User Manuals: OMRON C200HW Position Control Unit

User Manuals: OMRON C200HW Position Control Unit

Manuals and User Guides for OMRON C200HW Position Control Unit. We have 1 OMRON C200HW Position Control Unit manual available for free PDF download: Operation Manual

OMRON C200HW Operation Manual

OMRON C200HW Operation Manual (285 pages)

Position Control Units

Brand: OMRON | Category: Control Unit | Size: 1 MB

Table of Contents

Table of Contents

6
- About this Manual
  9
- General Precautions
  11
- Intended Audience
  11
- Safety Precautions
  11
- Application Precautions
  12
- Operating Environment Precautions
  12
Section 1 Introduction

14
- Introduction
  14
  - Features
    15
  - System Configuration
    17
  - Basic Operations
    20
    
    Position Control
    20
    
    Other Operations
    21
    
    Speed Control
    21
  - Control System Principles
    24
    
    Data Flow
    24
    
    Basic Positioning System Design
    25
  - Exchanging Data
    26
    
    Explanation
    27
  - Before Operation
    28
    
    Section 2
    28
Section 2 Specifications and Wiring

30
- Specifications and Wiring
  
  30
  - Specifications
    31
    
    General Specifications
    31
    
    Operations and Performance Specifications
    31
    
    I/O Electrical Specifications
    32
    
    Dimensions (Unit: MM)
    33
  - Components
    34
  - External I/O Circuitry
    37
  - External I/O Circuitry
    38
    
    External I/O Connector Arrangement
    38
    
    I/O Circuitry
    40
  - Connecting External I/O
    43
    
    Output Connection Examples
    43
    
    Input Connection Examples
    46
    
    Connecting Origin and Positioning Completed Input Signals
    48
    
    Wiring Precautions
    49
  - Connections in each Operating Mode
    50
  - Connection of Unused Axes
    58
  - Servo Relay Unit
    58
    
    C200HW-NC213 - X Axis Only
    58
- Getting Started
  
  60
  - SECTION 3 Getting Started
    60
  - Basic Operations
    61
  - System Configuration and Wiring
    62
  - Setting Data and Starting
    64
Section 4 Data Areas

66
- Data Areas
  66
  - SECTION 4 Data Areas
    66
  - Overall Structure
    67
    
    Flash Memory
    68
    
    Area Allocation
    69
    
    Waiting for PCU Startup
    69
    
    Data Areas
    71
  - Common Parameters
    87
  - Axis Parameters
    89
    
    Setting the Axis Parameters
    89
    
    Axis Parameters Details
    90
    
    Operation Modes
    95
  - Operating Memory Area
    96
  - Operating Data Area
    102
  - Positioning Sequence Details
    102
  - Setting Data with the SYSMAC-NCT Support Tool
    106
  - Setting Data for Unused Axes
    106
    
    Settings Required for Unused Axes
    106
Section 5 Transferring and Saving Data

108
- Transferring and Saving Data
  108
- Transferring and Saving Data
  109
- Writing Data with the WRITE DATA Bit
  112
- Writing Data with the WRITE DATA Bit
  113
  - Outline
    113
  - Timing Chart for Writing Data
    114
  - Example of the Write Data Program
    114
- Reading Data with the READ DATA Bit
  116
  - Outline
    116
  - Timing Chart for Reading Data
    117
  - Data Reading Program Example
    118
- Writing Data with IOWR
  120
  - Outline
    120
  - Instruction Specifications
    121
  - Flags Used
    121
  - Precautions When Using IOWR
    122
  - IOWR Program Example
    122
- Reading Data with IORD
  123
  - Outline
    123
  - READ DATA Procedure
    123
  - Instruction Specifications
    124
  - Flags Used
    124
  - Precautions When Using IORD
    125
  - IORD Program Example
    125
- Creating and Transferring Data with the Support Tool
  126
- Saving Data
  127
  - Flash Memory
    127
  - Procedure for Saving Data
    127
  - Timing Chart for Saving Data
    128
Section 6 Defining the Origin

129
- Setting the Data for an Origin Search
  130
- Executing Origin Search
  131
- Origin Search Timing Charts
  142
  - Without Origin Compensation
    142
  - With Origin Compensation
    143
  - Origin Search Deceleration Stop
    144
  - Emergency Stop of Origin Search
    145
- Origin Return
  146
  - Timing Chart
    147
Section 7 Direct Operation

148
- Direct Operation
  148
  - Outline
    149
  - SECTION 7 Direct Operation
    150
  - Setting Data for Use with Direct Operation
    151
  - Operations with Direct Operation
    152
    
    Direct Operation and the Operating Data Area
    152
    
    Starting Direct Operation
    152
    
    Multiple Start Operating Patterns
    153
    
    Multiple Starts with Direct Operation
    153
  - Procedures for Setting Data for Direct Operation
    154
    
    Starting Direct Operation During Memory Operation
    154
  - Direct Operation Timing Charts
    155
  - Sample Program
    157
    
    Details of Operation
    157
    
    Setting Conditions and Details
    157
Section 8 Memory Operation

159
- Memory Operation
  159
  - Sample Program
    159
  - Outline
    160
    
    Axis Designation
    161
    
    Axis Designation and Flags
    161
    
    SECTION 8 Memory Operation
    162
    
    Outline
    163
  - Setting Data for Use in Memory Operation
    164
  - Operations with Memory Operation
    165
    
    Memory Operation in Accordance with Positioning Sequences
    165
    
    Starting Memory Operation
    165
    
    Linear Interpolation
    169
    
    Using Continuous Completion with Linear Interpolation
    170
  - Procedures for Setting Data for Memory Operation
    172
  - Timing Chart for Memory Operation
    172
  - Sample Program
    175
    
    Conditions and Details of Settings
    175
    
    Operation
    175
    
    Setting Data
    176
    
    Program Example
    177
Section 9 Other Operations

178
- Other Operations
  178
  - SECTION 9 Other Operations
    178
  - Jogging
    179
    
    Outline of Operation
    179
    
    Procedure for Executing JOG
    179
  - Teaching
    180
    
    Outline of Operation
    180
    
    Procedure for Teaching
    180
    
    Timing Chart
    180
    
    Timing Chart
    181
  - Interrupt Feeding
    182
    
    Outline of Operation
    182
    
    Procedure for Starting from Memory Operation
    182
    
    Procedures for Starting by Direct Operation
    182
    
    Operating Memory Area Allocation and Operating Data Area Settings
    183
  - Forced Interrupt
    184
    
    Timing Chart
    184
    
    Timing Chart
    185
  - Deceleration Stop
    186
    
    Deceleration Stop During Positioning
    186
    
    Operating Memory Area Allocation
    186
    
    Outline of Operation
    186
  - Changing the Present Position
    189
    
    Outline of Operation
    189
    
    Timing Chart
    189
  - Override
    190
    
    Operating Memory Area Allocation and Operating Data Area Settings
    190
    
    Outline of Operation
    190
    
    Timing Chart
    190
  - Releasing Pulse Output Prohibition
    191
  - Error Counter Reset Output and Origin Adjustment Command Output
    193
    
    Outline of Operation
    193
    
    Operating Memory Area Allocation and External I/O Connector Pin Arrangement
    194
    
    Timing Chart
    194
  - Backlash Compensation
    197
    
    Backlash Compensation Operation
    197
    
    Backlash Compensation with Linear Interpolation
    197
Section 10 Program Examples

198
- Program Examples
  198
  - Operating Procedures for Program Examples
    199
  - Memory Operation
    201
    
    Checking Positioning Operations
    201
    
    SECTION 10 Program Examples
    202
    
    Repeat Operation
    205
    
    Cancelling Positioning
    209
  - Direct Operation
    215
    
    Positioning with Positions in the DM Area
    215
    
    Inching
    218
  - Linear Interpolation
    220
    
    Two-Axis Linear Interpolation
    220
    
    Linear Interpolation
    224
  - Origin Search
    225
    
    Origin Search Using Limit Input
    225
  - Override
    227
    
    Changing Speed During Continuous Output
    227
  - Transferring and Saving Data
    230
    
    Copying Data
    230
Section 11 Troubleshooting

236
- Troubleshooting
  
  236
  - SECTION 11 Troubleshooting
    236
  - Introduction
    236
  - Introduction
    237
  - LED Error Indicators
    239
  - Reading Error Codes
    240
  - Error Code Lists
    241
    
    Data Check at Startup
    241
  - Command Execution Check
    244
  - CPU Error Indicators
    252
    
    Special I/O Unit Error List
    252
  - Useful Flags and Control Bits
    253
  - A Data Calculation Standards
    254
  - B Estimating Times and Pulses for Acceleration/Deceleration
    259
  - C Error Code List
    261
  - E Parameter Coding Sheets
    265
  - F Using with CS1-Series Pcs
    269
- Index
  
  276
- Revision History
  
  281

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