OMRON CJ1W-C133 - REV 02-2008 Manuals

Manuals and User Guides for OMRON CJ1W-C133 - REV 02-2008. We have 1 OMRON CJ1W-C133 - REV 02-2008 manual available for free PDF download: Operation Manual

OMRON CJ1W-C133 - REV 02-2008 Operation Manual

OMRON CJ1W-C133 - REV 02-2008 Operation Manual (406 pages)

Position Control Units

Brand: OMRON | Category: Control Unit | Size: 5.7 MB

Table of Contents

Table of Contents

10
Precautions

20
- General Precautions
  21
- Intended Audience
  21
- Safety Precautions
  21
- Operating Environment Precautions
  23
- Application Precautions
  24
- Applicable Directives
  26
  - Concepts
    26
  - Installation Within Control Panel
    26
- Conformance to EC Directives
  26
Section 1 Introduction

28
- Introduction
  
  28
  - Features
    29
    
    Functions
    29
  - System Configuration
    31
    
    CJ1W-NC413 System Configuration Example
    31
  - Basic Operations
    32
    
    Position Control
    32
    
    Speed Control
    34
    
    Other Operations
    34
  - List of Functions
    35
  - Specifications
    37
    
    Basic Specifications
    37
    
    Performance Specifications
    38
  - Comparison with Existing Models
    40
  - Control System Principles
    41
    
    Data Flow
    41
    
    Control System Principles
    42
    
    Basic Positioning System Design
    42
- Basic Procedures
  
  44
- Section 3
  
  45
Section 3 Installation and Wiring

48
- Installation and Wiring
  48
Section 4 Data Areas

92
- Data Areas
  
  92
  - Overall Structure
    93
  - Data Areas
    95
  - Common Parameter Area
    98
    
    Outline
    98
    
    Details
    99
  - Axis Parameter Area
    102
    
    Outline
    102
    
    Details
    105
    
    Operation Modes
    108
  - Operating Memory Area
    122
  - Operating Data Area
    125
    
    Outline
    125
  - Memory Operation Data
    128
  - Zone Data Area
    131
    
    Zone Function
    131
  - Examples of Parameter Settings
    132
    
    Zone Data Settings
    132
    
    Setting Positioning Using Two Axes
    132
- Section 5
  
  132
  - Setting Positioning Using One Axis
    134
    
    Setting for Continuous Operation in the same Direction for One Axis
    136
Section 5 Transferring and Saving Data

140
- Transferring and Saving Data
  140
  - Transferring and Saving Data
    141
    
    Transferring Data
    141
    
    Saving Data
    142
    
    Data that Can be Saved And/Or Transferred
    143
    
    Data Addresses
    143
    
    Data Checking
    144
    
    Data Transfer Priority
    146
  - Writing Data with the WRITE DATA Bit
    148
    
    Outline
    149
    
    Data Writing Procedure
    150
    
    Data Settings Required for Writing Data
    150
    
    Timing Chart for Writing Data
    152
    
    Example of a Write Data Program
    152
  - Reading Data with the READ DATA Bit
    154
    
    Outline
    154
    
    Data Settings Required for Reading Data
    155
    
    Timing Chart for Reading Data
    156
    
    Data Reading Program Example
    157
  - Writing Data with IOWR
    159
    
    Outline
    159
    
    Iowr: Intelligent I/O Write
    160
    
    Error Code Treatment for IOWR
    161
    
    Flags
    161
    
    Precautions When Using IOWR
    162
    
    IOWR Program Example
    165
  - Reading Data with IORD
    166
    
    Outline
    166
    
    READ DATA Procedure
    166
    
    Iord: Intelligent I/O Read
    166
    
    Error Code Treatment for IORD
    167
    
    Flags
    168
    
    Precautions When Using IORD
    169
    
    IORD Program Example
    169
  - Saving Data
    170
    
    Flash Memory
    170
    
    Data Saving Procedure
    171
  - Transferring Data with CX-Position
    172
    
    Timing Chart for Saving Data
    172
Section 6 Defining the Origin

174
- Defining the Origin
  174
  - Outline
    175
  - Origin Search Procedure
    176
  - Data Settings Required for Origin Search
    177
    
    Beginning Words of Memory Areas
    177
    
    Axis Parameter Area
    178
    
    Operating Memory Area
    179
  - Origin Search Operation
    180
    
    Allocation of Operating Data Areas
    180
    
    Operation Pattern Settings for Origin Search
    180
    
    Details of Parameters
    180
    
    Operation Mode Settings
    184
    
    Origin Search Operation and Origin Detection Direction Settings
    189
    
    Operation Pattern with Origin Compensation
    194
  - Origin Search Timing Charts
    196
    
    Without Origin Compensation
    196
    
    With Origin Compensation
    197
    
    Origin Search Deceleration Stop
    199
    
    Emergency Stop of Origin Search
    200
  - Present Position Preset
    201
    
    Outline of Operation
    201
    
    Beginning Words of Memory Areas
    201
    
    Operating Memory Area Allocation and Operating Data Area Settings
    201
  - Origin Return
    202
    
    Timing Chart
    202
    
    Operating Memory Area Allocation and Operating Data Area Settings
    202
    
    Timing Chart
    203
  - Z-Phase Margin
    204
    
    Description
    204
    
    Calculating the Z-Phase Margin (Example)
    204
Section 7 Direct Operation

206
- Direct Operation
  206
  - Outline
    207
  - Direct Operation Procedure
    208
  - Setting Data for Direct Operation
    208
    
    Beginning Words of Memory Areas
    208
    
    Axis Parameter Area
    209
    
    Operating Memory Area
    209
  - Operations with Direct Operation
    210
    
    Operating Data Area
    210
    
    Starting Direct Operation
    210
    
    Direct Operation and the Operating Data Area
    210
    
    Multiple Starts with Direct Operation
    210
    
    Multiple Start Operating Patterns
    211
  - Direct Operation Timing Charts
    213
    
    Starting Direct Operation During Memory Operation
    213
  - Acceleration/Deceleration
    215
    
    Calculation of Basic Acceleration/Deceleration Times
    215
    
    Calculating Accel/Decel Times for Continuous Positioning
    216
    
    Calculating Accel/Decel Times for Speed Changes During Operation
    217
  - Sample Program
    218
    
    Details of Operation
    218
    
    Setting Conditions and Details
    219
    
    Sample Program
    219
    
    Program Using Function Blocks
    221
Section 8 Memory Operation

224
- Memory Operation
  224
  - Outline
    225
    
    Axis Designation
    226
    
    Axis Designation and Flags
    227
  - Memory Operation Procedure
    229
  - Setting Data for Memory Operation
    229
    
    Beginning Words of Memory Areas
    229
    
    Axis Parameter Area
    230
  - Positioning Sequences
    231
    
    Operating Memory Area
    231
    
    Operating Data Area
    231
    
    Sequence Format
    232
    
    Axis Designation
    233
    
    Output Code
    233
    
    Position Designation
    234
    
    Completion Code
    235
    
    Dwell Time Number
    236
    
    Acceleration and Deceleration Time Numbers
    237
  - Completion Codes
    238
    
    Initial Speed and Target Speed Numbers
    238
    
    Starting Memory Operation
    238
    
    Memory Operation in Accordance with Positioning Sequences
    238
  - Linear Interpolation
    244
    
    Overview
    244
    
    Using Continuous Completion with Linear Interpolation
    245
  - Transferring Positioning Sequences
    247
    
    Pcu's Internal Addresses
    248
    
    Transferring 100 Positioning Sequences from CPU Unit to PCU
    249
  - Timing Chart for Memory Operation
    250
    
    Busy Flag
    250
    
    Sequence Number Enable Bit
    250
    
    Timing Chart for INDEPENDENT START
    250
    
    Timing Chart for START
    251
    
    Timing of Data Changes During Memory Operation
    252
  - Acceleration/Deceleration
    253
    
    Calculating Basic Acceleration/Deceleration Times
    254
    
    Calculating Accel/Decel Times for Continuous Positioning
    255
  - Sample Program
    256
    
    Operation
    256
    
    Conditions and Details of Settings
    257
    
    Setting Data
    257
    
    Program Example
    258
Section 9 Other Operations

260
- Other Operations
  260
  - Jogging
    262
    
    Outline of Operation
    262
    
    Procedure for Executing JOG
    262
    
    Beginning Words of Memory Areas
    262
    
    Operating Memory Area Allocation and Operating Data Area Settings
    262
    
    Timing Chart
    263
  - Teaching
    264
    
    Outline of Operation
    264
    
    Procedure for Teaching
    264
    
    Beginning Words of Memory Areas
    264
    
    Operating Memory Area Allocation and Operating Data Area Settings
    265
    
    Timing Chart
    265
  - Interrupt Feeding
    266
    
    Outline of Operation
    266
    
    Procedure for Memory Operation
    266
    
    Procedure for Direct Operation
    267
    
    Beginning Words of Memory Areas
    267
    
    Operating Memory Area Allocation and Operating Data Area Settings
    267
  - Forced Interrupt
    269
    
    Timing Chart
    269
    
    Beginning Words of Memory Areas
    270
    
    Operating Memory Area Allocation and Operating Data Area Settings
    270
  - Deceleration Stop
    271
    
    Outline of Operation
    271
    
    Beginning Words of Memory Areas
    272
    
    Operating Memory Area Allocation
    273
    
    Deceleration Stop During Positioning
    273
  - Override
    276
    
    Timing Chart
    276
    
    Outline of Operation
    276
    
    Beginning Words of Memory Areas
    277
    
    Operating Memory Area Allocation and Operating Data Area Settings
    278
  - Error Counter Reset Output and Origin Adjustment Command Output
    279
    
    Timing Chart
    279
    
    Outline of Operation
    279
    
    Beginning Words of Memory Areas
    280
    
    Memory Allocations and External I/O Connector Pin Arrangement
    281
    
    Timing Chart
    281
  - Backlash Compensation
    283
    
    Outline of Operation
    283
    
    Beginning Words of Memory Areas
    284
    
    Setting Axis Parameters
    284
    
    Backlash Compensation Operation
    284
  - Software Limit
    285
    
    Backlash Compensation with Linear Interpolation
    285
    
    Outline
    285
    
    Beginning Words of Memory Areas
    286
    
    Setting Axis Parameters
    287
    
    Operation Timing
    287
  - Stop Function
    288
    
    Outline
    288
  - Easy Backup Function (Ver. 2.0 or Later)
    289
    
    Stop Methods
    289
    
    Introduction
    289
    
    Applications
    290
    
    Operating Procedures
    291
Section 10 Program Examples

294
- Program Examples
  294
  - Operating Procedures for Program Examples
    295
  - Memory Operation
    297
    
    Checking Positioning Operations
    297
    
    Repeat Operation
    302
    
    Cancelling Positioning
    306
  - Direct Operation
    312
    
    Positioning with Positions in the DM Area
    312
    
    Inching
    316
  - Two-Axis Linear Interpolation
    319
  - Origin Search Using Limit Input
    325
  - Changing Speed Using an Override During Pulse Output
    327
  - Transferring and Saving Data
    330
Section 11 Troubleshooting

336
- Troubleshooting
  
  336
  - Troubleshooting Tables
    337
    
    Items to Check First
    337
  - Problems and Countermeasures
    338
  - Introduction
    344
  - LED Error Indicators
    346
  - Reading Error Codes
    348
  - Error Code Lists
    349
    
    Data Check at Startup
    349
  - Command Execution Check
    352
  - Releasing Pulse Output Prohibition and Resetting after Errors
    365
    
    Outline
    365
  - Beginning Words of Memory Areas
    366
  - Operating Memory Area Allocation
    367
  - Timing Chart
    367
  - Error Display at the CPU
    368
  - Reading Error Information with CX-Position
    368
- Maintenance and Inspection
  
  370
  - Inspection
    371
  - Routine Inspections
    371
  - Handling Precautions
    372
  - Procedure for Replacing a PCU
    372
    
    PCU Parameters and Operating Data Set in CPU Unit's DM Area
    372
    
    PCU Parameters and Operating Data Saved to Pcu's Flash Memory
    373
    
    Performance Characteristics
    374
    
    Estimating Times and Pulses for Acceleration/Deceleration
    380
    
    Common Parameter Area
    384
    
    Error Code Lists
    386
    
    Parameter Coding Sheets
    390
- Index
  
  400
- Revision History
  
  404

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