, Pause, Optional Inputs, and M Code Reset.
Page 334 If more than one error occurs, the error type data and error code indicate the error detected first. The order of priority for detecting the system, task, and axis errors is as follows: System, task 1, task 2, task 3, task 4, X axis, Y axis, Z axis, and U axis.
Page 335 The Autoloading Time Up Flag will remain ON until it is reset by turning ON the Autoloading Error Reset Flag. You can prevent the Autoloading Time Up Flag from turning ON by increasing the Time Up Time or by setting the time to 00 when the time does not need to be monitored. Signal...
Page 336: Task Status
MC Unit. Normal (no error): 0000 The error code will be 0000 when there is no error. The error code is valid when the Error Flag is ON. The location of the error can be determined in the Error Type Data (system, task 1 to 4, X to U axes).
Page 337 • An error of an axis controlled by the task. The Task Error Flag will be turned OFF if the Error Reset Bit is turned ON, but if the cause of the error isn’t corrected, the Task Error Flag will be turned ON again the next time the task is executed.
Page 338 The Program Execution Flag will be ON when an MC program is being exe- cuted in Automatic Mode. This flag is also ON when the M code is being reset. The flag will remain ON when decelerating to a stop; it will be turned OFF when the axes are fully stopped.
Page 339 Use the status of the Program Execution Flag to determine how long to keep ON control bits such as the Pause Bit or Forced Block End Bit when executing those commands. This flag can also be used as an interlock condition, check- ing whether the MC program is being executed or not.
Page 340 An M Code Reset Standby Flag will be ON whether MC program execution has been stopped to wait for an M code to be reset. When this flag is ON, MC program execution won’t continue until the M Code Reset Bit is turned ON and then OFF again.
Page 341 Task 2 n+31 Task 3 n+35 Task 4 The M Strobe Flags will be ON when an M code is being output. Signal Meaning There is an M code being output (0 to 999). There isn’t an M code output.
Page 342 Task 3 n+35 Task 4 A Cycle Start Received Flag will turn ON when the Cycle Start Signal (rising) is received. Use this flag to control Cycle Start Bit timing when executing one block at a time (single block execution).
Page 343 Task 3 n+35 Task 4 The Teaching Error Flag will turn ON if a teaching error occurs. When an error has occurred, the Teaching Completed Flag and Teaching Address Setting Completed Flag will be turned ON at the same time.
Page 344 Bit (one for each task: n+3, 09, n+7, 09, n+9, 09). The above error can occur at the following times. • The teaching address set for IOWR is not within the range of position data addresses. • The following condition was not met when turning on the Teaching Bit.
Page 345: Axis Status Flags
Range: FD9DA601 to 026259FF hex (–39999999 to 39999999 decimal) Example: The present position of –100 (FFFF FF9C hex) is output as shown below. When the minimum setting unit for the X axis is 0.1 this value will be displayed as –10.0. n+21...
Page 346 Z axis n+47 U axis A Busy Flag will turn ON when a command is being executed in Manual Mode. The Busy Flag will be turned ON when one of the following commands is being executed. Origin Search Reference Origin Return...
Page 347 U axis A Servo-lock ON Flag will turn ON when the servo is locked. The servo lock is the status in which the Run command is output to the Servo Driver. Execute positioning commands when this flag is ON; an error will occur if they are exe- cuted when this flag is OFF.
Page 348 An Axis Operating Flag will turn ON when the axis is operating. An operating axis is an axis that is being given a command value to move the axis. For example, when the axis is being operated with a trapezoidal curve, the axis is operating from the start of the acceleration command to the end of the deceleration command.
Page 349 ON when the axis is within the in-position range. When a positioning operation is started, the Positioning Completed Flag will be turned OFF at the same time that the Axis Operating Flag is turned ON. Use the Positioning Completed Flag as a condition to check when the target position has been reached and the next command can be executed.
Page 350 Y axis n+44 Z axis n+47 U axis An Alarm Input Flag will turn ON when the driver alarm input is ON and will turn OFF when the alarm input is OFF. Signal Meaning The driver alarm input is ON.
Page 351 Section 5-4 Interface Specifics...
Page 352: Basic Positioning Operations
Helical Circular Interpolation ........
Page 353: Overview
: A transition in the bit from 1 (ON) to 0 (OFF) (See note.) 1: ON 0: OFF Note Transitions in bits are determined in the MC Unit and are not always detect- able when using the DIFU and DIFD instructions in the program in the CPU Unit.
Page 354: Ptp Control
X axis is set to the same feed rate as the Y axis. Both the X axis and Y axis move to a coordinate of 50 over the same duration of time. At this point, the Y axis stops and the X axis moves to a coordinate of 100.
Page 355: Linear Interpolation
Positioning with linear interpolation produces a straight line that connects a preset starting point to a preset end point using all specified axes (X to U). For details on using linear interpolation with the G language, refer to 7-3-2 G01:...
Page 356 Section 6-3 Linear Interpolation Linear interpolation from the point A to the point B will be as shown below when using the X and Y axes. Y-axis movements X-axis movements Designated interpolation feed rate Fx: Interpolation feed rate of the X axis based on F...
Page 357 This mode is normally set to OFF (i.e., it is turned OFF in the CX-Motion default settings). When it is turned ON (enabled), positioning will be executed at acceleration and deceler- ation times according to the interpolation feed rate, as shown in the following diagram.
Page 358: Circular Interpolation
Triangular Control When the mode is set to the Stop Mode and if the travel time is shorter than the sum of the interpolation acceleration time and the deceleration time, trian- gular control will be performed, just as it is for PTP control.
Page 359: Helical Circular Interpolation
Section 6-5 Helical Circular Interpolation of the locus of actual movements is smaller than the radius of the arc due to accumulated pulses. End point Locus of actual movements Center of a circle Starting point The interpolation acceleration time, the interpolation deceleration time, and triangular control are the same as for linear interpolation.
Page 360 Section 6-5 Helical Circular Interpolation The helical circular interpolation locus is as shown below for circular interpola- tion executed for the X and Y axes and the Z axis added as a supplemental axis. Supplemental axis The Z-axis feed rate is obtained by the following equation:...
Page 361: Interrupt Feeding
For details on using interrupt feeding with the G language, refer to 7-3-14 G31: INTERRUPT FEEDING. It is also possible to specify a travel distance at which to stop when there is no interrupt input. Operation will normally stop with an error (program execution interrupted) after positioning, but an S option can be used to execute the next block without an error occurring.
Page 362 Section 6-6 Interrupt Feeding Constant Speed In this example, only speed reference 1 is specified. The X axis is moved by 100 mm at 200 mm/s (speed reference 1) with speed control. General input 1 X-axis speed Position control Speed control...
Page 363: Traverse Function
360 . Example Application In this example, the wire is wound around a spool on a winding machine. The spool is turned in a fixed direction and the traverse axis is operated according to the settings for the traverse function.
Page 364: Operating Modes
The operating mode can be changed by the operations and G codes shown in the following table. Once the operating mode has been changed, the new mode will remain in effect until it is again changed by one of these methods. Methods for Changing the Operating Mode...
Page 365: Stop Mode
Operating Modes Among those G codes that execute positioning actions, there are some for which any of the three operating modes can be selected and some for which positioning is always executed in Stop Mode. These G code operations are shown in the following table.
Page 366: Pass Mode
Pass Mode when the continuous operation commands are given as shown below. The Pass Time Mode Selection in the Unit parameters can be used to select, when Pass Mode is used, whether positioning will move to the next operation in the interpolation acceleration time or the interpolation deceleration time of the immediately preceding operation.
Page 367 Note The acceleration/deceleration curve, including that for arc interpolation, will be trapezoidal even if an S-curve is specified. When the Pass Mode is specified as the operating mode, the time required for movements is reduced because there is no need to determine whether posi- tioning has been completed.
Page 368 Section 6-8 Operating Modes If a pass operation is executed in the Constant Acceleration Mode, the accel- eration and deceleration times will always be constant as shown in the follow- ing diagram. Speed Time Acceleration = Max. interpolation feed rate / interpolation acceleration time Deceleration = Max.
Page 369: In-Position Check Off Mode
Operating Modes When Constant Acceleration Mode Is ON Linear interpolation pass operations are executed as shown in the following diagram when the Constant Acceleration Mode is ON. The next block is exe- cuted after the demand position is created. Speed...
Page 370 Section 6-8 Operating Modes Constant Acceleration The Constant Acceleration Mode can be used only for single-axis linear inter- Mode Limitations polation. When two or more axes are operated following a linear interpolation operation in the Constant Acceleration Mode, the next operation will be exe- cuted after positioning has been completed regardless of the operating mode setting.
Page 371 X and Y axes followed by traverse operation for the Z and U axes. 2. This indicates cases such as executing ZU-plane circular interpolation af- ter XY-plane circular interpolation.
Page 372: Changing Parameters
In Pass Mode and In-position Check OFF Mode, the G-language program is read in advance. In addition, the pre-reading stops in the following situations, so the operations are always executed as if in Stop Mode, regardless of the actual operating mode.
Page 373: Stopover Function
Monitoring for the stopover function is performed in the command direction when movement is started. Specify the stopover function only for a moving axis. If a version-1 Unit is used, an M code out of range error (0025) will occur if the travel amount is 0.
Page 374 Amount of travel: 50 mm Time After the D code or M code, place a “/” followed by the axis name and the amount of travel. Axis name: Specify X, Y, Z, or U. Amount of travel: Specify the amount of travel, without sign, in the direction of the demand position (determined by the present position).
Page 375: Cpu Unit Interrupt Processing
CPU Backplane. It cannot be used if the MC Unit is mounted to an Expansion I/O Rack. When an interrupt task is used in the CPU Unit, a setting must be made in the PLC Setup. For details, refer to the manual for the CPU Unit.
Page 376: Override Function
Mode: Automatic or Manual; Method: Bit designation The override function is designed to change the operation speed by multiply- ing the speed that is set in the system parameters or G commands by a spec- ified factor. Setting methods are different depending on whether the PTP control is used or interpolation is used.
Page 377 (0001 to 1999: 0.1 to 199.9%) Override Setting MC421 n+11 n+13 n+15 n+17 1: Override enabled MC221 0: Override disabled Even if an override is set for a given axis, it will be disabled if the Override Set- ting Bit is turned OFF.
Page 378: Resetting The Error Counter
The override is enabled (X = 0) when the power is turned ON. Note The override function selection can be used only with Unit Ver. 1.15 or later, and with Units whose model number ends in -V1. For Unit Ver. 1.14 or earlier, the operation will be as described above for X = 0.
Page 379 Manual Mode. In the following example, linear interpolation is executed in Stop Mode on the X axis. The operation and timing would be the same for either linear or circular interpolation using two or more axes.
Page 380: Servo Lock And Unlock
MC Unit models, it is also possible to set general outputs as brake signal outputs and to turn them ON and OFF in sync with servo lock and unlock. The ON and OFF times can also be set as required.
Page 381: Timing Charts
Section 6-14 Servo Lock and Unlock If the machine parameters are set for a wiring check to be performed, it will be performed at powerup and with the first servo lock. If everything is normal, the wiring check will not be performed with the next servo lock.
Page 382: Related System Parameters
6-14-2 Related System Parameters The system parameters required for the output port settings and the wiring check are all set using CX-Motion. The IORD instruction can be used for read- ing only. Refer to the addresses shown in the following tables.
Page 383: Backlash Correction
As shown in the following illustration, for example, the position of a machine moved by 100 mm in the forward direction is different from that of the same machine moved by 100 mm in the reverse direction if there is a 1-mm back- lash, even though there is no difference in position between the driving axes.
Page 384: Setting Backlash Correction
For details on using CX-Motion to make this setting, refer to the CX-Motion Online Help. Using IOWR For details on using the IOWR instruction to transfer data to the MC Unit, refer to SECTION 4 Data Transfer and Storage. To use IOWR to set the backlash correction, set the backlash correction address in the IOWR control code (C) and then transfer the backlash correc- tion value to the MC Unit.
Page 385 In the following example for transferring data, the MC Unit is mounted to a CS- series PLC and assigned unit number 0. In this example, the backlash correc- tion value is set to 1,000 pulses, and the IOWR operands and the data to be transferred are assumed to be normal.
Page 386: Automatic Loading
Mode: Automatic or Manual; Method: Command Area designation, CX- Motion A maximum of 100 programs and up to 2,000 blocks in all programs total can be saved. The automatic loading function is provided for additional programs in order to support applications requiring more program capacity. This func-...
Page 387: Executing Automatic Loading
1,2,3... 1. The MC Unit’s job number is always monitored by CX-Motion. 2. Using the IOWR instruction, a new job number is written to the job number currently in the MC Unit. 3. When CX-Motion detects the specified job number, the program and posi- tion data are downloaded to the MC Unit from the file for that job number created by CX-Motion.
Page 388 Range: 00 to B4Hex (0 to 180 s) Time up will not be monitored if 00 is set. Note Programs and position data will not be properly downloaded to the MC Unit if the personal computer cable is disconnected or CX-Motion downloading is interrupted during execution of the automatic downloading function.
Page 389: Related Bits In The Plc Interface Area
For details on the PLC Interface Area, refer to 5-3 PLC Interface Area. Autoloading Flag This flag turns ON when the data for the specified job number begins to be downloaded as the result of executing the IOWR instruction. It turns OFF when all of the data for that job number has been downloaded.
Page 390: Present Position Preset
Section 6-17 Present Position Preset Error Flag will turn ON. If that occurs, the data transferred up to that point will be discarded. Job number Automatic loading command (IOWR instruction) Autoloading Error Reset Bit (n, 05) Autoloading Error Flag (n+10, 05; n+18, 05) Autoloading Flag (n+10, 04;...
Page 391: Executing Present Position Preset
To execute present position preset, set the following addresses for the IOWR instruction’s control code (C) and then transfer the present position preset value to the MC Unit. For details on the Command Area, refer to 3-6 Com- mand Area. For details on IOWR specifications, refer to SECTION 4 Data Transfer and Storage.
Page 392: Electronic Gear Function
This setting specifies the ratio for pulse input devices connected to the MPG or sync encoder. For the MPG, it is used to maintain a ratio of one. When it is set for a sync encoder, the ratio can be specified as 1, 2, or 4.
Page 393 Regardless of which of these methods is used, the change will go into effect immediately. Note With the electronic gear function, when there is a remainder in the total when the input pulses are multiplied by the gear ratio, it is possible to achieve highly accurate synchronization by adding the remaining pulses to the next input pulses.
Page 394 (4) Ladder Programming Example In this example, the electronic gear ratio for set value 1 of the X axis (address 113A hex) is set to 0.1 (1/10). The MC Unit is mounted to a CS-series PLC and assigned unit number 0, and the data to be transferred (i.e., the numera- tor and denominator) is stored in words D00100 to D00103.
Page 395 Section 6-18 Electronic Gear Function When debugging, check the Error Flags from the ladder program. 00000 Execution condition DIFU W00001 (work bit) W00001 W00003 MOVL #00000001 D00100 This is the numerator address (4410) for the X-axis SV1. W00002 IOWR 113A hex (4410)
Page 396: Related Bits
In positioning operations, the speed is accelerated gradually at the beginning and decelerated gradually toward the end to achieve smooth movement. For the MC Unit, either a trapezoidal curve or an S curve can be used as the acceleration and deceleration curve for the starting and stopping operations for each axis.
Page 397: Unlimited Feeding
1.5. The maximum acceleration in the S curve will then fall within the acceleration set for the trapezoidal curve, allowing the motor to be driven smoothly. The S curve used by the MC Unit uses a tertiary function, as shown in the fol- lowing diagram. Speed...
Page 398: Setting System Parameters
Section 6-20 Unlimited Feeding position will be updated as shown in the following diagram if a range of 0 to 360 is set. The number of turns will be remembered. Present position Example settings: Machine parameters Axis mode: Unlimited Mode (See note.) Display unit: Degrees Minimum setting unit: 0.1...
Page 399: Stopping
For example, when controlling a turntable, suppose that the present position update range is 0 to 360 . If the gear ratio is 7/99 and the encoder resolution is 1,000 pulses, the following error will be accumulated with each 360-degree turn.
Page 400: Changes Made To The Driver Alarm Input Stop Method
Feedback control is not performed while outputting 0 V and while waiting for the brake to turn ON after outputting 0 V. It is thus possible that the axis will be rotating. (Feedback control is performed while waiting for the brake to turn ON for a servo unlock command, and thus the axis will not rotate.)
Page 401 Section 6-21 Stopping command output will also be turned OFF when other errors that result in an emergency stop are generated. Note When using models with the previous specifications, take appropriate coun- termeasures against dropping in the vertical axis. With brake output enabled:...
Page 402: G-Language Programming
G11: STOP MODE........
Page 403: Programs And Tasks
Number of Tasks and Axes The X and Y axes can be used with the CS1W-MC221, and the X, Y, Z, and U axes can be used with the CS1W-MC421. Each axis can be used for only one task, i.e., any axis assigned to one task cannot be used in another task.
Page 404: G Language Overview
G Language Overview Tasks and Programs A maximum of 100 programs can be managed by the MC Unit. The number of programs that can be managed per task depends on the number of tasks as shown in the following table. These figures include subroutines.
Page 405: G-Language Formats
Section 7-2 G Language Overview Code Name Function Page SPEED CONTROL Feeds up to two or four axes simultaneously at a con- trolled speed. INTERRUPT FEEDING Performs interrupt feeding operations. TRAVERSE Executes traverse operations. SELECT REFERENCE COORDINATE SYSTEM Specifies the reference coordinate system.
Page 406 Section 7-2 G Language Overview Name Code Operands CIRCULAR INTERPOLATION [<Axis movement command ... >]_<I to H center coordinate ...> (CLOCKWISE)T [_F<speed reference>] [_M<M code>[/Stopover (Note 2.)]] [_D<D code>[/Stopover (Note 2.)]] [_L<number of turns>][_#<optional number>] [<Axis movement command ... >]_<R radius>...
Page 407: List Of G Symbols
INCREMENTAL SPECIFICA- TION Note 1. Not supported by the CS1W-MC221. 2. The stopover function can be used with either an M code or a D code, but not with both. 7-2-3 List of G Symbols The following table lists the symbols used in G-language programming.
Page 408 Note Not supported by the CS1W-MC221. Specifying Position Data Addresses (A0000 to A1999) It is possible to use the contents of a position data address for position data or an M code by specifying that address in an operand in an axis movement command or M code.
Page 409: Declaring Program Numbers And Axes
Section 7-2 G Language Overview Indirect Addressing of If the register name is in parentheses, i.e. (E00), the content of register will be Position Data treated as a position data address. For example, when the following program is executed, the contents of A1000 (123.45) will be used for the X-axis data and the contents of A1001 (50) will...
Page 410: Default Mode And Coordinate System
Various modes and coordinate systems can be used when a G-language pro- gram is executed. The following table shows the default settings for these. The following defaults will always be set before executing the first block of a G- language main program.
Page 411: G-Language Commands
G00_<Axis movement command ...> [_M<M code>[/Stopover (Note.)]] [_D<D code>[/Stopover (Note.)]] [_#<optional number>] Note The stopover function can be used with either an M code or a D code, but not with both. Operands The following table shows the possible settings for the operands.
Page 412: G01: Linear Interpolation
N010 N011 X100 Y50 M001 Note The X and Y axes are operated at the same speed in the above examples. 7-3-2 G01: LINEAR INTERPOLATION Performs linear interpolation on up to 4 axes simultaneously at the specified interpolation feed rate.
Page 413 Stop Mode, not Pass Mode. For details on the Pass Mode, refer to 7-3-5 G10: PASS MODE. If the same interpolation acceleration/deceleration times and override values are not set for all of the axes used in a task, the settings for the axis with the...
Page 414 Refer to 6-8 Operating Modes for details on interpolation acceleration and deceleration times in Pass Mode. The override value is read only for the first G01 command in Pass Mode or In- Position Check OFF Mode. When the product of the specified interpolation feed rate and override...
Page 415: G02 And G03: Circular Interpolation
Performs two-axis circular interpolation in the clockwise (G02) or counter- clockwise (G03) direction at the specified interpolation feed rate. With the CS1W-MC421, it is also possible to perform 2-axis circular interpola- tion + 1-axis linear interpolation (helical circular interpolation) and 2-axis cir- cular interpolation + 2-axis linear interpolation.
Page 416 I, J, K, and H are the center coordinates (relative position) for the X, Y, Z, and U axes respectively. Note Refer to 7-4 M Code Outputs for details on M codes, and to 7-4-9 D Code Out- puts for details on D codes. Refer to 7-4-10 Stopover Function for details on the stopover function.
Page 417 The axis with the highest priority must be the horizontal axis. The following diagrams show the order of priority. High If an axis that is not defined as the circular plane is specified, that axis will move by linear interpolation, and the speed of the supplemental axis will be as follows:...
Page 418 Section 7-3 G-language Commands !Caution When circular interpolation is performed in Pass Mode and an M code from 0 through 499 or an optional number is specified, the interpolation will be per- formed in Stop Mode, not Pass Mode. For details on the Pass Mode, refer to 7-3-5 G10: PASS MODE.
Page 419 Feed pitch for the first revolution in the Z-axis direction (always relative movement) Stop position after 10 revolutions Note If the multiturn function is specified for a complete circle, the axis will move the number of turns plus one revolution. Programming Examples The following programming example shows circular interpolation with center coordinate specification.
Page 420 Section 7-3 G-language Commands The following program shows circular interpolation with radius specification (R>0). An arc smaller than a semicircle will be drawn when R>0. Incremental specification N010 Makes X-Y the circular plane. N011 N012 F300 End point (target value)
Page 421 Helical Movement Absolute specification N010 X-Y circular plane specification N011 N012 Y100 Z20 I-30 J0 F500 Start point coordinate P (50, 100, 0) Z-X plane End point coordinate P (50, 100, 20) Center coordinate O (20, 100, 0) X-Y plane...
Page 422: G04: Dwell Timer
Description This command waits for a specified wait time. The wait time can be specified by a register or a position data address. If the memory contents have four or more digits below the decimal point, the fourth digit is rounded off. An error will occur if the resulting number is outside of the acceptable range (0.001 to 39,999.994).
Page 423: G10: Pass Mode
Section 7-3 G-language Commands !Caution If this command is executed just after a G01, G02, G03, or G32 command, the interpolation will be performed in Stop Mode, not Pass Mode, even if Pass Mode has been selected. Programming Example In this example, the dwell timer waits 10 seconds between linear interpolation operations.
Page 424 G-language Commands !Caution The following commands will pause pre-reading and switch any axis that is moving to Stop Mode. (The axis will decelerate to a stop when positioning is completed, and an in-position check will be performed). • G00 (PTP) •...
Page 425: G11: Stop Mode
4. WORKPIECE ORIGIN RETURN (G27) 5. ORIGIN SEARCH (G28) Note A reset will be performed and the operating mode will be switched to Pass Mode when a REFERENCE ORIGIN RETURN (G26), WORKPIECE ORIGIN RETURN (G27), or ORIGIN SEARCH (G28) command is executed.
Page 426: G13: In-Position Check Off Mode
• ORIGIN SEARCH (G28) The following commands will pause pre-reading and shift any axis that is mov- ing to Stop Mode. (The axis will decelerate to a stop when positioning is com- pleted, and an in-position check will be performed).
Page 427: G17 To G22: Circular Plane Specification
The next operation will not be execut- ed until positioning is completed (i.e., until the error counter is within the in- position area). In this programming example, the In-position Check OFF Mode is enabled. Switch to In-position check OFF Mode N010 N020...
Page 428 Section 7-3 G-language Commands Description This command specifies the plane in which circular interpolation is performed, as shown in the following table. Code Plane Specifies the X-Y plane. Specifies the X-Z plane. Specifies the Y-Z plane. Specifies the X-U plane.
Page 429: G26: Reference Origin Return
Format G26_<Axis name ... >[_M<M code>[/Stopover (Note.)]] [_D<D code>[/Stopover (Note.)]] Note The stopover function can be used with either an M code or a D code, but not with both. Operands The following table shows the possible settings for the operands.
Page 430: G27: Workpiece Origin Return
Format G27_<Axis name ... >[_M<M code>[/Stopover (Note.)]] [_D<D code>[/Stopover (Note.)]] Note The stopover function can be used with either an M code or a D code, but not with both. Operands The following table shows the possible settings for the operands.
Page 431: G28: Origin Search
Format G28_<Axis name ... >_[M<M code>[/Stopover (Note.)]] [_D<D code>[/Stopover (Note.)]] Note The stopover function can be used with either an M code or a D code, but not with both. Operands The following table shows the possible settings for the operands.
Page 432: G29: Origin Undefined
X, Y, Z, U +, – Description The axis is fed in the positive direction if the coordinate data is set to positive. The axis is fed in the negative direction if the coordinate data is set to nega- tive.
Page 433: G31: Interrupt Feeding
G31_<Axis name> <Coordinate 1>[/<Coordinate 2] [_F <Speed Reference 1>] [_F <Speed Reference 2>] [_M<M code>[/Stopover (Note.)]] [_D<D code>[/Stopover (Note.)]] [_S] Note The stopover function can be used with either an M code or a D code, but not with both.
Page 434 Set Speed Reference 1 to a higher value than Speed Reference 2. Note Refer to 7-4 M Code Outputs for details on M codes, and to 7-4-9 D Code Out- puts for details on D codes. Refer to 7-4-10 Stopover Function for details on the stopover function.
Page 435 Speed Reference 1 is larger than of Speed Ref- erence 2. 3. The value of a speed reference must be the same as or less than the max- imum feed rate. If the value is larger than the maximum feed rate, the axis will move at maximum feed rate and the override will be enabled for the speed control but disabled for the position control.
Page 436 G-language Commands Speed Reference 2 Omitted 1,2,3... 1. A general input is turned ON while the axis is moving at constant speed, but the deceleration time is extremely short because the speed is high and the movement is small. General input ON 2.
Page 437 Speed Reference 2 Specified 1,2,3... 1. A general input is turned ON while the axis is moving at constant speed, but the deceleration time is extremely short and the speed is not deceler- ated to what was specified with Speed Reference 2 because the speed of the axis is high and the movement of the axis is small.
Page 438 Example 100/200 F200 An interrupt input signal can be received at any time. The axis will be fed the reference amount at the going speed if an interrupt is input during decelera- tion. Operation when an interrupt signal is input during deceleration...
Page 439: G32: Traverse
[_O<Trailing end specification>](Note 2) _L<Number of layers> Note 1. The stopover function can be used with either an M code or a D code, but not with both. 2. When winding at the end, specify the number of layers. Winding will not be...
Page 440 (E00) to (E31) A0 to A1999 Note Refer to 7-4 M Code Outputs for details on M codes, and to 7-4-9 D Code Out- puts for details on D codes. Refer to 7-4-10 Stopover Function for details on the stopover function.
Page 441 Specifies the number of windings at the trailing end in [deg.] units. To set five windings at the end for example, then specify “01800” because 360 (deg.) = 1,800 [deg.]. No winding at the end will be set if the O option is omitted. No windings at the end (O option omitted)
Page 442 Example 1 In this example, a traverse operation is executed using aligned windings, a traverse width of 100 mm, 100 windings per layer and a total of 10 layers. 10 layers 100 windings per layer (360 deg. x 100 = 36,000)
Page 443: G50: Select Reference Coordinate System
Section 7-3 G-language Commands Example 2 In this example, just once winding is executed each time at the end. This is an example of Pass Mode operation combined with G32. N110 G10 Specifies Pass Mode. N120 G32 X36000 Y100 F1000 O360 Winds one revolution at the end (0 designation).
Page 444: G51: Select Workpiece Coordinate System
After this command is executed, the coordinate data in all subsequent axis operations is processed as workpiece coordinate data. The origin for the workpiece coordinate system can be set with the system parameters or with G53. The reference coordinate system will be used after REFERENCE ORIGIN RETURN (G26) or ORIGIN SEARCH (G28) is exe- cuted.
Page 445: G53: Change Workpiece Origin Offset
The workpiece origin offset that is set in system parameters will not be updated by executing this command. A software limit exceeded error will occur if a specified value exceeds the soft- ware limits set in the system parameters. Programming Example 1 The following example shows changing the origin of the workpiece coordinate system.
Page 446: G54: Change Reference Coordinate System Pv
A software limit exceeded error will occur if a specified value exceeds the soft- ware limits set in the system parameters. !Caution If this command is executed just after a G01, G02, G03, or G32 command, the interpolation will be performed in Stop Mode, not Pass Mode, even if Pass Mode has been selected.
Page 447: G60: Arithmetic Operations
Example If G60: E00 = 0.4 + 0.4 is executed, then zero will be substituted at E00. When the first term is a position data address, the second and third terms will be real numbers and values below the fifth decimal place will be rounded off.
Page 448: G63: Substitution
This command copies position data, register contents, present values, or numerical values into position data addresses or registers. When the second term is an axis name, the present position of that axis in the reference coordinate system is copied to the first term. That present position is copied according to the pulse rate and minimum unit setting for that axis specified in the system parameters.
Page 449 If a position data address or register is specified and the specified data is not an integer, then the value will be rounded off to the nearest integer. A number range over error will occur if the specified data is not within the allowable range.
Page 450: G70: Unconditional Jump
In loop A, the program will jump to N020 up to 100 times while A1000 1, so blocks N020 and N030 will be executed up to 101 times. In loop B, the program will jump to N090 up to 50 times, so block N090 will be executed up to 51 times.
Page 451: G71: Conditional Jump
If A1000=1 on the 20th execution in loop A, the program would jump to block N100. The remaining value of 80 jumps in the number of loops would be cleared and the number of loops would be set to the new value of 50 for block N100.
Page 452: G73: Subroutine End
The following example shows calling a subroutine. N010 P500 Up to six loops can be created by calling subroutines, as shown in the follow- ing diagram. Up to five subroutines are possible. Counting the main program, up to six loops can be created with G70.
Page 453 Section 7-3 G-language Commands The source of the optional input depends on the optional number specified, as shown below. 0 through 15: Inputs from the PLC Interface Area 16 through 19: Inputs from general inputs 1 to 4 This command is ineffective if the following block contains a SUBROUTINE END (G73) or PROGRAM END (G79) command.
Page 454: G75: Optional Skip
G-language Commands Section 7-3 When G74 is preread, the next block after G74 will be disabled if the optional input is ON when starting after pausing. N001 G10 N003 G01 X100000 F1000 (Commands other than for axis operation) N010 G74 17...
Page 455: G76: Optional Program Pause
N012 are pre-executed while N010 is being executed, so block N012 will not be skipped if Optional Input 3 is turned ON after execution of block N010. To ensure that block N012 will be skipped, make sure that Optional Input 3 is ON before block N010 is executed.
Page 456: G79: Program End
This command ends the main program and must be included at the end of the main program. When G79 is executed and an axis is in operation, the Unit will wait for the axis to be positioned before executing G79. M codes M500 to M999 will be...
Page 457: G90: Absolute Specification
In addition to G90, the absolute coordinate system is put into effect when a REFERENCE ORIGIN RETURN (G26), WORKPIECE ORIGIN RETURN (G27), or ORIGIN SEARCH (G28) command is executed.
Page 458: M Code Outputs
If positioning with incremental specification is interrupted by a pause com- mand, the axes will be moved to the original end position after the operation is restarted. Also, if the axes have been moved or an origin search was per- formed after the operation was interrupted, the axes will still be moved to the original end position.
Page 459 Moves to 100 mm on the X-axis by N001 X100 F100 linear interpolation... . . Outputs M code 100 to the CPU Unit N002 M100 and waits for OK to perform the next operation.
Page 460: M Code Data
Clearing M000 to M499 with Forced Block End or G74 The M strobe and M code outputs for M codes 000 to 499 will be cleared if the program block that outputs the M code is cleared with the Forced Block End...
Page 461 Section 7-4 M Code Outputs Example 1 The M strobe and M code will not be output if a Forced Block End signal is received before they are output. X500 M100 Forced Block End X-axis operation M Strobe M Code...
Page 462: Clearing M500 To M999 With Forced Block End Or G74
Clearing M500 to M999 with Forced Block End or G74 The M strobe and M code outputs for M codes 500 to 999 will not be output cleared if the program block that outputs the M code is cleared with the Forced Block End Bit (PLC Interface Area) or the OPTIONAL END (G74) command, but previous M codes will not be cleared.
Page 463: M Code Outputs In Pass Mode
M Code Outputs Example 6 The M strobe and M code will not be output if the Optional End command’s optional input is received before they are output, but a previous M code and M strobe will not be cleared.
Page 464: Stopover Function And Resetting M Codes
7-4-8 Stopover Function and Resetting M Codes This section describes the reset timing for M codes when the Stopover func- tion is used. Refer to 7-4-3 M Code Examples for details on the Stopover func- tion. M000 to M499 When an M code between M000 and M499 is output, the next positioning operation will be performed after positioning to the demand position has been completed in either Pass Mode or In-position Check OFF Mode.
Page 465: D Code Outputs
A D code is a preset code that is output after positioning has been completed. The D code (0 to 255) is output to the CPU Unit as an interrupt task number to executed the interrupt task in the CPU Unit. It can also be output during oper- ation without stopping operation by using the Stopover Function.
Page 466 10 ms. If reception is still not possible, the CPU Unit will output a D code timeout error and stop. • If a D code is output from more than one task at the same time, then out- putting the D code for each task will be offset in 2 to 10-ms increments.
Page 467: Stopover Function
It is used to control peripheral devices prior to completing a move and to improve tact time. The function can be used with G codes for all operations and with either a D code or a M code, but not both at the same time.
Page 468 A0000 to A1999 Description The Stopover function outputs a M code or D code when the axis moves a certain amount (judged from the present position) after the axis starts to move from the present position to the demand position. The travel distance (relative movement) is always specified in as a positive value.
Page 469 Section 7-4 Example The following program outputs M code 500 after the axis has moved 50 mm in the Y-axis direction when the traverse operation shown below (traverse width: 100 mm, number of windings per layer: 10, number of winding layers: 10) is performed.
Page 470: Precautions On The Stopover Function
Section 7-4 M Code Outputs The following occurs with circular interpolation. The D code is output when the axis has moved –70 mm on the X axis during circular interpolation as shown in the following figure. Y axis Outputs D code 100 at this point.
Page 471 Position where you want D code output X axis Reverses just before the demand position in this case and the D code will not be output (N010 Stopover function will not be valid) Slow Feed Rate Position where you want D code output...
Page 472: G-Language Programming Examples
Stopping the Program and Substituting Position Data ... 8-1-10 Positioning a Turntable ........
Page 473: Programming Examples
N001 Positions the axes to (X100, Y50) by PTP control. Absolute positioning (default) is used, because nothing is specified. When positioning is completed, M code 20 is output and the Unit waits for a reset (M code reset standby). N002 When the M code reset is received, block N002 positions the axes to (X250, Y150) by PTP control.
Page 474 Operation When the optional input turns ON, this program uses linear interpolation to move the X-axis by 300 and the Y-axis by 400 from the present position. This positioning operation will be repeated (up to 21 times) until position data address A1000 contains 1.
Page 475 General input 1 Axis operation 8-1-3 Positioning with Linear and Circular Interpolation Operation This program combines linear and circular interpolation to move the X and Y axes in the pattern shown in the following diagram. Programming Example N000 P003 N001...
Page 476 Reads the position data from the addresses specified in the registers and moves the axes to this point by linear interpolation. N005 through N006 Updates the contents of the registers. N007 If optional input 3 is ON, the next block will be skipped and the program will end.
Page 477 Using the Workpiece Origin Offset Operation Positioning for the same pattern can be performed any number of times by repeatedly changing the workpiece origin offset and calling the subroutine. Using the workpiece coordinate system is useful particularly for absolute posi- tioning operations.
Page 478 P800: N001 Returns to the workpiece origin. The workpiece coordinate system is selected at this time. M code M10 is output and the Unit waits for the M code reset. P800: N002 through N006 The subroutine’s series of absolute positioning operations is performed by lin- ear interpolation in Pass Mode.
Page 479 Moves to (X1000, Y500) by linear interpolation with an acceleration time of 500 ms and speed of 300. N003 Moves to (X2000, Y–1000) in Pass Mode with an acceleration time of 500 ms. N004 Once the pass operation is completed, N004 outputs M code M20 and waits for the M code reset.
Page 480 Positioning while Calculating Position Data Operation After initializing the position data, this program moves the axes 10 times while incrementing the X-axis’ position data by 20. Next, the Y-axis position data is incremented by 30 and the positioning operation is repeated five times. The positioning will be in grid as shown in the following diagram.
Page 481 N010 Increments the Y-axis’ position data by 30. N011 Uses register E0 as a loop counter with an initial value of 0. The content of E0 is incremented by 1. N012 Jumps to N004 as long as the content of E0 is not 5. When E0=5, N012 pro- ceeds to the next block and ends the program.
Page 482 Stopping the Program and Substituting Position Data Operation This program moves the X axis to X1000 at a speed of 100 by linear interpola- tion. The movement will be decelerated to a stop by the G74 (OPTIONAL END) command if the target position is reached before the positioning opera- tion is completed.
Page 483 Execution of the next block is stopped when general input 2 turns ON. N003 Moves the X axis with a maximum target position of X1000. The positioning operation will be decelerated to a stop if general input 2 turns ON before posi- tioning is completed. N004 The stopping position is stored in address A500.
Page 484 3. M code 0001 will be output after positioning is completed. Check the M code, turn OFF optional input zero and turn the M code reset ON and OFF. 4. Repeat steps 1 to 3.
Page 485 A0001 where the turntable will be positioned. N025 Positions the turntable at the target position and then outputs M code 0001 and turns ON the M strobe, and then waits for M code reset from the CPU Unit. N026 After the M code reset from the CPU Unit has turned ON and OFF, jumps to the process for waiting for optional input zero to turn ON.
Page 486 N002, N006: Sets feed forward gain for the X and Y axes to 20% for linear interpolation operation. N004, N008: Sets feed forward gain for the X and Y axes to 60% only for cir- cular interpolation operation. See 8-1-3 Positioning with Linear and Circular Interpolation for details on...
Page 487 8-1-12 Starting Peripheral Devices during Operation Operation Peripheral devices can be started at high speed from the MC Unit using the MC Unit stopover function or interrupt notification function (D code) as well as a CPU interrupt task. This program allows high-speed synchronous applica- tions to be created, because it is able to control peripheral devices without pausing operation.
Page 488 Moves by linear interpolation to (X, Y) = (250, 250) in Pass Mode. N008 Moves by linear interpolation to (X, Y) = (500, 500) in Pass Mode. This speci- fies the point where interrupt task number 100 (D100) will start up if the travel distance is zero when the Stopover function is used.
Page 489: Executing Mc Programs From The Ladder Program
8-1-14 Shifting from Aligned to Rough Winding The following example shows what happens when 10 layers are created with wire at the rate of 20 windings per layer, and then 10 windings are applied just on the 11th layer. 10 layers...
Page 490 Section 8-2 Executing MC Programs from the Ladder Program In this example procedure, task 1 is executed. The following table shows the equivalent CIO Area control bits and CIO Area words for tasks 2 to 4. Task Automatic Program Program...
Page 491 Section 8-2 Executing MC Programs from the Ladder Program Timing Chart H level Automatic/Manual Mode Bit R1 (Pause condition) R2 (Program start condition) R3 (MC program completed) Pause Bit (n+3, 05) Execution condition Cycle Start Bit (n+3, 02) Program Execution...
Page 492: Establishing The Origin
System Parameters ........
Page 493: Overview
Using Incremental Encoders In motion control systems using incremental encoders, the location of the ori- gin must be established and the No Origin Flag must be turned OFF after the power is turned ON. There are three ways to establish the origin in MC Units.
Page 494 The absolute encoder retains absolute data by using the backup battery when the MC Unit or Servo Driver is turned OFF. When the MC Unit is turned ON again, if the system is set to the servo-lock state, absolute data will be read from the absolute encoder to determine the present position.
Page 495: Input Signals Required For An Origin Search
: Executes origin search. Search MC221 Refer to 5-3 PLC Interface Area for details on these bits. For details on setting up the absolute encoder from the Teaching Box, refer to the Teaching Box Operation Manual (W320). Input Signals Required for an Origin Search The following signal inputs and conditions are required to perform an origin search.
Page 496 Section 9-3 Origin Search Methods and Parameters When there is no origin proximity signal input, a limit signal input can be used instead. 9-3-2 System Parameters The following system parameters are required to perform the origin search operation. These system parameters are set using the CX-Motion.
Page 497: Origin Search Operations
There are three steps involved in this origin search. 1,2,3... 1. When the origin search is executed, the axis is moved in the specified di- rection at the origin search high-speed feed rate. 2. When the origin proximity input signal is received, the search speed is re- duced to the origin search low-speed feed rate.
Page 498 Speed Deceler ated to a stop Note There is a sudden change in the speed when the MC Unit is stopped by the counter pulse as shown below. Speed Sudden change in speed when stopped by the counter pulse.
Page 499 Origin Search Operations Section 9-4 Setting the Initial Origin The origin search is performed by previous MC Unit models in the CW or Search Direction CCW direction according to the phase-Z detection direction. With the CS1W- MC421/221, the origin search can be performed in the direction opposite to the preset phase-Z detection direction, which makes it possible to shorten the time taken to search for the origin.
Page 500 Section 9-4 Origin Search Operations Reverse Mode Reverse-mode Origin Search 1 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Origin proximity...
Page 501 Origin Search Operations Section 9-4 Reverse-mode Origin Search 2 This origin search is performed with an origin proximity signal input, with both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Origin proximity signal input...
Page 502 Origin Search Operations Reverse-mode Origin Search 3 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW. There is no phase-Z input, so all of these searches result in errors. Limit signal input...
Page 503 Section 9-4 Origin Search Operations Reverse-mode Origin Search 4 This origin search is performed with both phase-Z detection direction and ini- tial origin search direction set to CW with no origin proximity signal input. Limit signal input Phase-Z signal Speed (See note 1.)
Page 504 Phase-Z signal Speed Error (No origin proximity signal) (See note) Error (Overtravel always ON.) Note Reverse operation will start after the movement is stopped by a counter pulse or decelerated to a stop according to the limit signal input.
Page 505 Section 9-4 Origin Search Operations One-direction Mode Origin Search 2 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW. Limit signal input Origin proximity signal input Phase-Z signal Speed One-direction Mode Origin Search 3 This origin search is performed with no origin proximity signal input, and with the phase-Z detection direction set to CW.
Page 506: Absolute Encoders
The absolute encoder retains absolute data by using the backup battery when the MC Unit is turned OFF. When the MC Unit is turned ON again, the abso- lute data can be read from the absolute encoder to determine the present position.
Page 507: Setting The Origin With An Absolute Encoder
Encoders). At the same time, the MC Unit must be initialized. This is because the present value of the axis in the MC Unit must be set to zero when the rev- olution count data of the absolute encoder has been reset.
Page 508 14 for 1 to 2 s. for 2 min or more. Note If the Absolute Encoder is a 1 to 5-kW model, check the voltage between ter- minals R and S on the Servomotor side after the terminals have been short- circuited for two minutes or more and the short-circuiting wire has been removed.
Page 509 Section 9-6 Setting the Origin With an Absolute Encoder If a reference origin offset value has been preset, the axis is moved for the value preset. Note Previous MC Units can perform an origin search with an Incremental Encoder but not with an Absolute Encoder. The CS1W-MC421/221 can perform an ori- gin search with either an Absolute Encoder or an Incremental Encoder.
Page 510: Absolute Encoder Interface Specifications
Servo Driver is turned ON. !Caution If a Servo Driver error occurs when the absolute origin is being set, the abso- lute origin may not be set correctly. Set the absolute origin again if a Servo Driver error occurs.
Page 511 • Initial Incremental Pulse Count: Indicates the number of pulses generated when the motor rotates to the present position of the motor shaft from the origin at 83 kHz if the Absolute Encoder is a 30- to 730-W model and 875 kHz if it is a 1- to 5-kW model.
Page 512 Stop bits 1 bit Parity Even Character code ASCII 7 bits Data format 8 characters (P or A) (+ or –) (0 to 9) x 5 digits (CR) Serial Data 0 to 9 P or A, + or Start Even...
Page 513 Section 9-7 Absolute Encoder Interface Specifications...
Page 514: Teaching
10-1-1 Teaching Addresses ........
Page 515: Introduction
Section 10-1 Introduction 10-1 Introduction After moving the axes to a desired position, that position can be read to posi- tion data addresses as position data. This process is known as teaching. The position data address is called the teaching address.
Page 516 Set the following data starting at the first source word and execute the IOWR instruction. Task 1 to 4 first teaching address Set the task 1 to 4 teaching address (first address) to a value from 0000 to 07CF hex (0 to 1999).
Page 517: Performing Teaching
Example the CS and the unit number set to 0. In this example, teaching address 64 hex (100) of task 1 is set. It is assumed that both the IOWR operand and the data transferred are normal. When debugging, check the Error Flags from the ladder program.
Page 518 Position data Teaching address In the example, teaching is performed three times at points 1, 2, and 3. The X, Y present position data is stored and the teaching address is automatically incremented to the next open position data address.
Page 519: Errors During Teaching
1 as an example. 10-4-1 Teaching Error Flag Timing Chart An error will occur and the Teaching Error Flag (n+15 bit 14) will be turned ON in the following cases when performing teaching. • Teaching is executed, but the origin has not been established. If even one...
Page 520 In the following examples the start address for task 1 has been set to 150 and the end address has been set to 180, so a “teaching address overflow” error will occur when teaching is performed with a teaching address less than 150 or greater than 180.
Page 521 Errors during Teaching Example 3 In this example, the teaching address is not greater than 180 when teaching is performed, but it is greater than 180 when the Y axis is set to A181. Data not stored in A0180 either. Teaching address...
Page 522: Getting Started
11-1-2 Procedure ..........11-2 System Configuration and Wiring ....... . .
Page 523: Operation Details
1,2,3... 1. Each axis waits at its reference origin (0, 0). 2. The X and Y axes are started to move the drill to a position where the first hole (400, 200) is to be drilled. 3. The robot moves to the next position (100, 200).
Page 524 Unit and save in the flash memory using the CX-Motion. (Refer to page 509.) 9. Create a ladder program, transfer it to the CPU Unit, and save it. (Refer to 9) Creating Ladder Programs/Transferring and Saving to the CPU Unit on page 509.)
Page 525: System Configuration And Wiring
System Configuration and Wiring 11-2 System Configuration and Wiring 11-2-1 System Configuration Perform the operations using the following system configuration. Mount the MC Unit to the CPU Backplane and set it to unit number 0. Input Unit MC Unit Switch box...
Page 526 Switch box Switch Cables and wires Note Refer to the operation manual for the Servo Driver to be used and prepare the required items. 1) Mounting the MC Unit Mount the MC Unit to the CPU Backplane referring to the system configura-...
Page 527 Section 11-2 System Configuration and Wiring 2) Setting the Unit Number Set the unit number to 0 (MACHINE No.: 00) with the rotary switch on the front panel of the MC Unit. 3) Connecting and Wiring Units and Devices Connecting Programming...
Page 528 Section 11-2 System Configuration and Wiring Connecting MC Unit The cable and terminal block shown in this example are for the CS1W- External Inputs MC221. Special MC Unit Cable (XW2Z-100J-F1) Special MC Unit Terminal Block (XW2B-20J6-6) X-axis CW, CCW, origin proximity, emergency stop...
Page 529 Section 11-2 System Configuration and Wiring Wiring the Input Unit The following illustration shows an example of the switch box used as a test device. Prepare the actual switch box and switches according to your system specifications. Switch Box Specifications...
Page 530 Section 11-2 System Configuration and Wiring Connecting the Servo Connect the MC Unit and Servo Drivers using special Control Cable, and con- Drivers nect a +24-V power supply. Then connect the Servo Drivers to the Servomo- tors using special Power Cable and Encoder Cable. (The Control Cable, Power Cable, and Encoder Cable are all purchased separately.)
Page 531 Wire the power supply according to the instructions in the applicable Servo Driver manual. 4) Creating I/O Tables Turn ON the PLC and create I/O tables according to the Units mounted to the Backplane. For details on creating I/O tables, refer to the CX-Programmer Operation Manual (W414 or W425).
Page 532 3. Click OK. The Add PLC Dialog Box will be displayed. 4. Input the desired PLC name. 5. Click the Down Arrow at the right of the Device Type Field, and select the PLC model from the menu. For example, if the CPU Unit is the CS1G- CPU45, select CS1G.
Page 533 Adding an MC Unit and Saving System Parameters 1,2,3... 1. In the project workspace, click the icon of the PLC that was added in 5) Creating Projects/Adding PLCs (CPU Units), and then select Edit/Add MC. The MC Unit Dialog Box will be displayed.
Page 534 CX-Motion will be changed. Once the system parame- ters have been set, transfer them to the MC Unit and save them in the flash memory. For the task axis declaration, use the X and Y axes for task 1.
Page 535 1. Click on the MC Unit that was added in 5) Creating Projects/Adding PLCs (CPU Units, and select Edit/Add File. 2. Click on Program, and click on the file that was saved in Saving above. The MC program will be registered in the project.
Page 536 1. Click on the MC Unit in the project workspace, select Online/Transfer to MC. The Download Dialog Box will be displayed. 2. Turn ON the All MC files and Write to flash memory settings and click Transfer. 9) Creating Ladder Programs/Transferring and Saving to the CPU Unit Creating Ladder Programs Create ladder programs using CX-Programmer.
Page 537 Section 11-2 System Configuration and Wiring Ladder Program Input the ladder program shown below. 000000 <Automatic/Manual Bit> 200301 Manual/automatic switch 000001 201503 DIFU (13) W0000 Operation switch (Manual Mode Flag) W00000 202201 202202 <X-axis Servo-lock Bit> 200709 (X-axis (X-axis Busy Flag)
Page 538 <Program Number Read Bit> 200302 <Cycle Start Bit> Note A task error reset is required for when an error occurs during trial operation. Add an error reset like the one shown below to the program. Reset input (*) DIFU (13) W00008...
Page 539 Origin Search Set the Automatic/Manual switch to Manual. Execute an origin search for the X and Y axes by pressing the Origin Buttons. The axes will move to the origin. When origin search has been completed, the reference coordinate system...
Page 540 Press and hold down the X– button to move the X axis in the – direction. The present position value for the X axis on the MC monitoring screen will decrease. Use the same procedure to confirm cor- rect operation for the Y axis.
Page 541 2. Select all the axes. EXT|-SERVO LOCK- | OK? ALL| | YES / NO The specified axis/axes are shown here. 3. Press the YES Key. The servos will be locked, and the following screen will be displayed. EXT|-SERVO LOCK- ALL| COMPLETE!
Page 542 4. Press the CLR Key. The axis selection screen in step one of this procedure will return. When an error occurs in the MC Unit or the Servo Driver, clear it by means of the following procedures. Resetting MC Unit Errors 1,2,3...
Page 543 Section 11-2 System Configuration and Wiring 3. Press the YES Key. The error will be reset for the task in which the error occurred. [RT] MC UNIT ERROR RESET! Resetting Servo Driver Errors 1,2,3... 1. Select 2.DRIVER from the MC Unit’s Error Reset Procedure 1 Menu.
Page 544 If the program is changed from CX-Motion, the program number must be entered again even if it is the same. If it is not entered again, an error will be generated. In this case program execution will begin from the first block.
Page 545: Considerations When Starting Up The Mc Unit
(Cn-0A), and not the number of encoder pulses parameter. Note When a U-series Servo Driver with a capacity of 1 kW or more is used, a speed of up to 614.4 kpps is possible (when the encoder resolution is 8,192 and the maximum speed is 4,500 r/m).
Page 546 Servo Driver in combination with an MC Unit. 2. When an S-curve is set in the MC Unit and a software start is set in the Servo Driver, it puts the MC outputs through a filter and the gain is ex- tremely decreased.
Page 547 Considerations When Starting Up the MC Unit To change position data from the Teaching Box, press the EXT Key, select 4. Memory Protect, and use the Up Key or Down Key to clear the memory pro- tection. Operations from the CPU Unit are not possible when the Teaching Box is in any mode other than T.
Page 548: Troubleshooting
12-1-1 Items to Check First ........
Page 549: Troubleshooting Tables
Is there excessive moisture (from humidity, water usage, etc.)? Are there corrosive materials in the environment (acid, salt, sulphur, etc.)? Is there a source of noise nearby (such as a welding machine or inverter)? Wiring Are signal lines and power lines placed in separate ducts?
Page 550 Troubleshooting Tables 12-1-2 Problems and Countermeasures • If any errors occur that are not covered in the following tables, print out the contents of the PLC Interface Area and related DM Area words from the CX-Programmer or other Programming Device and provide them to your OMRON representative.
Page 551 Troubleshooting Tables Problem Probable causes Items to check Remedy Servo cannot be The MC Unit is not operating. Is the RUN indicator lit? Check No. 5. locked. The servo cannot be locked Check the Automatic Mode Bit. Set the mode to...
Page 552 RESERVED Mode. Another axis control bit is ON Check whether another axis Turn OFF the other axis at the same time. control bit is ON at the same control bit and turn ON time. the origin search bit. (Change the ladder Try executing origin using the program.)
Page 553 Servomotor’s encoder about a 1/4 turn, so that resolution x the ratio (1, 2, or 4), the phase-Z margin or near zero, a deviation of one pulses will be about 1/2 motor revolution may occur at of the Servomotor’s...
Page 554 Problem Probable causes Items to check Remedy Rotation is The Servo Driver is set for If the LED indicator on the front Correct the setting for the reversed. reverse rotation. panel matches the jogging direction of Servo Driver direction during jogging rotation.
Page 555 Re-adjust the gain. on, which place a torsion load on the axes. The mechanical structure is Perform autotuning. producing stick slip (high-vis- Manually adjust the gain.
Page 556 Twisted-pair cable is not being Check whether twisted-pair Use twisted-pair cable for used for the pulse outputs. cable is being used for the pulse pulse outputs. outputs. (The connected voltage is 0 V or 5/24 VDC.) The cable between the MC...
Page 557 2 to 0. With G-series Servo Driv- ers, set Pn0B to 0 or 2. The absolute values There is mechanical slippage. Check whether the motor turns taken when the while the power is OFF. servo is locked are The MC Unit and Servo Driver...
Page 558: Error Indicators
G- series Servo Driver. 12-2 Error Indicators The following errors are displayed at the LED indicators at the top of the MC Unit’s front panel. CS1W-MC221 CS1W-MC421...
Page 559: System Error Codes
When a system error occurs, the Error Flag turns ON in the PLC Interface Area and an error code is output. With the MC221, bit 14 of word n+10 turns ON, and a 4-digit error code is output in hexadecimal to word n+11. With the MC421, bit 14 of word n+18 turns ON, and a 4-digit error code is output in hexadecimal to word n+19.
Page 560 Feedback control is not performed while outputting 0 V and while waiting for the brake to turn ON after outputting 0 V. It is thus possible that the axis will be rotating. (Feedback control is performed while waiting for the brake to turn ON...
Page 561 (SYS PARA CORRUPT) when power is turned ON.) Download the system parameters from the CX-Motion again, write them to the flash memory, and then turn the power OFF and ON. The system parameters can be destroyed by any of the following: The memory data might have been destroyed by noise.
Page 562 PLC operation manual. If the error recurs after the cause has been cleared, check to be sure that the MC Unit is securely mounted to the Backplane (e.g., that no screws are loose). If the error still continues to occur after that, either the MC Unit or the CPU Unit may be malfunctioning.
Page 563: Task Error Codes
Unit. If the error recurs, replace the MC Unit. 12-4 Task Error Codes When a task error occurs, the Error Flag and the Task Error Flag turn ON in the PLC Interface Area, and a 4-digit error code is output in hexadecimal to word n+11 (for the MC221) or word n+19 (for the MC421).
Page 564 Section 12-4 Task Error Codes For details on the three stop methods, refer to 12-3 System Error Codes. Code Error Error Processing Stop method 0014 Program number error The specified program number is outside of the acceptable Deceleration (0020) (PROGRAM No. ERR) range.
Page 565 When the circle center was specified, an axis was specified that was not part of the circular interpolation plane. When one of the commands from G17 to G22 was executed, it tried to specify a circular plane that included an axis not set for that task. Correct the program.
Page 566 The Program Number Read Bit must be turned ON when the Cycle Start Bit is turned ON after using the CX-Motion to add, edit, or delete any MC programs in the task. In this case, the program will be executed from the first block.
Page 567 (0045) (SECOND SP OVER) than the value of speed reference 1 when G30 was executed. stop Set so that the value of speed reference 1 is larger than the value of speed reference 2. 002E No interrupt input There was no interrupt input signal when G31 was executed.
Page 568: Axis Error Codes
When a system error occurs, the Error Flag turns ON in the PLC Interface Area and an error code is output. With the MC221, bit 14 of word n+10 turns ON, and a 4-digit error code is output in hexadecimal to word n+11. With the MC421, bit 14 of word n+18 turns ON, and a 4-digit error code is output in hexadecimal to word n+19.
Page 569 During an origin search, the origin proximity input signal went Deceleration (0065) (NO ORIGIN SIGNAL) from ON to OFF, but then a limit input signal went ON before stop the phase-Z input. This error could be caused by a fault phase-Z input in the...
Page 570 When using an incremental encoder, perform an origin search. When using an absolute encoder, perform a servo lock and establish the origin. If the servo lock is already ON, perform a servo unlock operation and then perform a servo-lock operation.
Page 571 Pn002 digit number 2 = 0 G-series Servo Driver Pn0B = 0 or 2 If the same error occurs again, either the encoder or MC Unit is faulty. Replace the encoder or MC Unit. The model of Servo Driver and the ABS/INC parameter set- ting in the MC Unit do not match.
Page 572 During an origin search, the origin proximity input signal and Deceleration (0082) simultaneously ON the limit input signal in the direction of the search were both stop (OR PRX AND OT ON) ON at the same time. Change the mounting positions of the origin proximity input signal and limit input signal.
Page 573: Error Log
Important errors detected at the MC Unit are saved in non-volatile memory. These records can be accessed during maintenance and inspection to see what kinds of errors have been occurring, and how often. The error log can be read using the CX-Motion.
Page 574 Error Log Error code (hex) Error Processing 0312 Illegal G command Refer to the task error code 0017 hex. 0313 Program range over Refer to the task error code 0018 hex. 0314 No origin Refer to the task error code 0041 hex.
Page 575 Section 12-6 Error Log...
Page 576: Maintenance And Inspection
13-1 Routine Inspections..........13-1-1 Handling Precautions ........
Page 577: Routine Inspections
The main components of the Unit are semiconduc- tors and have a long service life, but depending on the operating environment, there may be more or less deterioration of these and other parts. A standard inspection schedule is once every six months to one year. More frequent inspections may be advisable depending on the operating environment.
Page 578 13-1-1 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 579 9. Download only the parameters to the MC Unit, and save them all in flash memory. 10. Turn the PLC power OFF and back ON to start up the MC Unit with the new parameters. 11. Download all of the programs and position data to the MC Unit, and save them all in flash memory.
Page 580: A Performance
Performance MC Unit Processing Flow The main system software processes in the MC Unit and the time required for them are shown in the following diagram. (The CS1W-MC221 supports only axes X and Y, and tasks 1 and 2.) As shown, the processing times depend on the number of tasks, on whether a Teaching Box is connected, on zone settings, etc.
Page 581 Affects on CPU Unit Cycle Time The cycle time of the CPU Unit will be increased by the following time for each MC Unit mounted in the PLC. The time will be longer when the motors are moving than when the servos are unlocked.
Page 582 Data Save Times (Commands: 17D4 Hex, 17D5 Hex) The average data dave time is 3 s, but up to 33 s can be required. If more than 33 s is required, a flash memory error will occur and the data save operation will be canceled.
Page 583 Same as for Cycle Start Bit ON 1. The Cycle Start Bit ON Response Time is the time from when the Cycle Start Bit turns ON until an analog voltage is output for the next block, e.g., block N010 in the following code.
Page 584 6. The option response time is the time from when a general-purpose input turns ON until an analog voltage is output, e.g., as in N010 G01 X100 F1000 #16, where “#16” is option input 16 and corre- sponds to general-purpose input 1.
Page 585 Interrupt Notification Time The time required for the MC Unit to send an interrupt to the CPU Unit using a D code is given below for the fol- lowing command line. The interrupt is sent to the CPU Unit after positioning has been completed.
Page 586 Stop Mode operation will be used in the same way as it is in Pass Mode. The minimum operation time in In-position Check OFF Mode is the same as it is in Pass Mode.
Page 587 Time External Interrupt Response Time The times required from reception of interrupt inputs to the start of the corresponding functions are given in the following table. A minimum signal width of 2 ms is required. • The time given for the emergency stop and CW/CCW limit input signals is the time required until decelera- tion to stop the motor is begun.
Page 588 (5 to 14 ms) + (6.6 to 34 ms) + (0.08 ms x number of zones) (0.08 ms x number of zones) The above times assume that the CPU Unit cycle time is 2 ms and that the Teaching Box is not connected.
Page 589 Appendix A Performance...
Page 590: B G-Language Codes
G-language Codes Code Name Function POSITIONING Positions up to 2 or 4 axes simultaneously with PTP control at the maximum feed rate. LINEAR INTERPOLATION Performs linear interpolation on up to 2 or 4 axes simultaneously at the specified interpolation feed rate.
Page 591 Pauses the program when the specified optional input is ON. PROGRAM END Ends the main program. ABSOLUTE SPECIFICATION Positions with absolute coordinates when performing axis operations. INCREMENTAL SPECIFICATION Positions with relative coordinates when performing axis operations. Note The CS2W-MC221 MC Unit does not have this command.
Page 592: C Plc Interface Area Lists
Appendix C PLC Interface Area Lists CS1W-MC221CS1W-MC421 CS1W-MC221 PLC Interface Area Outputs (CPU Unit to MC Unit) n = CIO 2000 + 10 x unit number (words) Word Contents Description Page System General Output 1/Brake Output port turned ON. Controls Output X Output port turned OFF.
Page 593 Appendix C PLC Interface Area Lists CS1W-MC221 PLC Interface Area Outputs (CPU Unit to MC Unit) n = CIO 2000 + 10 x unit number (words) Word Contents Description Page Controls Optional Input 0 Optional Input 0 turned ON. Common to Optional Input 0 turned OFF.
Page 594 Task 1 Specifies the program number executed in Automatic Mode. If the Program Number Read Bit is ON, the program number will be read when the Cycle Start Bit is turned ON and the specified program will be executed from the beginning.
Page 595 Task 2 Specifies the program number executed in Automatic Mode. If the Program Number Read Bit is ON, the program number will be read when the Cycle Start Bit is turned ON and the specified program will be executed from the beginning.
Page 596 Appendix C PLC Interface Area Lists CS1W-MC221 PLC Interface Area Outputs (CPU Unit to MC Unit) n = CIO 2000 + 10 x unit number (words) Word Contents Description Page X-axis Deceleration Stop Deceleration Stop Control Bits (Man- Prohibits other manual commands.
Page 597 Word Contents Description Page Y-axis 00 to Y-axis override 0001 to 07CF (4-digit Hex) (Decimal: 0001 to 1999) Control Bits Decimal: 0001 to 1999 → 0.1% to 199.9% (0.1% increments) (Man- ual/ Auto) Specifies the override for axis operations. This override value is used...
Page 598 Appendix C PLC Interface Area Lists CS1W-MC221 PLC Interface Area Outputs (CPU Unit to MC Unit) n = CIO 2000 + 10 x unit number (words) Word Contents Description Page Y-axis Deceleration Stop Deceleration Stop Control Bits (Man- Prohibits other manual commands.
Page 599 The above is the error code format of the MC Unit. An error code is valid while the Error Flag is ON. If an error occurs, check the error type data to find the type of error, such as a system, task 1, task 2, X-axis, or Y-axis error.
Page 600 00 to Task 1 M code 0000 to 03E7 (4-digit Hex) (Decimal: 0000 to 0999) Status Flags The M code is output, which is valid when the M strobe is turned ON. n+13 00 to Task 1 Executing program number 0000 to 03E7 (4-digit Hex)
Page 601 00 to Task 2 M code 0000 to 03E7 (4-digit Hex) (Decimal: 0000 to 0999) Status Flags The M code is output, which is valid when the M strobe is turned ON. n+17 00 to Task 2 Executing program number 0000 to 03E7 (4-digit Hex)
Page 602 X-axis 00 to X-axis present position (32-bit signed data) n+21 Status Flags The present position of the reference coordinate system is output. The position of the decimal point is determined by the system parameter settings. n+21 n+20 Present Position Range: FD9DA601 Hex to 026259FF Hex ( 39999999 to 39999999) Example: The present position of 100 (FFFFFF9C Hex) is output as shown below.
Page 603 Y-axis 00 to Y-axis present position (32-bit signed data) n+24 Status Flags The present position of the reference coordinate system is output. The position of the decimal point is determined by the system parameter settings. n+24 n+23 Present Position Range: FD9DA601 Hex to 026259FF Hex ( 39999999 to 39999999) Example: The present position of 100 (FFFFFF9C) is output as shown below.
Page 604 Appendix C PLC Interface Area Lists CS1W-MC221 PLC Interface Area Inputs (MC Unit to CPU Unit) n = CIO 2000 + 10 x unit number (words) Word Contents Description Page n+26 to Reserved for the system. n+29 CS1W-MC421 PLC Interface Area Outputs (CPU Unit to MC Unit)
Page 605 Appendix C PLC Interface Area Lists CS1W-MC421 PLC Interface Area Outputs (CPU Unit to MC Unit) n = CIO 2000 + 10 x unit number (words) Word Contents Description Page Controls Optional Input 0 Optional Input 0 turned ON. Common to (Manual/ Optional Input 0 turned OFF.
Page 606 Specifies the program number executed in Automatic Mode. If the Program Number Read Bit is ON, the program number will be read when the Cycle Start Bit is turned ON and the specified program will be exected from the beginning.
Page 607 Contents Description Page Control Bits 00 to 15 Task 3 program number 0000 to 03E7 (4-digit hexadecimal) (Decimal: 0000 for Task 3 to 0999) Refer to Control Bits for Task 1 in n+2. 00 to 15 Control Bits for Task 3 Refer to Control Bits for Task 1 in n+3.
Page 608 X-axis override 0001 to 07CF (4-digit Hex) (Decimal: 0001 to 1999) Decimal: 0001 to 1999 → 0.1% to 199.9% (0.1% increments) Control Bits (Manual/ Auto) Specifies the override value for axis operation. This override value is used while the override setting is enabled. n+11 Deceleration Stop Deceleration Stop (Manual/ Prohibits other manual commands.
Page 609 Contents Description Page n+12 Y-axis 00 to 15 Y-axis override 0001 to 07CF (4-digit hex) (Decimal: 0001 to 1999) Control Bits (Decimal: 0001 to 1999 0.1% to 199.9% (0.1% increments) Refer to X-axis Control Bits in n+10. n+13 00 to 15 Y-axis Control Bits Refer to X-axis Control Bits in n+11.
Page 610 Task 4 error X-axis error Y-axis error Z-axis error U-axis error When an error occurs, an error output indicating the error type will be turned ON and will remain valid until the error is corrected. Autoloading Autoloading started. Autoloading finished.
Page 611 The above is the error code format of the MC Unit. An error code is valid while the Error Flag is ON. If an error occurs, check the error type data to find the type of error, such as a system, tasks 1 to 4, X-axis, to U-axis error.
Page 612 00 to Task 1 M code 0000 to 03E7 (4-digit Hex) (Decimal: 0000 to 0999) Status Flags The M code is output, which is valid when the M strobe is turned ON. n+21 00 to Task 1 Executing program number 0000 to 03E7 (4-digit Hex)
Page 613 X-axis 00 to X-axis present position (32-bit signed data) n+37 Status Flags The present position of the reference coordinate system is output. The position of the decimal point is determined by the system parameter settings. n+37 n+36 Present Position Range: FD9DA601 Hex to 026259FF Hex ( 39999999 to 39999999) Example: The present position of 100 (FFFFFF9C) is output as shown below.
Page 614 Y-axis present position (32-bit signed data) n+40 Flags The present position of the reference coordinate system is output. The position of the decimal point is determined by the system parameter settings. n+39: Rightmost 16 bits, n+40: Leftmost 16 bits Refer to X-axis present position in n+36 and n+37.
Page 615 Z-axis present position (32-bit signed data) n+43 Status Flags The present position of the reference coordinate system is output. The position of the decimal point is determined by the system parameter settings. n+42: Rightmost 16 bits, n+43: Leftmost 16 bits Refer to X-axis present position in n+36 and n+37.
Page 616: D System Parameters
Data Configuration for System Parameters In the table, R means the parameter is read-only and R/W means the data can be read and written. Only the X and Y axes and tasks 1 and 2 are available with the CS1W-MC221. Numbers for addresses and default set- tings are hexadecimal on top and are decimal in parenthesis () at the bottom.
Page 617 X = 0: MPG, X = 1: Sync encoder Sync encoder ratio Specifies the sync encoder ratio. X = 0: ratio of 4, X = 1: ratio of 2, X = 2: ratio of 1 0FA8 0FA8 Pass Mode...
Page 618 Specifies whether the time up time is dis- played when the automatic loading func- tion is used. Range: 00 to B4Hex (0 to 180 s) Time up will not be monitored if 00 is set. 1004 1004 First position data...
Page 619 (4276) Mode/dis- 0000 play unit Axis mode Display unit Axis Mode Specifies the Axis Feed Mode. X = 0: Normal Feed Mode, X = 1: Unlimit- ed Feed Mode Display unit Specifies unit displayed by CX-Motion. 106A 1083 109C 10B5...
Page 620 03 00 (4206) (4231) (4256) (4281) ratio 0000 Specifies the multiplier ratio for the encoder. X = 0: ratio of 4, X = 1: ratio of 2, X = 2: ratio of 1 106F 1088 10A1 10BA Encoder 0000 00 15...
Page 621 (4240) (4265) (4290) search 0001 method Specifies the method to search for the origin. X = 0: Origin mode when power is turned ON. X = 1: Limit reverse mode X = 2: Single direction mode 1078 1091 10AA 10C3...
Page 622 000A time (10) Wiring check time Specifies the wiring check time within a range of 0 to 99 (x 10 ms). Range: 00 to 63 Hex (0 to 99 [x 10 ms]) 107D 1096 10AF 10C8 Wiring 0000 0015...
Page 623 The range varies with the encoder resolution, pulse rate and display unit. The minimum setting unit is set to 2 (for 0.01), the display unit is set to 0 (for mm) and the maximum feed rate is 3.99 [mm/s] (i.e., 399 x 0.01) if the data is 399.
Page 624 (2000) feed rate search feed rate and maximum feed rate. 1134 114D 1166 117F Maximum Specifies the upper limit of the jog feed rate. 0000 (4404) (4429) (4454) (4479) jog feed There is no difference in data configuration, 4E20...
Page 625 (In Unit Ver. 1.14 or earlier, the limit input in the direction opposite to movement is monitored. In Unit Ver. 1.15 or later and Units with model number ending in -V1, the limit input in the direction of movement is monitored. Take this into consideration in system design.)
Page 626 These addresses are reserved for the system. (4419) (4444) (4469) (4494) for the system Note The above parameters are used as the electronic gear ratio setting when MPG is selected in the unit parameters or the MPG ratio and sync encoder are selected.
Page 627 Zone 1 Valid timing Sets timing for validating zone settings. X = 0: Vali- dates a zone at the end of the origin search, X = 1: Validates a zone whether or not the origin search is completed. Zone 1 to 8 Validates or invalidates zone 1 to zone 8 settings.
Page 628 Top: L + 1, MC221 MC421 Bottom: L 1199 11B2 11CB 11E4 Zone 3 Sets the negative or positive direction range of 0000 (4505) (4530) (4555) (4580) negative zone 3. 0000 direction The data configurations, ranges, and units for the...
Page 629 0000 Brake OFF time Sets the brake OFF time (the duration from the brake OFF output of the MC Unit to the actual brake OFF operation) when the output port is set for a brake output. Range: 0000 to 2710 hex (0 to 10000 [ms])
Page 630 Address range Position data 0000 to 07CF (decimal: 0000 to 1999) Each position is comprised of three words. Refer to SECTION 4 Data Transfer and Storage for more details about transferring data. Data can be transferred at any time. 12 11...
Page 631 If an axis error occurs for the axis being controlled by task1, an axis error code will be set, but the task 1 error code in this area will remain at 0000. The error code is set to 0000 Hex when the system is normal.
Page 632 Driver alarm reset output Sensor ON output 177C I/O monitor data Outputs the ON or OFF status of each MC Unit I/O signal on the Z and (6012) (Z/U) U axes. The data configuration is the same as that for I/O monitor data (X/Y).
Page 633 L+1: Leftmost 16 bits, L: Rightmost 16 bits Range: FD9DA601 to 026259FF Hex ( 39999999 to 39999999) The minimum setting unit is set to 2 (for 0.01), the display unit is set to 0 (for mm) and the reference origin offset is 3.99 [mm] (i.e., 399 0.01) if the data is...
Page 634 L+1: Leftmost 16 bits, L: Rightmost 16 bits Range: FD9DA601 to 026259FF Hex ( 39999999 to 39999999) The minimum setting unit is set to 2 (for 0.01), the display unit is set to 0 (for mm) and the reference origin offset is 3.99 [mm] (i.e., 399 0.01) if the data is...
Page 635 L+1: Leftmost bit, L: Rightmost bit Range: FD9DA601 to 026259FF Hex ( 39999999 to 39999999) The minimum setting unit is set to 2 (for 0.01), the display unit is set to 0 (for mm) and the reference origin offset is 3.99 [mm] (i.e., 399 0.01) if the data is 399.
Page 636 Outputs pulses for the Y-axis reference coordinate system present (6075) (6075) coordinate system position. A wider range of positions is output in comparison to the present position in Y-axis reference coordinate system in pulses at address 17AB hex pulses (6059). See X-axis reference coordinate system present position in pulses for the data configuration.
Page 637 Specifies the DM or EM area storing position data that will be transferred. X = 0: DM area, X = 1 to D: Corresponds to banks 0 to C in the EM area First destination address for transferred position data Specifies the first destination address number in MC Unit internal RAM for the transferred position data.
Page 638 Transfer destination area designation Specifies the DM or EM area for storing position data that will be transferred. X = 0: DM area, X = 1 to D: Corresponds to banks 0 to C in the EM area 17D8 17D8...
Page 639 Setting Bit is turned OFF, and operation proceeds with 100% override. The override is enabled (X = 0) when the power is turned ON. Note The override function selection can be used only with Unit Ver. 1.15 or later, and with Units whose model number ends in -V1.
Page 640: E Control Bit/Flag Timing Charts
1. Automatic/Manual Mode Bit, Cycle Start Bit, and Jogging Bit Automatic/Manual Mode Bit Cycle Start Bit Jogging Bit Jogging operation Operation The Jogging Bit signal is received at the same time that Manual Mode is set. The Cycle Start Bit signal is ignored.
Page 641 Even though the Cycle Start Bit is turned ON, MC program execution is not started because the Forced Block End Bit is ON. Operation will begin if the Forced Block End Bit is turned OFF and the Cycle Start Bit is turned OFF and then ON again.
Page 642 The Forced Block End Bit is turned ON to cancel execution of block N002 and stop program execution. Even though the Cycle Start Bit is turned ON again, the Forced Block End Bit is still ON, so program execution is not restarted.
Page 643 The Pause Bit is ON before the Cycle Start Bit is turned ON, so MC program execution is not started. The Forced Block End Bit is turned ON at the same time as the Cycle Start Bit, but the Pause Bit is already ON and the Forced Block End Bit has no effect.
Page 644 Cycle Start Bit Pause Bit Operation After program execution is paused with the Pause Bit, the Unit is switched to Manual Mode by turning OFF the Automatic/Manual Mode Bit. 15. Automatic/Manual Mode Bit, Cycle Start Bit, and Forced Block End Bit...
Page 645 Operation The Cycle Start Bit is invalid while the Unit is waiting for an M code reset. When the M Code Reset BIt is turned OFF, the standby status is cleared and the status of the Cycle Start Bit is checked. The Cycle Start Bit is ON,...
Page 646 The Forced Block End Bit takes precedence and stops program execution when the Forced Block End Bit and the M Code Reset BIt are turned ON at the same time. The M code is cleared when the program is stopped.
Page 647 M Code Operation The program is paused when the Pause Bit is turned ON, but the M code is not cleared. M code M10 is not cleared by the M Code Reset Bit because program execution is paused. 24. Cycle Start Bit, Pause Bit, M Code Reset Bit, and M Code Output...
Page 648 Error Reset Bit Operation After a task error occurs, the Task Error Reset Bit and Cycle Start Bit are turned ON at the same time, clearing the error and restarting operation simultaneously. 28. Automatic/Manual Mode Bit, Cycle Start Bit, Jogging Bit, and Manual Mode Flag...
Page 649 The Manual Mode origin search is stopped when the Automatic/Manual Mode Bit is turned ON. All axes in the task are stopped and the Unit enters Automatic Mode. At this point, the Busy Flags for all of the axes will be OFF, even though the Origin Search Bit remains ON.
Page 650 Cycle Start Bit Optional Input Operation Program execution is restarted when the Cycle Start Bit is turned ON. The status of the optional input is read due to the execution of the OPTIONAL END command (G74) and G04 is cancelled.
Page 651 Operation The Forced Block End Bit takes precedence if it is turned ON at the same time as the optional input in the block after an OPTIONAL END command (G74). The Unit stands by for restarting after program execution is...
Page 652 Reset Bit M Code Operation Turning ON the Forced Block End Bit clears the M code and stops program execution. The M Code Reset Bit signal is ignored. 39. Forced Block End Bit, M Code Reset Bit, and M Code Output...
Page 653 43. Pause Bit, M Code Reset Bit, and M Code Output Pause Bit M Code Reset Bit M Code Operation The program is stopped by the Pause Bit. The M Code Reset Bit is ignored, so the M code is not cleared.
Page 654 M Code Operation The M code command in the block after the OPTIONAL END command (G74) is stopped by the optional input. The M code is cleared and the next block is executed immediately. The M Code Reset Bit is ignored.
Page 655 Appendix E Control Bit/Flag Timing Charts...
Page 656: F Origin Search Patterns
Mode. Operation will vary depending on the position of the workpiece when the origin search is exe- cuted. Even if the search direction is set to the + direction (i.e., CW), if the initial origin search direction is oppo- site to the phase-Z detection direction, the origin search will be performed in the CCW direction.
Page 657 Appendix F Origin Search Patterns Reverse-mode Origin Search 2 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Origin proximity signal input...
Page 658 Appendix F Origin Search Patterns Reverse-mode Origin Search 3 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Origin proximity signal input Phase-Z signal Error (No origin signal.)
Page 659 Appendix F Origin Search Patterns Reverse-mode Origin Search 4 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Origin proximity signal input Phase-Z signal Error (No origin signal.)
Page 660 Appendix F Origin Search Patterns Reverse-mode Origin Search 5 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Origin proximity signal input Phase-Z signal Error (No origin signal.)
Page 661 Appendix F Origin Search Patterns Reverse-mode Origin Search 6 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Origin proximity signal input...
Page 662 Appendix F Origin Search Patterns Reverse-mode Origin Search 7 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Origin proximity signal input...
Page 663 Appendix F Origin Search Patterns Reverse-mode Origin Search 8 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Origin proximity signal input...
Page 664 Appendix F Origin Search Patterns Reverse-mode Origin Search 9 This origin search is performed with an origin proximity signal, and both phase-Z detection direction and initial origin search direction set to CW with no phase-Z signal input. Limit signal input...
Page 665 Appendix F Origin Search Patterns Reverse-mode Origin Search 10 This origin search is performed with an origin proximity input, and both phase-Z detection direction and initial origin search direction set to CW with no phase-Z signal input. Limit signal input...
Page 666 Appendix F Origin Search Patterns Reverse-mode Origin Search 11 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW with no phase-Z signal input. Limit signal input...
Page 667 Appendix F Origin Search Patterns Reverse-mode Origin Search 12 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Origin proximity signal input...
Page 668 Appendix F Origin Search Patterns If the ON range for the CW limit signal input is small, when the interval between it and the origin proximity sig- nal input is short, an error will result as shown below. Limit signal input...
Page 669 Appendix F Origin Search Patterns Reverse-mode Origin Search 13 This origin search is performed with no origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Phase-Z signal Speed (See note.) (See note.)
Page 670 Appendix F Origin Search Patterns One-direction Mode Origin Search 1 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to Limit signal input Origin proximity signal input Phase-Z signal Speed Error (No origin proximity signal) (See note.)
Page 671 Appendix F Origin Search Patterns One-direction Mode Origin Search 2 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to Limit signal input Origin proximity signal input Phase-Z signal Speed Error (No origin proximity signal) (See note.)
Page 672 Appendix F Origin Search Patterns One-direction Mode Origin Search 3 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to Limit signal input Origin proximity signal input Phase-Z signal Error (No origin signal.)
Page 673 Appendix F Origin Search Patterns One-direction Mode Origin Search 4 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to Limit signal input Origin proximity signal input Phase-Z signal Error (No origin signal.) (See note.)
Page 674 Appendix F Origin Search Patterns One-direction Mode Origin Search 5 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to Limit signal input Origin proximity signal input Error Phase-Z signal (No or igin signal.) (See note .)
Page 675 Appendix F Origin Search Patterns One-direction Mode Origin Search 6 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to Limit signal input Origin proximity signal input Phase-Z signal Error (No or igin signal.)
Page 676 Appendix F Origin Search Patterns One-direction Mode Origin Search 7 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to Limit signal input Origin proximity signal input Phase-Z signal Speed Error (No origin proximity signal) (See note.)
Page 677 Appendix F Origin Search Patterns One-direction Mode Origin Search 8 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to Limit signal input Origin proximity signal input Phase-Z signal Error (No or igin signal.)
Page 678 Appendix F Origin Search Patterns One-direction Mode Origin Search 9 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW with no phase-Z signal input. Limit signal input Origin proximity signal input...
Page 679 Appendix F Origin Search Patterns One-direction Mode Origin Search 10 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW with no phase-Z signal input. Limit signal input Origin proximity signal input...
Page 680 Appendix F Origin Search Patterns One-direction Mode Origin Search 11 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to Limit signal input Origin proximity signal input Phase-Z signal Error (No origin proximity signal) (See note.)
Page 681 Appendix F Origin Search Patterns One-direction Mode Origin Search 12 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to Limit signal input Origin proximity signal input Phase-Z signal Error (No origin proximity signal) (See note.)
Page 682 Appendix F Origin Search Patterns One-direction Mode Origin Search 13 This origin search is performed with no origin proximity signal input, and the phase-Z detection direction set to Limit signal input Phase-Z signal Speed Error (No origin proximity signal) (See note.) Error (Overtravel already ON.)
Page 683 Appendix F Origin Search Patterns...
Page 684 OMRON Servo Drivers The number of pulses output from the Servo Driver can be changed by setting an encoder divider rate with OMNUC W-series AC Servo Drivers. The maximum encoder input frequency of the MC Unit is limited to a max- imum value of 500 kpps.
Page 685: G Encoder Divider Rate And Rotation Speed For Omron Servo Drivers
Appendix G Encoder Divider Rate and Rotation Speed for OMRON Servo Drivers...
Page 686: H Mc Program Coding Sheet
Appendix H MC Program Coding Sheet The following page can be copied for use in coding MC programs. When coding programs, be sure to specify all G codes and operands. These will be necessary when inputting programs.
Page 687 Appendix H MC Program Coding Sheet Programmer: Program Number: Date: Page: Block No. G Code Operands Comments...
Page 688: I System Parameter Settings
Appendix I System Parameter Settings The following pages can be copied for use in recording system parameter settings.
Page 689 Setting Setting range Number of axes 1 to 4 Number of tasks 1 to 4 Task 1 axes Any combination of X, Y, Z and U Task 2 axes Task 3 axes Task 4 axes Memory Parameters Parameter Setting Setting range...
Page 690 Rotate direction Forward by + voltage/reverse by + voltage Emergency/limit input Either immediately set the voltage stopping method output to 0 V or stop using the error counter pulses. Encoder type Incremental encoder or absolute encoder Encoder resolution 1 to 65,535 ppr...
Page 691 Parameter Setting Setting range Zone 1 specification Enable or disable zone 1 settings Zone 1 valid timing Valid after origin search or valid even if origin search has not been completed Zone 1 Negative –39,999,999 to 39,999,999 direction SV Positive...
Page 692 Appendix I System Parameter Settings Parameter Setting Setting range Zone 3 valid timing Valid after origin search or valid even if origin search has not been completed Zone 3 Negative –39,999,999 to 39,999,999 direction SV Positive direction SV Zone 4 specification...
Page 693 Setting Setting range X axis Y axis Z axis U axis Error counter warning 0 to 65,000 pulses In position 0 to 999 pulses Position loop gain 5 to 150 (1/s) Position loop FF gain 0 to 100 (%) Backlash compensation value...
Page 694: J Position Data Coding Sheet
Appendix J Position Data Coding Sheet The following page can be copied to record the data stored in position data addresses.
Page 695 Appendix J Position Data Coding Sheet Programmer: Program Number: Date: Page: Address Data Comments Address Data Comments...
Page 696: Index
ABSOLUTE SPECIFICATION Backplane mounting Units AC relay block diagram acceleration blocks constant block ends in Pass Mode acceleration curve block numbers acceleration time conditional jump changing current block number acceleration/deceleration acceleration/deceleration curves executing single blocks jump...
Page 697 Index examples transfer words transferring encoders overall structure for CPU Unit servo driver transferring and saving times control cables transferring using command area connectors transferring with IOWR/IORD transfers to/from CPU Unit wiring types continuous path control data formats See also CP control...
Page 698 G02 and G03: CIRCULAR INTERPOLATION G04: DWELL TIMER G10: PASS MODE G11: STOP MODE failsafe circuits G13: IN-POSITION CHECK OFF MODE failures G17 to G22: CIRCULAR PLANE SPECIFICATION See also errors features G26: REFERENCE ORIGIN RETURN feed rate G27: WORKPIECE ORIGIN RETURN parameters...
Page 699 Index H–I specifications for command area helical circular interpolation J–M high-speed origin search feed rate I/O connector jogging I/O monitor data direction I/O refreshing feed rate I/O tables jumps incremental positions ladder programs INCREMENTAL SPECIFICATION executing G-language programs teaching indicators...
Page 700 See also coordinate parameters operation time See also feed-rate parameters OPTIONAL END See also machine parameters See also memory management parameter optional inputs See also system parameters controlling status See also Unit parameters standby flag See also zone parameters...
Page 701 Z margins present positions pick-and-place operations changing monitoring applicable models presetting PLC Interface Area presetting using command area allocations resetting list of allocations present value lists reference coordinate system response times processing flow See also Interface Area...
Page 702 REFERENCE ORIGIN RETURN software limits solenoid reference origin returns Special I/O Units registers specifications arithmetic operations SPEED CONTROL AXIS FEEDING specifying substitution speed reference relative coordinates starting operation replacing startup MC Unit startup time response times...
Page 703 Z-phase signal control bits encoder control flags MC Unit to CPU Unit communications servolock/unlock transferring data trapezoidal curves TRAVERSE traverse operation application reversal time trial operation triangular control linear interpolation...
Page 704: 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. W359-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 705 Revision History Revision code Date Revised content March 2004 Extensive corrections and changes to add -V1 models. February 2008 Added descriptions and corrected mistakes. Added unit version 1.1. Added information for OMNUC G-series Servo Drivers.

This manual is also suitable for:

Cs1w-mc221 Cs1w-mc221-v1 Cs1w-mc421 Cs1w-mc421-v1