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MISUMI C21 User Manual

Single-axis robot controller
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MISUMI SINGLE-AXIS ROBOT CONTROLLER
C21/C22
E
User's Manual
ENGLISH
MISUMI Corporation
4-43, Toyo 2-chome, Koto-ku, Tokyo, 135-8458 Japan
KE2-Ver. 3.00
URL http://www.misumi.co.jp/english/company/office/

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  • Page 1 MISUMI SINGLE-AXIS ROBOT CONTROLLER C21/C22 User’s Manual ENGLISH MISUMI Corporation 4-43, Toyo 2-chome, Koto-ku, Tokyo, 135-8458 Japan KE2-Ver. 3.00 URL http://www.misumi.co.jp/english/company/office/...
  • Page 3 Introduction Introduction Thank you for purchasing the C21/C22 Controller (hereafter referred to simply as "Controller"). Please read this manual carefully to ensure correct and safe use of this controller. Main functions Function Explanation Reference Section Moves the robot slider to the specified position.
  • Page 4 Although every effort was made to ensure that this manual content is accurate and complete, please contact MISUMI if errors, misprints, or omissions are found. For information related to the robot unit, support software, and other optional...
  • Page 5 Safety alert symbols and signal words Safety alert symbols and signal words The following safety alert symbols and signal words are used in this manual to describe safety concerns, handling precautions, prohibited or mandatory action and key points when using this product. Make sure you fully understand the meaning of each symbol and signal word and comply with the instructions.
  • Page 6 • Differences between a MISUMI robot (robot and controller), and a robot system: A MISUMI robot (robot and controller) is just one component in a robot system, and is not, in itself, a robot system. This is because a MISUMI robot does not include the "end effectors" or "any equipment, devices, or sensors required for the robot to perform its tasks", as defined in the EN10218-...
  • Page 7 CE marking 2. Safety measures Usage Conditions ■ The usage conditions which apply to the MISUMI robot series are described below. • EMC (Electromagnetic Compatibility) MISUMI robots are designed for industrial environments. (Applicable standard relating to the EMC Directive: Refer to the EN61000-6-2 Standard, Item 1 "Scope".)
  • Page 8 In order to ensure the customer's final product (entire system) complies with EMC directives, the customer should take appropriate EMC countermeasures. Typical EMC countermeasures for a single unit of MISUMI robot are shown for your reference. The examples shown here are the countermeasures tested under our installation conditions.
  • Page 9 CE marking ● Countermeasure components (1) Surge absorber Always install an external surge absorber to protect the controller from surge noise that may be generated by lightning. A recommended surge absorber is shown below. • Recommended surge absorber Manufacturer : SOSHIN ELECTRIC CO., LTD. Type No.
  • Page 10 CE marking (2) Noise filter Always install an external noise filter to reduce conduction noise to the power supply line. A recommended noise filter is shown below. • Recommended noise filter Type No.: EXRS-NF1 * * This product is made by COSEL CO., LTD (type No.: NAP-10-472). Dimensional outline (3.5) ±0.5...
  • Page 11 CE marking ・Recommended ferrite core 2 Manufacturer : TDK Type No. : ZCAT2132-1130 Dimensional outline 36.0±1 20.5±1 32.0±1 11.0±1 Unit: mm...
  • Page 12 Safety cautions Safety cautions The controller was designed and manufactured with ample consideration given to safety. However, incorrect handling or use may lead to injury, fire, electrical shocks, or other accidents or equipment failures. To prevent possible problems, be sure to observe the following safety cautions at all times.
  • Page 13 Safety cautions WARNING • Installation environment Use only in environments where the prescribed ambient temperature and humidity are maintained. Usage in other environments could cause electrical shocks, fires, malfunctions, and product deterioration. Do not use in environments which are subject to vibration and impact shocks, electromagnetic interference, electrostatic discharges, and radio frequency interference.
  • Page 14 Safety cautions • Wiring and connections Always shut off the power to the controller before performing wiring work and connecting cables. Failing to do so could result in electrical shocks and equipment failure. When connecting cables, use care to avoid subjecting the connectors to impact shocks or excessive loads.
  • Page 15 Immediately turn off the power if abnormal odors, sounds, or smoke are noticed during operation. Failing to do so could result in electrical shocks, fires, or equipment failure. Stop operation immediately, and contact MISUMI Corporation. • Maintenance and inspection Perform maintenance and inspection tasks only when instructions for doing so are provided by MISUMI Corporation.
  • Page 16 Safety cautions CAUTION Use the controller and robot only in the prescribed combinations. Unsuitable combinations could result in fires and equipment failure. Save the controller's internal data to an external memory device. The controller's internal data could be unexpectedly lost, and should therefore be backed up to an external device.
  • Page 17 Warranty Warranty The MISUMI robot and/or related product you have purchased are warranted against defects or malfunctions as described below. Warranty description : This warranty conforms to the "warranty description" listed at the end of the MISUMI "FA Mechanical Standard Components"...
  • Page 18 MEMO...
  • Page 19 Contents Chapter 1 Overview 1.1 Unpacking check 1.2 Part names and functions 1.3 System configuration 1.4 Installation and operation sequence Chapter 2 Installation and wiring 2.1 Installation method 2.2 Installation conditions 2.3 Wiring 2.3.1 Power supply connection 2.3.2 Malfunction prevention measures 2.4 Connecting the robot 2.5 Connecting the communication unit 2.6 Connecting the absolute battery...
  • Page 20 3.4.1 Parameter list 3.4.2 Parameter details 3-12 Chapter 4 I/O signal functions 4.1 I/O specifications 4.1.1 I/O specifications 1 (NPN and PNP type) 4.1.2 I/O specifications 2 (CC-Link type) 4.1.3 I/O specifications 3 (DeviceNet type) 4.2 I/O signal list 4.3 I/O signal details 4.3.1 Input signal details 4.3.2 Output signal details Chapter 5 Operation...
  • Page 21 Chapter 6 Troubleshooting 6.1 Alarm groups 6.2 Alarm recording function 6.3 Alarm list 6.4 Alarms: Possible causes and actions Chapter 7 Specifications 7.1 C21/C22 specifications 7.1.1 Basic specifications 7.1.2 Dimensional outlines 7.2 I/O interface specifications 7.2.1 NPN 7.2.2 PNP 7.2.3 CC-Link 7.2.4 DeviceNet...
  • Page 22 3.4 How to enter numbers H-17 3.5 Menu structure H-18 4. Editing the point data H-19 4.1 Point teaching H-19 4.1.1 Teaching playback H-19 4.1.2 Direct teaching H-22 4.2 Copying point data H-23 4.3 Deleting point data H-24 4.4 Displaying a list of point data H-25 5.
  • Page 23 1.1 Communication parameter specifications 1.2 Communication command specifications 2. Communication command lists 3. Communication command description 3.1 Robot operation commands Positioning operation (START) Operation stop (STOP) Return-to-origin (ORG) JOG movement (JOG+, JOG-) Inching movement (INCH+, INCH-) 3.2 Status change commands Servo status change (SRVO) Brake status change (BRK) Reset (RESET)
  • Page 24 MEMO Contents...
  • Page 25 Chapter 1 Overview Contents 1.1 Unpacking check 1.2 Part names and functions 1.3 System configuration 1.4 Installation and operation sequence 1-4...
  • Page 27 For COM1 connector I/O cable 1 piece For NPN and PNP The accessories vary according to the shipment configuration. For details, contact MISUMI Corporation. 1.2 Part names and functions Part names and functions • Power supply connector • Status indicator lamps...
  • Page 28 1.2 Part names and functions 200V LED names (CC-Link) CHARGE ● L RUN Green when lit. MOTOR ● L ERR. Red when lit. ● SD Orange when lit. RGEN ● RD Orange when lit. See section "7.2.3 CC-Link" for details of LED indicator lamp meanings. 200V LED names (DeviceNet) CHARGE...
  • Page 29 1.3 System configuration 1.3 System configuration System configuration diagram • H1 or support software RS-Manager The H1 and support software (RS-Manager) and connection cable are optional items. FUNC STOP • RS-232C control COM1 Personal computer, etc. 200V CHARGE Personal computer, etc. MOTOR •...
  • Page 30 1.4 Installation and operation sequence 1.4 Installation and operation sequence The basic sequence from controller installation to actual operation is shown below. Chapter 2 ”Installation and wiring” Installation Cable and connector wiring · and connection Ground connection · Building the "emergency stop" circuit ·...
  • Page 31 Chapter 2 Installation and wiring Contents 2.1 Installation method 2.2 Installation conditions 2.3 Wiring 2.3.1 Power supply connection 2.3.2 Malfunction prevention measures 2.4 Connecting the robot 2.5 Connecting the communication unit 2-9 2.6 Connecting the absolute battery 2-12 2.7 Replacing the absolute battery 2-12 2.8 Connecting the I/O signals 2-13...
  • Page 33 2.1 Installation method 2.1 Installation method Use the mounting screw holes to install the controller on a vertical wall in the manner shown below. Installation Installation screws ■ Use the following screw type for installation. Mounting Area Recommended Recommended Hole Dia. Thickness Screw Tightening Torque...
  • Page 34 2.2 Installation conditions 2.2 Installation conditions Installation location ■ Install the controller inside the control panel. Installation direction ■ Install the controller on a vertical wall. Surrounding space ■ Install the controller in a well ventilated location, 20mm or more with at least 20mm of space on all sides of the controller (see the figure at right).
  • Page 35 2.3 Wiring 2.3 Wiring 2.3.1 Power supply connection Power supply connection examples ■ • For 200VAC power supply: Controller AC IN Wiring breaker Electromagnetic contactor Noise filter 200VAC Surge absorber • For 100VAC power supply: Controller AC IN Wiring breaker Electromagnetic Noise filter contactor...
  • Page 36 Description Main power input 200 to 230VAC 10%, 50/60Hz ± Control power input 200 to 230VAC 10%, 50/60Hz ± Power supply connector (C21) Signal Name Description Main power input 100 to 115VAC 10%, 50/60Hz ± No connection Control power input...
  • Page 37 2.3 Wiring Ground terminal ■ The controller must be grounded to prevent electrical shocks in case of electrical leakage, and to prevent equipment malfunctions due to electrical noise. A Class D or higher grounding (grounding resistance of 100 or less) is required. Ω...
  • Page 38 2.3 Wiring Installing an electromagnetic contactor ■ In order to flexibly accommodate the various safety categories required by customers, this controller is not equipped with an internal main power shutoff circuit. Please select the products that meet the required safety category, and always install an electromagnetic contactor on the main power supply side to configure an main power shutoff circuit.
  • Page 39 2.4 Connecting the robot 2.4 Connecting the robot Connect the robot cables to the robot I/O connector on the controller's front face, and to the motor connector. Connection method ■ Connecting the robot Controller Robot I/O connector Motor connector COM1 200V CHARGE MOTOR...
  • Page 40 2.4 Connecting the robot Robot I/O connector signal table ■ Pin No. Signal Name Description Resolver SIN input (+) Resolver SIN input (-) Resolver COS input (+) Resolver COS input (-) Resolver excitation output (+) Resolver excitation output (-) Frame ground No connection Origin sensor power 0V +24V...
  • Page 41 2.5 Connecting the communication unit 2.5 Connecting the communication unit The controller can be operated from the H1 (Handy Terminal) or a communication device with the RS-232C interface, such as a personal computer. The H1 is an optional item. · ·...
  • Page 42 2.5 Connecting the communication unit Connecting the controller to a communication device ■ Make this connection by using the optional communication cable for connection to a communication device, such as a personal computer. Communication device connection Communication connector 1 (COM1) Personal computer, etc.
  • Page 43 2.5 Connecting the communication unit Connecting a dummy connector ■ The provided dummy connector must be plugged into the COM1 connector when operating the controller without connecting it to a communication unit. COM1 dummy connector COM1 200V CHARGE MOTOR RGEN Dummy connector Controller An emergency stop occurs if the communication cable (or Handy Terminal cable) is...
  • Page 44 2.6 Connecting the absolute battery 2.6 Connecting the absolute battery The absolute battery is used to retain robot position data. To install the battery, first connect its cable to the BAT connector inside the panel, then install the battery. Connecting the absolute battery •...
  • Page 45 2.8 Connecting the I/O signals 2.8 Connecting the I/O signals Two types of I/O signal connections (I/O and EXT I/O) are provided for connection to external device such as a PLC. I/O wiring diagram Controller I/O（NPN） DC24V +COM I/O power + common POUT0 ・...
  • Page 46 2.9 Connecting the EXT connector 2.9 Connecting the EXT connector 2.9.1 EXT connector wiring The EXT connector provides functions for configuring safety circuits, including the robot. Connecting to the EXT connector Controller EXT connector (Bottom face) Always grasp the connector body when plugging in and unplugging the cable. CAUTION EXT connector wiring method ■...
  • Page 47 2.9 Connecting the EXT connector [Using a flat-blade screwdriver] Insert the screwdriver into the connector's top slot and press downward while inserting the stripped wire into the wire port. · Perform the above wiring with the EXT connector removed from the controller. ·...
  • Page 48 2.9 Connecting the EXT connector • Internal power for emergency stop input (ES+), and emergency stop READY signal (ES-) These signals are used by the external safety circuit (e.g., safety enclosure, manual switch, etc.) in order to perform robot emergency stops. Signal Name Description Type...
  • Page 49 2.9 Connecting the EXT connector 2.9.3 Circuit details An EXT connector and host unit connection example is shown below. Controller COM1 Handy Terminal Status Internal Internal power  EXT connector External "emergency External stop" External 24V In order to flexibly accommodate the various safety categories required by customers, this controller is not equipped with an internal main power shutoff circuit.
  • Page 50 2.10 Connecting the I/O unit 2.10 Connecting the I/O unit Parallel I/O (NPN type and PNP type) ■ Connecting a parallel I/O Controller I/O connector COM1 200V CHARGE MOTOR RGEN • Use care to avoid incorrect terminal connections and short-circuits between terminals when performing the wiring work.
  • Page 51 2.10 Connecting the I/O unit NPN type I/O circuit details ■ [Input circuit] +COM 24VDC 4.7kΩ Input Internal Logic circuit circuit -COM Type : DC input (plus common type) Photo-coupler isolation format Load : 24VDC ± 10%, 5.1mA OFF voltage :19.6Vmin (1.0mA) ON voltage :4.9Vmax (4.0mA) [Output circuit] +COM...
  • Page 52 2.10 Connecting the I/O unit PNP type I/O circuit details ■ [Input circuit] +COM Input Internal Logic circuit circuit 24VDC 4.7k -COM Type : DC input (minus common type) Photo-coupler isolation format Load : 24VDC ± 10%, 5.5mA OFF voltage :19.6Vmin (4.5mA) ON voltage :4.9Vmax (1.1mA) [Output circuit] +COM...
  • Page 53 2.10 Connecting the I/O unit CC-Link ■ • Terminal arrangement and connector specifications Name 5 4 3 2 1 • Connection method Controller CC-Link connector COM1 200V CHARGE MOTOR RGEN Jump socket The CC-Link unit supports CC-Link Ver.1.10. The use of Ver.1.10 compatible CC-Link cable eliminates some restrictions which apply to items such as the cable length between nodes, etc.
  • Page 54 2.10 Connecting the I/O unit DeviceNet ■ • Terminal array and connector specifications Name (Black) CAN_L (Blue) Shield CAN_H (White) 1 2 3 4 5 (Red) • Connection method Controller DeviceNet connector COM1 200V CHARGE MOTOR RGEN 2-22 Chapter 2 Installation and wiring...
  • Page 55 2.11 Safety circuit construction example 2.11 Safety circuit construction example This section describes category-specific safety circuit configuration examples using a Handy Terminal which has an ENABLE switch. Customers should install the appropriate safety measures for their system by referring to the safety circuits shown in 2.11.2, "Circuit configuration examples", in order to use single-axis robots more safely.
  • Page 56 2.11 Safety circuit construction example 2.11.2 Circuit configuration examples The following shows category-specific safety circuit configuration examples using a Handy Terminal which has an ENABLE switch. Customers should install the appropriate safety measures for their system by referring to these safety circuit configuration examples in order to use single-axis robots more safely.
  • Page 57 2.11 Safety circuit construction example TIP: For Handy Terminal without an ENABLE switch (Category B) Emergency stop COM1 Controller MPRDY E-STOP Status Status AC IN Internal +24V External emergency stop 24V_GND +24V 2-25 Chapter 2 Installation and wiring...
  • Page 58 2.11 Safety circuit construction example Category specific safety circuit construction examples ■ The following safety circuit construction examples apply for safety categories 2 to 4. (1) Safety category specific safety circuit construction examples For category 4 AC IN AC OUT Reset switch SRL1 T31 T32...
  • Page 59 2.11 Safety circuit construction example For category 3 AC IN AC OUT Reset switch SRL1 T31 T32 +24V +24V MPRDY1 Maintenance switch MPRDY2 Maintenance 11 Input 1 Maintenance 12 Maintenance 21 Input 2 Maintenance 22 SRL2 Door switch 13 23 T31 T32 Maintenance 11 Input 1 Maintenance 12...
  • Page 60 2.11 Safety circuit construction example For category 2 AC IN AC OUT Reset switch SRL1 +24V +24V MPRDY1 Maintenance switch MPRDY2 Maintenance 11 Input 1 Maintenance 12 SRL2 Door switch T31 T32 Maintenance 11 Input 1 Maintenance 12 S_ES2 External emergency stop Input 1 SAFETY HD1 emergency stop...
  • Page 61 2.11 Safety circuit construction example (2) Circuit operation overview During automatic operation Main power (motor drive power) is supplied only when all the following conditions are satisfied. Conditions • The maintenance mode switch's NC contact is OFF (open). • The door switch's NC contact is ON (closed). •...
  • Page 62 MEMO 2-30 Chapter 2 Installation and wiring...
  • Page 63 Chapter 3 Data setting Contents 3.1 Data overview 3.2 Point data 3.2.1 "Standard setting" type 3.2.2 "Custom setting" type 3.3 Point data details 3.4 Parameter data 3.4.1 Parameter list 3.4.2 Parameter details 3-12...
  • Page 65 3.1 Data overview 3.1 Data overview Point data and parameter data settings must be specified in order to operate a robot from a C21/C22 controller. Point data ■ The point data used in positioning operations includes items such as the "RUN type", "Position", and "Speed", etc.
  • Page 66 3.2 Point data 3.2 Point data The point data includes items such as the "RUN type", "Position", and "Speed", etc. Point data item list ■ P1 to P255 Item Description RUN type Specifies the positioning operation pattern. Position Specifies the positioning target position or movement amount. Speed Specifies the positioning speed.
  • Page 67 3.2 Point data 3.2.1 "Standard setting" type The optimum acceleration is automatically set simply by specifying the desired payload. Speed and acceleration concept Speed Specified as a percentage of the max. "Speed" = 100% speed for each robot. "Accel." = 100% "Decel.
  • Page 68 3.2 Point data 3.2.2 "Custom setting" type This setting type allows a more detailed positioning operation. Speed and acceleration concept Speed The speed is specified in "mm/s" units. "Speed" = 600.00 (mm/s) The max. permissible setting value is the max. accel. for each robot type. "Accel."...
  • Page 69 3.3 Point data details 3.3 Point data details This section explains the details of each point data item. 1: RUN type Specifies the positioning operation pattern. For positioning operation details, see section 5.3 "Positioning operation". 1. ABS 2. INC Positioning movement to an origin-point Positioning movement occurs to a specified keyed target position occurs.
  • Page 70 3.3 Point data details 2: Position Specifies the positioning target position or movement amount. When the "RUN type" is specified as "ABS (absolute position) · ........Target position. · When the "RUN type" is specified as "INC (relative position) ........Movement amount from current position. The illustration below shows a positioning example when a "Position = 100.00 (mm)"...
  • Page 71 3.3 Point data details 6: Push Specifies the electrical current limit value during a push operation. The push force is specified as a percentage (%) of each robot's rated current. A 100% "push force" is equal to the rated current, and the thrust generated by the rated current is called the "rated thrust".
  • Page 72 3.3 Point data details 10: Jump Specifies the next point No. when movement to a next operation is to occur after a positioning completion. If this setting is specified as "0", there is no movement to a next point (operation ends). In merge operations, this setting specifies the merge destination point No.
  • Page 73 3.4 Parameter data 3.4 Parameter data The 4 types of parameter data are shown below. Type Description These parameters are required for robot operation, and they RUN parameter include "soft limit" and "zone" settings. I/O parameter These parameters are for terminal assignment and I/O functions. These parameters are for optional settings (CC-Link and DeviceNet, Option parameter etc.), and include the "node No."...
  • Page 74 3.4 Parameter data • Return-to-origin Name Setting / Setting Range Units Default Restart Origin speed 0.01 to 100.00 mm/s 20.00 Depends on Origin dir. 0: CCW direction; 1: CW direction robot type Origin coordi. 0: Standard; 1: Reversed Origin shift -9999.99 to 9999.99 0.00 I/O parameters...
  • Page 75 3.4 Parameter data • DeviceNet Name Setting / Setting Range Units Default Restart Option enable 0: Disable 1: Enable Node 0 to 63 Required 0: 125Kbps Transmission 1: 250Kbps Required rate 2: 500Kbps Servo parameters ■ • Adjustment (for user adjustments) Name Setting / Setting Range Units...
  • Page 76 3.4 Parameter data 3.4.2 Parameter details The parameters described below can be adjusted to conform to the actual application and usage conditions. RUN parameters ■ • Positioning related parameters Setting Range Default Units Restar Soft limit (-) Depends on Soft limit (+) -9999.99 to 9999.99 robot type Function...
  • Page 77 3.4 Parameter data Setting Range Default Units Restart Zone (-) Zone (+) -9999.99 to 9999.99 0.00 Function Specifies the zone output (ZONE) range's upper and lower limits. For zone output details, see section 5.7.2 "Zone output function". Setting Range Default Units Restart Speed override...
  • Page 78 3.4 Parameter data Setting Range Default Units Restart Return-to-origin Depends on direction 0 to 1 robot type Function Specifies the return-to-origin direction. Settings Setting Value Description Setting Range Default Units Restart Origin Coordi. 0 to 1 Function Specifies the coordinate system polarity. Settings Setting Value Description...
  • Page 79 3.4 Parameter data I/O parameters ■ • Terminal assignment related parameters Name Setting / Setting Range Default Units Restart 0 to 8 Required OUT0 select 0 to 8 Required OUT1 select 0 to 8 Required OUT2 select 0 to 8 Required OUT3 select Function...
  • Page 80 3.4 Parameter data Setting Range Default Units Restart SERVO sequence 0 to 1 Function Specifies the SERVO input's servo ON/OFF conditions. Settings Setting Value Description Edge (servo ON at leading edge, servo OFF at trailing edge) Level (ON: servo on; OFF: servo off) Setting Range Default Units...
  • Page 81 3.4 Parameter data Setting Range Default Units Restart Max. payload accel. 1 Function Specifies the maximum payload acceleration defined by the "Payload 1" (K76) parameter. This is a "read only" parameter. Setting Range Default Units Restart Payload 2 Depends on 0 to (depends on robot type) …...
  • Page 82 3.4 Parameter data CC-Link ■ Setting Range Default Units Restart CC-Link node 1 to 64 Required Function Specifies the CC-Link communication node. Setting Range Default Units Restart CC-Link speed 0 to 4 Required Function Specifies the CC-Link baud rate. Settings Setting Value Description 156Kbps...
  • Page 83 Chapter 4 I/O signal functions Contents 4.1 I/O specifications 4.1.1 I/O specifications 1 (NPN and PNP type) 4.1.2 I/O specifications 2 (CC-Link type) 4.1.3 I/O specifications 3 (DeviceNet type) 4.2 I/O signal list 4.3 I/O signal details 4.3.1 Input signal details 4.3.2 Output signal details...
  • Page 85 4.1 I/O specifications 4.1 I/O specifications The C21/C22 allows positioning and push operations to be controlled from a host unit such as a PLC, etc., by way of an I/O interface. The I/O specifications for the I/ O interface are shown below. (Selected at the time of purchase.)
  • Page 86 Operation occurs as a CC-Link remote device station, on a one-unit to one-station basis. "Station No." and "baud rate" settings must be specified in order for the C21/C22 to be recognized as remote station in the CC-Link system. These settings can be specified in the support software (RS-Manager), or from the H1.
  • Page 87 4.1 I/O specifications Remote registers (word I/O) ■ Remote commands can be executed by using the 4-word input and 4-word output remote registers. Inputs (Master Remote) Output (Remote Master) Address Signal Name Description Address Signal Name Description RWwn WIN0 Execution command RWrn WOUT0 Status...
  • Page 88 Operate as slave stations, with each unit occupying 6 input and 6 output channels. MAC ID and baud rate settings are required in order for the C21/C22 to be properly recognized as a slave station in the DeviceNet system. These settings can be specified from the support software (RS-Manager), or from the H1.
  • Page 89 4.1 I/O specifications Remote registers (word I/O) ■ Remote commands can be executed by using the 4-word input and 4-word output areas. Inputs (Master Remote) Output (Remote Master) Channel No. Signal Name Description Channel No. Signal Name Description WIN0 Execution command WOUT0 Status WIN1...
  • Page 90 4.2 I/O signal list 4.2 I/O signal list A list of the I/O signals is given below. For details regarding each signal, refer to section 4.3 "I/O signal details". Type Signal Name Meaning Description · Specifies the point No. for the positioning operation. PIN0 to Point No.
  • Page 91 4.3 I/O signal details 4.3 I/O signal details This section explains the I/O signals in detail. 4.3.1 Input signal details PIN0 to PIN7 (Point No. Select) ■ ） These inputs are read as 8-bit binary code Point Nos. when the START and TEACH commands are executed.
  • Page 92 4.3 I/O signal details TEACH ■ This input sets (teaches) the current position at the point data position specified by PIN0 to PIN7 (point No. select). The TEACH input is only enabled when in the MANUAL mode (MANUAL = ON), with the /LOCK (interlock) input OFF.
  • Page 93 4.3 I/O signal details 4.3.2 Output signal details POUT0 to POUT7 (point No. output) ■ Outputs the current positioning operation's point No. as a binary output. When an alarm occurs, these signals output the alarm No. as a binary output. •...
  • Page 94 4.3 I/O signal details /ALM ■ This signal is ON during a normal status, and switches OFF when an alarm occurs. SRV-S ■ This signal is ON while a "servo ON" status exists, and switches OFF when a "servo OFF" status occurs. PZONE ■...
  • Page 95 Chapter 5 Operation Contents 5.1 Operation procedure 5.1.1 Overall operation timing chart 5.1.2 Alarm occurrence and clearing 5.2 Origin search (return-to-origin) 5.2.1 Origin point detection method 5.2.2 Origin point and coordinates relationship 5.2.3 Return-to-origin timing chart 5.3 Positioning operation 5.3.1 Basic operation 5.3.2 Positioning timing chart 5-11 5.3.3 Positioning merge operation...
  • Page 96 5.7 Other functions 5-36 5.7.1 Soft limit function 5-36 5.7.2 Zone output function 5-36 5.7.3 Alarm No. output function 5-37 5.7.4 Changing the payload 5-37 5.7.5 LED status indicators 5-38...
  • Page 97 5.1 Operation procedure 5.1 Operation procedure 5.1.1 Overall operation timing chart The operation timing chart from "power ON" to the "positioning operation" is shown below. Control power (L1, N1) Initial processing Main power READY (MPRDY) Operation end (END) Emergency stop (E-STOP) Main power (L, N)
  • Page 98 5.1 Operation procedure (9) The PIN0 to PIN7 inputs occur. (10) The START input switches ON after the Td delay period elapses. (11) The END signal switches OFF when positioning begins, and BUSY switches ON. (12) The START input switches OFF. (13) The END signal switches ON when positioning ends, and BUSY switches OFF.
  • Page 99 5.1 Operation procedure 5.1.2 Alarm occurrence and clearing The operation timing chart from "alarm occurrence" to "alarm clear" is shown below. Point No. select Setting Setting (PIN0 to PIN7) Point No. output Alarm No. Alarm No. (POUT0 to POUT7) Error occurrence Error occurrence Alarm (/ALM)
  • Page 100 5.2 Origin search (return-to-origin) 5.2 Origin search (return-to-origin) An origin point must be determined in order for this controller to operate a robot in a single- axis coordinate system. This operation is called an "origin search" (or "return-to-origin"). Performing a return-to-origin sets the robot's coordinates and enables positioning. 5.2.1 Origin point detection method The following methods are available to detect the origin point.
  • Page 101 5.2 Origin search (return-to-origin) 5.2.2 Origin point and coordinates relationship Coordinates are determined in accordance with the return-to-origin direction. The opposite direction from the return-to-origin direction is the "plus" direction. This direction (coordinate) setting can be reversed by changing the K15 ("Origin Coordi.") parameter setting.
  • Page 102 5.2 Origin search (return-to-origin) 5.2.3 Return-to-origin timing chart Return-to-origin (ORG) Operation-in-progress (BUSY) Return-to-origin end status (ORG-S) Operation end (END) (1) The ORG input switches ON. (2) When the return-to-origin begins, the END signal switches OFF, and BUSY switches ON. (3) When ORG-S switches ON, the ORG input switches OFF. (4) BUSY switches OFF, and END switches ON.
  • Page 103 5.3 Positioning operation 5.3 Positioning operation A positioning operation can be performed by creating the required point data ("RUN type", "Position", "Speed", "Accel.", data, etc.), specifying the desired Point Nos. at PIN0 to PIN7 (point No. select), and then executing the START command input. Positioning can be executed as absolute position movement (ABS), as relative position movement (INC), or by a "push"...
  • Page 104 5.3 Positioning operation Setting the "Speed", "Accel.", and "Decel." data ■ (1) When using the "Standard setting" point type The "Speed" and "Accel." settings are specified as a percentage of the optimal positioning speed and acceleration values for each robot type, based on that robot's maximum speed and maximum payload acceleration values.
  • Page 105 5.3 Positioning operation Maximum payload acceleration and the payload ■ The maximum payload acceleration varies according to the payload setting. The optimum "maximum payload acceleration" is determined based on the robot's registered payload weight. Two "maximum payload acceleration" settings can be selected by "flag"...
  • Page 106 5.3 Positioning operation Acceleration S-curve ■ The C21/C22 features an S-curve function (standard item) to ensure smooth acceleration/deceleration. This results in a maximum acceleration which is 1.4 times that of a trapezoidal acceleration/deceleration format. Speed Max. accel. Time 5-10 Chapter 5 Operation...
  • Page 107 5.3 Positioning operation 5.3.2 Positioning timing chart The timing chart for positioning operations is shown below. For "normal end" （ ） Point No. select Setting (PIN0 to PIN7) Response Point No. output (POUT0 to POUT7) Positioning operation Start (START) Td 5ms Operation-in-progress (BUSY) Operation end...
  • Page 108 5.3 Positioning operation Point No. outputs ■ An answer-back for the point Nos. used in the positioning operation occurs at the POUT0 to POUT7 point No. outputs. This output can be set to occur "WITH" (at movement start), or "AFTER" (at positioning end) by the K25 (POUT select) I/O parameter.
  • Page 109 5.3 Positioning operation 5.3.3 Positioning merge operation The positioning movement speed can be changed while in progress by performing positioning in the merge operation mode. The figure below shows an example of the following merge operation: "operation 1 (P1 positioning) operation 2 (P2 positioning) operation 3 (P3 positioning).
  • Page 110 5.3 Positioning operation (2) When the acceleration (deceleration) distance required to reach the merge destination speed is insufficient: Speed Desirable acceleration Time Operation 2 Operation 1 The inadequate acceleration and deceleration times in the above examples could hinder robot operation. 5-14 Chapter 5 Operation...
  • Page 111 5.3 Positioning operation 5.3.4 Push operation A push operation is performed at the positioning operation. During the push operation, the torque is limited in accordance with the push force being used, allowing workpieces to be grasped and press-fit. Push operation example Speed Torque limit zone Speed...
  • Page 112 5.3 Positioning operation Push judgment time ■ This setting is used as the reference for "operation end" judgments at push operations. The "operation end judgment" is made when the time during which the torque level is at the push force reaches the K5 (push judgment time) RUN parameter setting.
  • Page 113 5.3 Positioning operation 5.3.5 Deceleration push operation Deceleration ends at the position set as the "Near width" value (distance) short of the target position, and the push operation then begins in accordance with the K6 (push speed) RUN parameter setting. Speed Torque limit zone Speed...
  • Page 114 5.3 Positioning operation 5.3.6 Continuous operation "Continuous operation" refers to consecutive positioning operations which occur in response to an initial START command input. When one positioning operation ends, and the "Timer" specified delay (wait) time elapses, the next positioning operation begins for the "Jump"...
  • Page 115 5.3 Positioning operation 5.3.7 Output function During positioning operations, individual operation speeds and position information are transmitted to the host unit by the outputs shown below. Speed Speed Accel. Decel. Movement-in-progress output level (K12) Target position Zone - Zone + Position Near width Movement-in-progress...
  • Page 116 5.3 Positioning operation 5.3.8 Operation examples Setting example 1 (movement between 2 points, standard setting) ■ Speed 100% Position (200.00mm) (500.00mm) 100% Position Speed Accel. Decel. RUN type Flag [mm] 200.00 500.00 (1) P1 P2 positioning occurs. (2) Return to P1. Setting example 2 (movement between 2 points, custom setting) ■...
  • Page 117 5.3 Positioning operation Setting example 3 (positioning + pitch feed) ■ Speed 100% 100.00mm 100.00mm 100.00mm Position (0.00mm) (200.00mm) 100% Position Speed Accel. Decel. RUN type [mm] 0.00 200.00 100.00 (1) P1 P2 positioning occurs. (2) Pitch feed corresponding to the P3 movement amount occurs. (3) Return to P1.
  • Page 118 5.3 Positioning operation Setting example 5 (workpiece push) ■ Speed 100% (100.00mm) Workpiece Position (0.00mm) (350.00mm) 100% Position Speed Accel. Decel. Push Force RUN type [mm] 0.00 350.00 INC Push 100.00 (1) P1 P2 positioning occurs. (2) Push operation corresponding to the P3 movement amount occurs. (3) Return to P1.
  • Page 119 5.4 MANUAL mode 5.4 MANUAL mode In the MANUAL mode, JOG movement and position teaching, etc., can be performed from a host unit by using the optional Handy Terminal (H1) or the RS- Manager support software. This section explains the MANUAL mode functions. 5.4.1 MANUAL mode timing chart MANUAL mode (MANUAL)
  • Page 120 5.4 MANUAL mode 5.4.2 JOG movement When in the MANUAL mode ("MANUAL" ON), robot JOG movement in the specified direction is possible while the JOG+ / JOG- input is ON. When this input switches OFF, a deceleration stop occurs. JOG movement can be performed even if a return- to-origin has not been completed.
  • Page 121 5.4 MANUAL mode 5.4.3 TEACH (Teaching) When in the MANUAL mode ("MANUAL" ON) with "/LOCK" switched OFF, the current position can be written to the specified point No. at the leading edge of the TEACH input ON. The TEACH function is disabled if a return-to-origin has not yet been completed. NOTE Current position 210.45mm...
  • Page 122 5.5 Remote commands 5.5 Remote commands 5.5.1 Overview Remote commands use the field network's remote registers to read and write various types of information. CC-Link ■ Inputs (Master Remote) Output (Remote Master) Address Signal Name Description Address Signal Name Description RWwn WIN0 Execution command...
  • Page 123 5.5 Remote commands Point data writing ■ Command Command Option Command Response Name WIN0 WIN1 WIN2, WIN3 WOUT1 WOUT2, WOUT3 Operation Operation type write 0200h Point No. Point No. type Position write 0201h Point No. Position data Point No. Speed write 0202h Point No.
  • Page 124 5.5 Remote commands Parameter writing ■ Command Command Option Command Response Name WIN0 WIN1 WIN2, WIN3 WOUT1 WOUT2, WOUT3 Speed override (K9) 0400h 0009h Speed override write JOG speed (K10) 0400h 000Ah JOG speed write Inching width (K11) 0400h 000Bh Inching width write Parameter reading...
  • Page 125 5.5 Remote commands 5.5.3 Timing chart Remote command transmission/reception timing chart examples are given below. When executing a query ■ [Example] Executing "current position" reading Command option 0000h 0000h 0000h 0000h 0000h (WIN1) Command 0000h 0000h 0000h 0100h 0100h (WIN0) Status 0000h 0200h...
  • Page 126 5.5 Remote commands 5.5.4 Query Reads information (current position and speed, etc.) related to the operation. Command Option Command Input WIN3 WIN2 WIN1 WIN0 Type 0100h Command Response Status Output WOUT3 WOUT2 WOUT1 WOUT0 Data 0200h The "Data" is output as 2-word, Little Endian data. NOTE Command type and response data ■...
  • Page 127 5.5 Remote commands 5.5.5 Point data writing Point data is written. Command Option Command Input WIN3 WIN2 WIN1 WIN0 Data Point No. 02xxh Command Response Status Output WOUT3 WOUT2 WOUT1 WOUT0 Point No. (response) 0200h Commands and data ■ Command Option Units Command Data Write...
  • Page 128 5.5 Remote commands 5.5.6 Point data reading Point data is read. Command Option Command Input WIN3 WIN2 WIN1 WIN0 Point No. 03xxh Command Response Status Output WOUT3 WOUT2 WOUT1 WOUT0 Data Point No. (response) 0200h The "Data" is output as 2-word, Little Endian data. NOTE Commands and data ■...
  • Page 129 5.5 Remote commands 5.5.7 Parameter data writing Parameter data is written. Command Option Command Input WIN3 WIN2 WIN1 WIN0 Data Parameter No. 0400h Command Response Status Output WOUT3 WOUT2 WOUT1 WOUT0 0200h Command type and data ■ Command Option Command Unit Parameter No.
  • Page 130 5.5 Remote commands 5.5.8 Parameter data reading Parameter data is read. Command Option Command Input WIN3 WIN2 WIN1 WIN0 Parameter No. 0500h Command Response Status Output WOUT3 WOUT2 WOUT1 WOUT0 Data 0200h Command type and response data ■ Command Option Command Response Command Unit...
  • Page 131 5.6 Operation modes 5.6 Operation modes In addition to I/O control from a host unit (PLC, etc.), the C21/C22 also offers communication control from a personal computer (running the RS-Manager support software) and from Handy Terminal (H1). In order to use these tools in a safe manner, the desired operation mode can be selected to enable exclusive operation.
  • Page 132 5.7 Other functions 5.7 Other functions 5.7.1 Soft limit function Software imposed limits can be applied to the robot's range of motion in order to prevent interference with peripheral equipment. Robot movement is then restricted to target positions which are within the range specified by the soft limit function. The soft limit range can be set at the K1 (soft limit (-)) and K2 (soft limit (+)) RUN parameters.
  • Page 133 0 : OFF 5.7.4 Changing the payload The C21/C22 automatically sets the acceleration and optimizes positioning operations based on the payload which has been defined. However, in conveyance systems, the payload can vary greatly depending on whether or not the conveyance objects are loaded or not.
  • Page 134 5.7 Other functions 5.7.5 LED status indicators Operation statuses are indicated by 2 types of LEDs located on the front face of the controller. The LED statuses and their meanings are listed below. LED Name Color Status Meaning Control power shutoff Blinking Blue Servo OFF...
  • Page 135 Chapter 6 Troubleshooting Contents 6.1 Alarm groups 6.2 Alarm recording function 6.3 Alarm list 6.4 Alarms: Possible causes and actions 6-3...
  • Page 137 6.1 Alarm groups 6.1 Alarm groups Alarms on this controller are one of the following 5 groups. Group Description Error messages involving data editing or operation commands sent Message alarm as data. Operation alarm Alarm that appears when operation ends due to an error. Alarm that occurs due to internal causes.
  • Page 138 6.3 Alarm list 6.3 Alarm list The following table shows alarm numbers, messages, and reset methods. Alarm No. Alarm Message Reset Origin Position DATA ERROR DATA RANGE OVER MONITOR MODE RUNNING MANUAL MODE SERVO OFF ORIGIN INCOMPLETE NO POINT DATA SOFTLIMIT OVER INTERLOCK STOP KEY...
  • Page 139 6.4 Alarms: Possible causes and actions 6.4 Alarms: Possible causes and actions Message alarms ■ Message Meaning Possible Cause Action Attempt was made to Enter data within DATA ERROR Data setting error enter data that exceeded the specified the specified range. range.
  • Page 140 6.4 Alarms: Possible causes and actions Message Meaning Possible Cause Action 5 minutes or more elapsed after return-to-origin Correct the occurred. Failed to detect environment Origin sensor avoidance ORG. MISTAKE origin at return- related to the width (250mm) was to-origin return-to-origin exceeded with the origin operation.
  • Page 141 6.4 Alarms: Possible causes and actions Message Meaning Possible Cause Action Ambient temperature is Check the ambient Temperature above 40˚C. condition. protection level OVERHEAT (90˚C) was Replace the Thermal sensor failed. exceeded. controller. Reduce the load. Rated current was Set the payload exceeded.
  • Page 142 6.4 Alarms: Possible causes and actions Message Meaning Possible Cause Action Robot drive unit collided Check the Current with some objects. operation pattern. higher than OVERCURRENT the allowable Phases U, V and W in the Replace the current flow was motor cable are shorted.
  • Page 143 6.4 Alarms: Possible causes and actions Warning alarms ■ Message Meaning Possible Cause Action Absolute battery ABS. BATTERY voltage dropped Absolute battery has worn Replace the below the warning out or failed. absolute battery. level (3.1V). Correct the Push operation was PUSH Failed to push a problem to...
  • Page 144 MEMO Chapter 6 Troubleshooting...
  • Page 145 Chapter 7 Specifications Contents 7.1 C21/C22 specifications 7.1.1 Basic specifications 7.1.2 Dimensional outlines 7.2 I/O interface specifications 7.2.1 NPN 7.2.2 PNP 7.2.3 CC-Link 7.2.4 DeviceNet...
  • Page 147 7.1 C21/C22 specifications 7.1 C21/C22 specifications 7.1.1 Basic specifications Item Controllable RSH1 / RSH2 / RSH3 / RSH1C / RSH2C / RSH3C robot Power capacity 400VA Dimensions H162 D131mm Weight Approx. 0.9kg Control power Single-phase Single-phase supply 100 to 115V AC...
  • Page 148 7.1 C21/C22 specifications 7.1.2 Dimensional outlines C21/C22 φ5.4 (90) EXT connector (Units : mm) Chapter 7 Specifications...
  • Page 149 7.2 I/O interface specifications 7.2 I/O interface specifications 7.2.1 NPN 16 points, 24V DC 10%, 5.1mA per point, positive common Input ± 16 points, 24V DC 10%, 50mA per point, total 0.4A or less per 8 points, sink type Output ±...
  • Page 150 7.2 I/O interface specifications 7.2.4 DeviceNet DeviceNet specifications ■ Item Description Compatible DeviceNet Volume1 Release2.0 Specs. Volume2 Release2.0 Vendor name MISUMI Corporation ID=927 （ ） Device type Generic Device (Device No.0) Product code Product revision Max. network current 40mA consumption...
  • Page 151 H1 Operation Guide Contents Introduction 1. What the H1 does 1.1 H1 panel layout 1.2 Connecting to the external safety circuit (HD1) 2. Connecting or disconnecting the H1 H-7 2.1 Connecting to the controller 2.2 Disconnecting from the controller 3. Basic operations H-10 3.1 Operation key layout and functions H-10...
  • Page 152 6.2 Origin search (return-to-origin) H-32 6.3 Operating the robot H-34 6.4 Resetting an alarm H-36 7. Monitor functions H-37 7.1 I/O monitor H-37 7.2 Status monitor H-38 7.3 Run monitor H-39 7.4 Alarm display H-40 7.5 Warning display H-41 7.6 Alarm record display H-42 7.7 Information display H-43...
  • Page 153 Introduction Introduction This "H1 Operation Guide" explains how to use the H1 and HD1 (with ENABLE switch) Handy Terminals that come with the controller as an option. Before reading this section, read the precautions and descriptions stated in the "Controller Guide" (main part of this manual) to understand the point data and parameter data, as well as controller functions and usage.
  • Page 154 1. What the H1 does 1. What the H1 does The H1 Handy Terminal is provided as an option for the controller. When connected to the controller, the H1 allows you to perform the following operations and checks. H1 tasks With the H1 you can: Refer to: Set point data including "Run type",...
  • Page 155 1. What the H1 does 1.1 H1 panel layout The H1 consists of a LCD screen, data edit keys, run/stop keys, and emergency stop button as shown below. H1 panel layout • Strap holder Attaching a short strap or necklace strap here prevents •...
  • Page 156 1. What the H1 does Rear view (HD1) • ENABLE switch (HD1 only) This switch is used along with an external safety circuit. This switch turns off (opens) the circuit when pressed or released. Pressing this switch to mid-position enables the circuit. •...
  • Page 157 1. What the H1 does 1.2 Connecting to the external safety circuit (HD1) Using the safety connector on the HD1 allows configuring an external safety circuit with the HD1 emergency stop button or ENABLE switch. HD1 wiring diagram ■ 15-pin D-sub connector (female) (If not using the HD1 then connect the supplied Safety connector...
  • Page 158 1. What the H1 does • 15-pin D-sub connectors (supplied only with HD1) Use these connectors with the emergency stop or ENABLE switch to configure an external safety circuit. 15-pin D-sub connector (female) Pin No. Attaching this connector directly to the safety connector ･...
  • Page 159 2. Connecting or disconnecting the H1 2. Connecting or disconnecting the H1 The H1 can be connected or disconnected from the controller as needed regardless of whether controller power is on or off. · Do not modify the H1 cable. Modified cables might cause communication errors or malfunctions.
  • Page 160 2. Connecting or disconnecting the H1 Turn on the power to the controller. The initial screen (version display) appears for about 2 seconds and then the MENU (main menu) screen appears. (The same as when the H1 is connected to the controller with the power turned on.) Initial screen and main menu screen Menu [01]...
  • Page 161 2. Connecting or disconnecting the H1 2.2 Disconnecting from the controller The H1 can be disconnected from the controller, regardless of whether the controller power is on or off. Pull the H1 cable connector straight outwards from the COM1 connector on the controller. Disconnection COM1 200V...
  • Page 162 3. Basic operations 3. Basic operations The H1 operation keys are only a minimum number of necessary keys, so H1 operating procedures can easily be mastered even by first-time users. The H1 operation keys are divided into two groups: data edit keys and run/stop keys.
  • Page 163 3. Basic operations 3.2 Screen configuration • Main menu screen On the main menu screen, the title "MENU" is displayed in the status area at the top of the screen. Selectable menus are displayed in the menu area. Nothing is displayed in the comment area at the bottom of the screen.
  • Page 164 3. Basic operations • Screen display example Each screen consists of a status area, menu area, and comment area. The display contents differ depending on the selected menu. In the screen display shown below, a point number and point data are displayed in the menu area.
  • Page 165 3. Basic operations 3.3 Starting to use the keys You can operate the H1 while selecting the displayed menus (Refer to section 3.5, "Menu structure"). The following steps explain a basic H1 key operation, showing the procedure for setting point data. Before editing data, always make sure that the robot is stopped.
  • Page 166 3. Basic operations Select the point number you want to edit. There are 2 methods for selecting a point number. 1) Increment or decrement the point number Pressing will increment or decrement the point number. When "P1" is displayed, pressing changes it to "P255".
  • Page 167 3. Basic operations to move the cursor up or down to highlight the data item you want to edit. When the cursor is on the bottom row of the screen, pressing scrolls to the next page. After selecting the data item, press This allows you to edit the selected data item.
  • Page 168 3. Basic operations Set the other point data items. Follow steps 5 to 7 to set the necessary data items. Repeat steps 3 to 7 when setting data items for other point numbers. NOTE After editing the data, press The cursor returns to the point number row. Pressing returns to the "Point"...
  • Page 169 3. Basic operations 3.4 How to enter numbers The H1 has no number keys. Use to enter numbers. (1) When in number edit mode, the edit cursor appears at the rightmost digit of the number. 2 3 . 4 (2) To change the number at the specified digit (cursor position), press Pressing increments the number, and pressing decrements the number.
  • Page 170 3. Basic operations 3.5 Menu structure Editing Operation Read only P1 to P255 (During editing) Point Edit 1. Run type Select number Teaching 2. Position Copy Menu [01] Point 3. Speed Delete this Operation FUNC Parameter Monitor 4. Accel. Delete all Run mode Connection 5.
  • Page 171 4. Editing the point data 4. Editing the point data The procedure for editing point data is described in the previous section 3.3, "Starting to use the keys", so please read it again. This section describes how to set the position for point data using point teaching, as well as how to copy or delete the point data you created.
  • Page 172 4. Editing the point data Select the point number to perform teaching. To select the point number, use the same procedure as for point data editing. (Press to select the point number, or press to select it from the "Function" menu.) FUNC Specify the speed to move the robot.
  • Page 173 4. Editing the point data When the robot reaches the teaching position, release the jog key to stop the robot. The message "Running " no longer appears when the robot is stopped. … Press to teach the position. A confirmation message then appears asking whether to teach the current position. Press to select "Yes"...
  • Page 174 4. Editing the point data 4.1.2 Direct teaching Direct teaching is basically the same as teaching playback, except that you move the robot by hand to a desired position in emergency stop. Open the "Point teaching" screen and select the point number. Follow the instructions described in steps 1 to 3 in section 4.1.1, "Teaching playback".
  • Page 175 4. Editing the point data 4.2 Copying point data This section describes how to copy created point data to another point data number. On the main menu screen, select "Point". The "Point" menu screen appears. Move the cursor to "Point teaching" and press The "Point teaching"...
  • Page 176 4. Editing the point data 4.3 Deleting point data This section describes how to delete created point data. Deleted data cannot be restored, so be careful. CAUTION On the main menu screen, select "Point". The "Point" menu screen appears. Move the cursor to "Point teaching" and press The "Point teaching"...
  • Page 177 4. Editing the point data 4.4 Displaying a list of point data You can display a list of point data. You can also make entries on the data edit screen by selecting a point number from the displayed list. On the main menu screen, select "Point". The "Point"...
  • Page 178 5. Parameter setting 5. Parameter setting The H1 allows you to set parameters needed for robot operation. For detailed information and the setting range of each parameter, refer to the "Controller Guide", Chapter 3, section 3.4, "Parameter data". Before editing data, always make sure that the robot is stopped. Editing data while the robot is moving might cause problems with operation.
  • Page 179 5. Parameter setting Change the parameter value. For instructions on how to change numerical values, refer to section 3.4, "How to enter numbers". Press to enable the change. The cursor returns to the previous state. If you want to set another Run parameter, repeat steps 3 to 5.
  • Page 180 5. Parameter setting 5.2 Setting I/O parameters This section describes how to set an I/O parameter using "OUT0 select" (terminal assignment) as an example. Power must be turned off and then back on to enable changes made to I/O parameters. NOTE On the main menu screen, select "Parameter".
  • Page 181 5. Parameter setting 5.3 Setting Option parameters The following example shows the option parameters setting method when using CC- Link. The same setting method is used for DeviceNet. Power must be turned off and then back on to enable changes made to Option parameters. NOTE On the main menu screen, select "Parameter".
  • Page 182 5. Parameter setting 5.4 Setting Servo parameters This section describes how to set a Servo parameter using "Payload" as an example. On the main menu screen, select "Parameter". The "Parameter" menu screen opens showing selectable parameter groups. Move the cursor to "Servo parameter" and press The currently set Servo parameters are displayed.
  • Page 183 6. Operating the robot 6. Operating the robot 6.1 Turning the servo on or off This section describes how to check the servo status or how to turn the servo on or off. If the robot has a brake, the brake can also be engaged or released. On the main menu screen, select "Operation"...
  • Page 184 6. Operating the robot 6.2 Origin search (return-to-origin) To find the robot origin position, use the following procedure after making sure that the servo is on. Origin search cannot be performed unless the servo is on. NOTE The robot will now move, so use caution. WARNING On the main menu screen, select "Operation".
  • Page 185 (allowable range may differ depending on the robot type, so refer to the robot user's manual). NOTE For information on how to adjust the machine reference, contact MISUMI Corporation. Press This returns to the "Origin Search" screen. Pressing once more returns to the "Operation"...
  • Page 186 6. Operating the robot 6.3 Operating the robot This section describes how to position the robot using the H1. The robot will now move, so use caution. WARNING On the main menu screen, select "Operation". The "Operation" menu screen appears showing selectable menu items. Move the cursor to "Run"...
  • Page 187 6. Operating the robot Specify the speed. If you want to change the speed, press to open the "Function" menu and specify FUNC the speed as follows: 1. Select "Change speed" and press The edit cursor then appears at the speed value. Point teaching S=100% [01] Point teaching S=100%...
  • Page 188 6. Operating the robot 6.4 Resetting an alarm If an alarm occurs during operation, the robot will immediately stop. After removing the cause of the alarm, the operation can be resumed by reset. On the "Operation" menu screen, move the cursor to "Reset" and press The "Reset"...
  • Page 189 7. Monitor functions 7. Monitor functions The H1 has the following monitor functions that display various types of information for checking operation and status. Monitor Function Description I/O monitor Displays the status of I/O signals exchanged with the host device. Status monitor Displays the status of servo, brake, emergency stop, etc.
  • Page 190 7. Monitor functions 7.2 Status monitor On the main menu screen, select "Monitor". The "Monitor" menu screen opens showing selectable menu items. Move the cursor to "Status monitor" and press The "Status monitor" screen opens. The meaning of each item is as follows: = OFF, = ON SERVO : Servo status...
  • Page 191 7. Monitor functions 7.3 Run monitor On the main menu screen, select "Monitor". The "Monitor" menu screen opens showing selectable menu items. Move the cursor to "Run monitor" and press The "Run monitor" screen opens. The meaning of each item is as follows: Current pos.
  • Page 192 7. Monitor functions 7.4 Alarm display On the main menu screen, select "Monitor". The "Monitor" menu screen opens showing selectable menu items. Move the cursor to "Alarm" and press The "Alarm" screen opens showing up to 8 alarms that have occurred most recently. If 9 or more alarms have occurred, they will be automatically deleted starting from the oldest alarm.
  • Page 193 7. Monitor functions 7.5 Warning display On the main menu screen, select "Monitor". The "Monitor" menu screen opens showing selectable menu items. Move the cursor to "Warning" and press The "Warning" screen opens showing up to 8 warnings that have occurred most recently. If 9 or more warnings have occurred, they will be automatically deleted starting from the oldest warning.
  • Page 194 7. Monitor functions 7.6 Alarm record display On the main menu screen, select "Monitor". The "Monitor" menu screen opens showing selectable menu items. Move the cursor to "Alarm records" and press The "Alarm records" screen opens showing up to 50 past alarms that occurred. Pressing moves the cursor up or down.
  • Page 195 7. Monitor functions 7.7 Information display The model names and specifications of the controller and robot being used can be displayed. On the main menu screen, select "Monitor". The "Monitor" menu screen opens showing selectable menu items. Move the cursor to "Information" and press The "Information"...
  • Page 196 8. Other functions 8. Other functions 8.1 Operation mode When using the H1, the operation mode can be set to any of the followings modes. The default setting is "Normal mode". I/O control Run mode from host Description operation device Normal mode All H1 operations and host device I/O Permitted...
  • Page 197 8. Other functions 8.2 Setting mode When you start the H1 while holding down , the "Settings" screen appears FUNC as shown below. From this screen, you can change the LCD display language (Japanese/English) if needed. "Settings" screen Settings Serial port Language English Back light...
  • Page 198 0 to +40˚C / 35 to 85% RH (no condensation) Temperature/humidity Ambient conditions Ambient storage -10 to +65˚C / 10 to 85% RH (no condensation) Temperature/humidity Compatible Others C1 and C21/C22 controllers controllers 9.2 Dimensional outlines 9.2.1 H1 FUNC STOP (Units: mm) H-46 H1 Operation Guide...
  • Page 199 9. Specifications 9.2.2 HD1 FUNC STOP 3-position ENABLE switch (Units: mm) Safety connector H-47 H1 Operation Guide...
  • Page 200 MEMO H-48 H1 Operation Guide...
  • Page 201 Communication Command Guide Contents Introduction 1. Communication specifications 1.1 Communication parameter specifications 1.2 Communication command specifications 2. Communication command lists 3. Communication command description C-5 3.1 Robot operation commands Positioning operation (START) Operation stop (STOP) Return-to-origin (ORG) JOG movement (JOG+, JOG-) Inching movement (INCH+, INCH-) 3.2 Status change commands Servo status change (SRVO)
  • Page 203 Introduction Introduction The C21/C22 robot controller allows you to write the point data or operate the robot using a communication device, such as a personal computer through the RS-232C communication. This "Communication Command Guide" explains how to set the communication...
  • Page 204 Stop bit 1 bit Flow control None 1.2 Communication command specifications The C21/C22 robot controller provides ASCII character string communication commands to communicate with an external communication device. The communication commands are classified into four categories as follows. Type Contents Robot operation command Operates or stops the robot.
  • Page 205 2. Communication command lists 2. Communication command lists Robot operation commands ■ Command Format Command Description START @START<point number>[.<n>] Positioning operation STOP @STOP[.<n>] Operation stop @ORG[.<n>] Return-to-origin JOG+ @JOG+[.<n>] JOG movement (+ direction) JOG- @JOG-[.<n>] JOG movement (- direction) INCH+ @INCH+[.<n>] Inching movement (+ direction) INCH-...
  • Page 206 2. Communication command lists Query commands ■ Command Format Command Description @?M<point number>[.<n>] Operation type @?P<point number>[.<n>] Position @?S<point number>[.<n>] Speed @?AC<point number>[.<n>] Acceleration @?DC<point number>[.<n>] Deceleration Point @?Q<point number>[.<n>] Push data @?ZL<point number>[.<n>] Zone (-) reading @?ZH<point number>[.<n>] Zone (+) @?N<point number>[.<n>] Near width @?J<point number>[.<n>]...
  • Page 207 3. Communication command description 3. Communication command description 3.1 Robot operation commands The robot operation commands are intended to operate or stop the robot. Positioning operation (START) @START<point number>[.<station number>] c/r l/f Format Starts the positioning operation of specified point data. Meaning Function This command has the same function as the start (START) input.
  • Page 208 3. Communication command description Return-to-origin (ORG) @ORG[.<station number>] c/r l/f Format Performs the return-to-origin. Meaning Function This command has the same function as the return-to-origin (ORG) input. Setting <Station number> : 1 (When the station number is "1", this setting can be omitted.) Communication example Transmission Response...
  • Page 209 3. Communication command description Inching movement (INCH+, INCH-) @INCH+[.<station number>] c/r l/f Format @INCH-[.<station number>] c/r l/f Performs the inching movement in the + or - direction. Meaning Function Performs the inching movement of the robot in a specified direction (+/-). •...
  • Page 210 3. Communication command description 3.2 Status change commands The status change commands are intended to change the servo or brake status. Servo status change (SRVO) @SRVO<1 or 0>[.<station number>] c/r l/f Format Changes the servo status. Meaning Function This command has the same function as the servo ON (SERVO) input. Setting <1 or 0>...
  • Page 211 3. Communication command description 3.3 Edit commands The edit commands are intended to write data, such as parameter or point. Point data writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T) @M<point number>[.<station number>]=<setting value> c/r l/f @P<point number>[.<station number>]=<setting value>...
  • Page 212 3. Communication command description Setting <Point number> : 1 to 255 <Station number> : 1 (When the station number is "1", this setting can be omitted.) Communication example Transmission Response @P1.1=30000 c/r l/f Writes "30000" to "Position" of point data 1. OK.1 c/r l/f Normal end @S1.1=50 c/r l/f...
  • Page 213 3. Communication command description Setting <Point number> : 1 to 255 <Station number> : 1 (When the station number is "1", this setting can be omitted.) Communication example Transmission Response @P_1.1=30000 c/r l/f Writes "30000" to "Position" of point data 1. OK.1 c/r l/f Normal end @S_1.1=50 c/r l/f...
  • Page 214 3. Communication command description Point data deleting (DEL) @DEL<point number 1>[-<point number 2>][.<n>] c/r l/f Format Deletes specified point data. Meaning Function Deletes the point data from point number 1 to point number 2. Setting <Point number> : 1 to 255 <...
  • Page 215 3. Communication command description 3.4 Query commands The query commands are intended to read the data or robot status. Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T) @?M<point number>[.<station number>] c/r l/f @?P<point number>[.<station number>] c/r l/f @?S<point number>[.<station number>] c/r l/f @?AC<point number>[.<station number>] c/r l/f @?DC<point number>[.<station number>] c/r l/f...
  • Page 216 3. Communication command description Communication example Transmission Response @?P1.1 c/r l/f Reads "Position" of point data 1. P1.1=30000 c/r l/f Receives the data. OK.1 c/r l/f Normal end @?S2.1 c/r l/f Reads "Speed" of point data 2. S2.1=100 c/r l/f Receives the data.
  • Page 217 3. Communication command description Status data reading (?D) @?D<status number>[.<station number>] c/r l/f Format Reads specified status information. Meaning Function Reads the status information, such as current position or speed. Setting <Status number> : 0 to 20 (See the table below.) <Station number>...
  • Page 218 3. Communication command description Input/output information reading (?IN, ?INB, ?OUT, ?OUTB) Input information @?IN<input number>[.<station number>] c/r l/f @?INB<input bit number [.<station number>] c/r l/f ＞ Format Output information @?OUT<output number>[.<station number>] c/r l/f @?OUTB<output bit number>[.<station number>] c/r l/f Reads specified input/output information.
  • Page 219 3. Communication command description Word input/output information reading (?WIN, ?WOUT) Input information @?WIN<word input number>[.<station number>]c/r l/f Format Output information @?WOUT<word output number>[.<station number>]c/r l/f Reads specified word input/output information. Meaning Function Reads the word input/output information. The read-out results of the word input/output information in decimal notation are returned.
  • Page 220 3. Communication command description Option information reading (?OPT, ?OPTB) @?OPT<option number>[.<station number>] c/r l/f Format @?OPTB<option bit number>[.<station number>] c/r l/f Reads specified option information. Meaning Function Reads the option information, such as zone output or emergency stop status. The read-out results of the option information in decimal notation are returned. Setting <Option number>...
  • Page 221 3. Communication command description Alarm/warning information reading (?ALM, ?WARN) @?ALM<alarm occurrence number>[.<station number>] c/r l/f Format @?WARN<warning occurrence number>[.<station number>] c/r l/f Reads the alarm/warning information currently occurring. Meaning Function Reads the alarm/warning information currently occurring. For details regarding the alarm and warning numbers and their contents, see Chapter 6 "Troubleshooting"...
  • Page 222 MEMO C-20   Communication Command Guide...
  • Page 223 Index Contents Index (Controller) Index (H1)
  • Page 225 Index (Controller) I/O interface specifications ........7-3 NPN ................7-3 PNP ................7-3 I/O signal list ............4-6 Alarm I/O specifications List ................6-2 CC-Link type .............4-2 Possible causes and actions ........6-3 Details ..............4-7 Recording function ...........6-1 DeviceNet type ............4-4 Alarm groups ............6-1 NPN and PNP type ...........4-1 Alarm No.
  • Page 226 Safety alert symbols and signal words ....iii Safety cautions ............x Soft limit function ..........5-36 Warranty ..............xv Wiring Connecting the robot ..........2-7 Power supply connection .........2-3 Zone output function .........5-36 Index...
  • Page 227 Index (H1) Setting Run parameters ........H-26 Setting Servo parameters ........H-30 Resetting an alarm ..........H-36 Basic specifications .......... H-46 Return-to-origin ..........H-32 Connecting to the controller ......H-7 Screen configuration ........H-11 Setting mode Dimensional outlines ........H-46 Changing the display language ......
  • Page 228 All rights reserved. No part of this publication may be reproduced in any form without the permission of MISUMI Corporation Information furnished by MISUMI in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions. If you find any part unclear in this manual,...

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