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CS1W-233 - REV 02-2008
OMRON CS1W-233 - REV 02-2008 Manuals
Manuals and User Guides for OMRON CS1W-233 - REV 02-2008. We have
1
OMRON CS1W-233 - REV 02-2008 manual available for free PDF download: Operation Manual
OMRON CS1W-233 - REV 02-2008 Operation Manual (401 pages)
Position Control Units
Brand:
OMRON
| Category:
Control Unit
| Size: 5.79 MB
Table of Contents
Table of Contents
10
Precautions
20
General Precautions
21
Intended Audience
21
Safety Precautions
21
Operating Environment Precautions
22
Application Precautions
23
Applicable Directives
25
Concepts
25
Installation Within Control Panel
25
Conformance to EC Directives
25
Section 1 Introduction
26
Introduction
26
Features
27
Functions
27
System Configuration
28
CS1W-NC413 System Configuration Example
29
Basic Operations
30
Position Control
30
Speed Control
32
Other Operations
32
List of Functions
33
Specifications
34
Basic Specifications
34
Performance Specifications
35
Comparison with Existing Models
36
Control System Principles
38
Data Flow
38
Control System Principles
39
Basic Positioning System Design
39
Basic Procedures
40
Basic Operational Flow
41
Section 3
41
Section 3 Installation and Wiring
44
Installation and Wiring
44
Nomenclature and Functions
45
Area Allocation
47
Installation
47
System Configuration Considerations
47
Mounting the Unit
48
Precautions When Handling the PCU
49
Dimensions
50
External I/O Circuitry
51
Connector Pin Arrangement
51
External I/O Connector Arrangement
54
I/O Circuitry
56
I/O Electrical Specifications
59
Wiring
60
Output Connection Examples
60
Connecting Input Signals
66
Connecting Origin and Positioning Completed Input Signals
67
Wiring Precautions
68
Connection Examples for Different Types of Motor Driver
70
Connection of Unused Axes
83
NC233 (with Unit Version 2.1 or Later)
83
Using Only the X Axis and Not the y Axis on the CS1W-NC213
83
CS1W-NC213/NC233 - X Axis Only (Unit Versions Earlier than 2.1)
84
Servo Relay Unit
84
Section 4 Data Areas
88
Overall Structure
89
Data Areas
91
Common Parameter Area
94
Outline
95
Details
95
Axis Parameter Area
99
Outline
99
Details
102
Operation Modes
105
Operating Memory Area
118
Outline
118
Operating Data Area
122
Outline
122
Memory Operation Data
125
Outline
125
Zone Data Area
128
Zone Function
128
Zone Data Settings
129
Examples of Parameter Settings
129
Setting Positioning Using Two Axes
129
Section 5
129
Setting Positioning Using One Axis
131
Setting for Continuous Operation in the same Direction for One Axis
133
Section 5 Transferring and Saving Data
136
Transferring and Saving Data
136
Transferring and Saving Data
137
Transferring Data
137
Saving Data
138
Data that Can be Saved And/Or Transferred
139
Data Addresses
139
Data Checking
140
Data Transfer Priority
142
Writing Data with the WRITE DATA Bit
144
Outline
145
Data Writing Procedure
145
Data Settings Required for Writing Data
146
Timing Chart for Writing Data
147
Example of a Write Data Program
148
Reading Data with the READ DATA Bit
149
Outline
149
Data Settings Required for Reading Data
150
Timing Chart for Reading Data
151
Data Reading Program Example
152
Writing Data with IOWR
154
Outline
154
Iowr: Intelligent I/O Write
155
Error Code Treatment for IOWR
156
Flags
156
Precautions When Using IOWR
157
IOWR Program Example
160
Reading Data with IORD
161
Outline
161
READ DATA Procedure
161
Iord: Intelligent I/O Read
161
Error Code Treatment for IORD
162
Flags
163
Precautions When Using IORD
163
IORD Program Example
164
Saving Data
165
Flash Memory
165
Data Saving Procedure
166
Timing Chart for Saving Data
167
Transferring Data with CX-Position
167
Section 6 Defining the Origin
168
Defining the Origin
168
Outline
169
Origin Search Procedure
170
Data Settings Required for Origin Search
171
And Parameter Areas
171
Axis Parameter Area
172
Operating Memory Area
173
Allocation of Operating Data Areas (Supported for Unit Version 2.2 or Later)
174
Origin Search Operation
174
Details of Parameters
174
Operation Pattern Settings for Origin Search
174
Operation Mode Settings
178
Origin Search Operation and Origin Detection Direction Settings
183
Operation Pattern with Origin Compensation
188
Origin Search Timing Charts
189
Without Origin Compensation
189
With Origin Compensation
190
Origin Search Deceleration Stop
192
Emergency Stop of Origin Search
193
Present Position Preset
194
And Parameter Areas
194
Operating Memory Area Allocation and Operating Data Area Settings
194
Outline of Operation
194
Timing Chart
195
Origin Return
195
Allocation of Operating Memory Area and Setting of Operating
195
Data Area
195
Timing Chart
196
Z-Phase Margin
197
Calculating the Z-Phase Margin (Example)
197
Description
197
Section 7 Direct Operation
200
Direct Operation
200
Outline
201
Direct Operation Procedure
202
Setting Data for Direct Operation
202
And Parameter Areas
202
Axis Parameter Area
203
Operating Memory Area
203
Operating Data Area
203
Operations with Direct Operation
204
Starting Direct Operation
204
Direct Operation and the Operating Data Area
204
Multiple Starts with Direct Operation
204
Multiple Start Operating Patterns
205
Starting Direct Operation During Memory Operation
207
Direct Operation Timing Charts
207
Acceleration/Deceleration
209
Calculation of Basic Acceleration/Deceleration Times
209
Calculation of Acceleration/Deceleration Times for Continuous Positioning
210
Calculation of Acceleration/Deceleration Times When the Speed Is Changed During Operation
211
Sample Program
212
Details of Operation
212
Setting Conditions and Details
213
Sample Program
213
Section 7-7
214
Program Using Function Blocks
215
Section 8 Memory Operation
218
Memory Operation
218
Outline
219
Axis Designation
220
Axis Designation and Flags
220
Memory Operation Procedure
222
Setting Data for Memory Operation
223
And Parameter Areas
223
To 3D090 Hex
224
Axis Parameter Area
224
Operating Memory Area
225
Operating Data Area
225
Positioning Sequences
225
Sequence Format
226
Axis Designation
227
Output Code
227
Position Designation
228
Completion Code
229
Dwell Time Number
230
Acceleration and Deceleration Time Numbers
231
Initial Speed and Target Speed Numbers
232
Completion Codes
232
Starting Memory Operation
232
Memory Operation in Accordance with Positioning Sequences
232
Linear Interpolation
236
Using Continuous Completion with Linear Interpolation
238
Transferring Positioning Sequences
240
Pcu's Internal Addresses
240
Deceleration Time
241
Transferring 100 Positioning Sequences from the CPU Unit to the PCU
241
Timing Chart for Memory Operation
242
Busy Flag
242
Sequence Number Enable Bit
243
Timing Chart for INDEPENDENT START
243
Timing Chart for START
244
Timing of Data Changes During Memory Operation
245
Acceleration/Deceleration
246
Calculation of Basic Acceleration/Deceleration Times
246
Calculation of Acceleration/Deceleration Times for Continuous Positioning
247
Sample Program
249
Operation
249
Conditions and Details of Settings
250
Setting Data
250
Setting Range
251
To 3D090 Hex
251
(0 to 250,000 Ms)
251
Program Example
251
Section 9 Other Operations
252
Jogging
254
Outline of Operation
254
Procedure for Executing JOG
254
And Parameter Areas
254
Operating Memory Area Allocation and Operating Data Area Settings
254
Leftmost Rightmost 00 15
255
(0 to 250,000 Ms)
255
Timing Chart
255
Teaching
256
Outline of Operation
256
Procedure for Teaching
256
And Parameter Areas
256
Operating Memory Area Allocation and Operating Data Area Settings
257
Timing Chart
257
Interrupt Feeding
258
Outline of Operation
258
Procedure for Memory Operation
258
Procedure for Direct Operation
259
And Parameter Areas
259
Operating Memory Area Allocation and Operating Data Area Settings
259
Timing Chart
260
Forced Interrupt
261
And Parameter Areas
262
Operating Memory Area Allocation and Operating Data Area Settings
262
Timing Chart
263
Deceleration Stop
263
Outline of Operation
263
And Parameter Areas
264
Operating Memory Area Allocation
265
Deceleration Stop During Positioning
265
Timing Chart
268
Override
268
Outline of Operation
268
And Parameter Areas
269
Operating Memory Area Allocation and Operating Data Area Settings
270
Timing Chart
271
Outline of Operation
272
And Parameter Areas
272
Operating Memory Area Allocation and External I/O Connector Pin Arrangement
273
Timing Chart
273
Backlash Compensation
275
Outline of Operation
275
And Parameter Areas
276
Setting Axis Parameters
276
Backlash Compensation Operation
276
Backlash Compensation with Linear Interpolation
277
Software Limit
277
Outline
277
And Parameter Areas
278
Setting Axis Parameters
279
Operation Timing
279
Stop Function
280
Outline
280
Stop Methods
281
Easy Backup Function (Ver. 2.0 or Later)
281
Introduction
281
Applications
282
Operating Procedures
283
Section 10 Program Examples
286
Program Examples
286
Operating Procedures for Program Examples
287
Memory Operation
289
Checking Positioning Operations
289
Repeat Operation
294
Cancelling Positioning
298
Direct Operation
304
Positioning with Positions in the DM Area
304
Inching
307
Linear Interpolation
310
Two-Axis Linear Interpolation
310
Origin Search
316
Origin Search Using Limit Input
316
Override
319
Changing Speed During Pulse Output
319
Transferring and Saving Data
322
Copying Data
322
Section 11 Troubleshooting
328
Troubleshooting
328
Troubleshooting Tables
329
Items to Check First
329
Problems and Countermeasures
330
Introduction
336
LED Error Indicators
337
Reading Error Codes
340
Error Code Lists
341
Data Check at Startup
341
Command Execution Check
345
Releasing Pulse Output Prohibition and Resetting after Errors
358
Outline
358
And Parameter Areas
359
Operating Memory Area Allocation
360
Timing Chart
360
Error Display at the CPU
361
Reading Error Information with CX-Position
361
Maintenance and Inspection
362
Inspection
363
Routine Inspections
363
Handling Precautions
364
Procedure for Replacing a PCU
364
In the CPU Unit's DM Area
364
When PCU Parameters and Operating Data Is Set
364
To the Pcu's Flash Memory
365
When PCU Parameters and Operating Data Is Saved
365
A Performance Characteristics
366
B Estimating Times and Pulses for Acceleration/Deceleration
372
C Common Parameter Area
376
D Replacing the C200HW-NC@13
378
E Error Code Lists
382
F Parameter Coding Sheets
386
Index
396
Revision History
400
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