OMRON CS1W-MC221 - 02-2008 Manuals

OMRON CS1W-MC221 - 02-2008 Manuals

Manuals and User Guides for OMRON CS1W-MC221 - 02-2008. We have 1 OMRON CS1W-MC221 - 02-2008 manual available for free PDF download: Operation Manual

OMRON CS1W-MC221 - 02-2008 Operation Manual

OMRON CS1W-MC221 - 02-2008 Operation Manual (705 pages)

Motion Control Units

Brand: OMRON | Category: Control Unit | Size: 12.51 MB

Table of Contents

Table of Contents

8
Precautions

20
- General Precautions
  21
- Intended Audience
  21
- Safety Precautions
  21
- Operating Environment Precautions
  22
- Application Precautions
  23
- Conformance to EC Directives
  25
  - Applicable Directives
    25
  - Concepts
    25
  - Conformance to EC Directives
    26
Section 1 Features and System Configuration

28
- Features and System Configuration
  28
  - Features
    29
    
    Overview
    29
    
    Description of Features
    30
  - System Configuration
    31
    
    System Configuration Example (CS1W-MC421)
    31
  - Basic Operations
    34
    
    Motion Control
    35
    
    Other Functions
    37
    
    Summary of Function
    38
  - Control System Configuration and Principles
    39
    
    Servo System
    39
    
    Feedback Pulses
    42
    
    CW and CCW
    42
  - Specifications
    43
    
    Overview of Operations
    48
    
    Performance Chart
    50
    
    CX-Motion Functions
    51
    
    Teaching Box Functions
    52
  - Data Exchange
    53
    
    Overall Structure
    53
    
    Explanation
    54
    
    Internal Block Diagram
    55
    
    Data Transfer Overview
    56
  - Overview of G-Language Programs in the MC Unit
    57
    
    Programs and Tasks
    57
    
    Manual and Automatic Operation
    59
    
    G Language
    60
    
    G-Language Codes
    62
  - Commands Listed According to Purpose
    64
  - Comparison with Earlier MC Unit Model
    65
    
    Changing from the C200H-MC221 to the CS1W-MC421/MC221
    67
  - Basic Operating Procedure
    69
  - Methods for Using MC Unit Functions
    70
  - Overview of Version 1 Upgrades
    72
    
    Using Customized Functions
    75
    
    Easy Backup Function
    124
Section 2 Installation

128
- Installation
  128
- Nomenclature and Unit Settings
  129
  - Nomenclature
    129
- Installation
  131
  - System Configuration Precautions
    131
  - Mounting to the Backplane
    131
  - Unit Handling Precautions
    132
  - Dimensions
    133
- Wiring
  134
  - I/O Connector
    134
  - DRV Connectors
    139
  - Driver Cables (Optional)
    143
  - Wiring Connectors
    145
  - Connection Examples for Special Servo Driver Cable
    146
  - MPG Wiring
    152
  - Interface Circuits
    153
  - Wiring Precautions
    155
  - Motor Runaway
    157
  - Wiring Check Function
    159
- Failsafe Circuits
  160
  - Failsafe Principles
    161
  - Failures in the Command System
    161
  - Failures in the Feedback System
    165
  - Other Safety Features
    165
- Wiring Check Troubleshooting
  166
  - Wiring Errors
    166
  - Wiring Check Principles
    166
  - Wiring Error Cause and Countermeasures
    167
  - Checking for Wiring Errors
    168
- Changing the Mechanical Direction of Operation
  168
- Connecting Peripheral Devices
  169
  - Connecting a Personal Computer to the CPU Unit
    170
  - Connecting the Teaching Box
    171
Section 3 MC Unit Internal Data Configuration

174
- MC Unit Internal Data Configuration
  174
  - Data Configuration
    175
  - Determining the Task Configuration
    176
    
    Task Configuration
    176
  - System Parameters
    178
    
    Description of System Parameters
    179
    
    System Parameter Addresses
    182
    
    Data Configuration for System Parameters
    183
    
    Timing that Validates Transferred System Parameters
    197
    
    System Parameters
    198
  - Position Data
    214
    
    Position Data Addresses
    215
    
    Position Data Configuration
    215
  - Monitor Data
    216
    
    Monitor Data Addresses
    216
    
    Monitor Data Configuration
    218
  - Command Area
    223
    
    Command Area Addresses
    224
    
    Command Area Data Configuration
    224
Section 4 Data Transfer and Storage

228
- Data Transfer and Storage: Overview
  229
  - Data Transfer
    229
  - Types of Data
    230
  - Using IOWR and IORD Instructions to Transfer Data
    231
  - Transferring Position Data Using the Command Area
    233
  - Data Storage
    235
- IOWR and IORD Specifications
  236
- Saving Data
  248
  - Execution
    248
  - Command Specifications
    248
  - Ladder Program Example
    249
Section 5 Exchanging Data with the CPU Unit

250
- Exchanging Data with the CPU Unit
  250
  - Overall Structure
    251
    
    PLC Interface Area
    253
    
    Data Transfer Words
    253
    
    Flash Memory
    254
    
    Restart Flags
    254
    
    MC Unit Initialization
    254
  - Controlling the MC Unit from the CPU Unit
    255
    
    Manual and Automatic Modes
    255
    
    Manual Mode
    257
    
    Automatic Mode
    259
  - PLC Interface Area
    264
    
    PLC Interface Area Lists
    264
  - Interface Specifics
    287
    
    System Controls
    288
    
    Controls Common to All Tasks
    292
    
    Task Control Bits
    293
    
    Axis Control Bits
    306
    
    System Status
    328
    
    Task Status
    336
    
    Axis Status Flags
    345
Section 6 Basic Positioning Operations

352
- Basic Positioning Operations
  352
  - Overview
    353
    
    Summary of Operations
    353
  - PTP Control
    354
  - Linear Interpolation
    355
  - Circular Interpolation
    358
  - Helical Circular Interpolation
    359
  - Interrupt Feeding
    361
  - Traverse Function
    363
  - Operating Modes
    364
    
    Stop Mode
    365
    
    Pass Mode
    366
    
    In-Position Check off Mode
    369
  - Changing Parameters
    372
  - Stopover Function
    373
  - CPU Unit Interrupt Processing
    375
  - Override Function
    376
  - Resetting the Error Counter
    378
  - Servo Lock and Unlock
    380
    
    Timing Charts
    381
    
    Related System Parameters
    382
  - Backlash Correction
    383
    
    Setting Backlash Correction
    384
  - Automatic Loading
    386
    
    Executing Automatic Loading
    387
    
    Related Bits in the PLC Interface Area
    389
  - Present Position Preset
    390
    
    Executing Present Position Preset
    391
  - Electronic Gear Function
    392
    
    Setting the System Parameters
    392
    
    Related Bits
    396
  - Acceleration and Deceleration Curves
    396
  - Unlimited Feeding
    397
    
    Setting System Parameters
    398
  - Stopping
    399
    
    Changes Made to the Driver Alarm Input Stop Method
    400
Section 7 G-Language Programming

402
- G-Language Programming
  
  402
  - Programs and Tasks
    403
    
    Overview
    403
  - G Language Overview
    404
    
    List of G-Language Commands
    404
    
    G-Language Formats
    405
    
    List of G Symbols
    407
    
    Declaring Program Numbers and Axes
    409
    
    Default Mode and Coordinate System
    410
  - G-Language Commands
    411
    
    G00: Positioning
    411
    
    G01: Linear Interpolation
    412
    
    G02 and G03: CIRCULAR INTERPOLATION
    415
    
    G04: Dwell Timer
    422
    
    G10: Pass Mode
    423
    
    G11: Stop Mode
    425
    
    G13: In-Position Check off Mode
    426
    
    G17 to G22: CIRCULAR PLANE SPECIFICATION
    427
    
    G26: Reference Origin Return
    429
    
    G27: Workpiece Origin Return
    430
    
    G28: Origin Search
    431
    
    G29: Origin Undefined
    432
    
    G30: Speed Control Axis Feeding
    432
    
    G31: Interrupt Feeding
    433
    
    G32: Traverse
    439
    
    G50: Select Reference Coordinate System
    443
    
    G51: Select Workpiece Coordinate System
    444
    
    G53: Change Workpiece Origin Offset
    445
    
    G54: Change Reference Coordinate System Pv
    446
    
    G60: Arithmetic Operations
    447
    
    G63: Substitution
    448
    
    G69: Change Parameter
    448
    
    G70: Unconditional Jump
    450
    
    G71: Conditional Jump
    451
    
    G72: Subroutine Jump
    451
    
    G73: Subroutine End
    452
    
    G74: Optional End
    452
    
    G75: Optional Skip
    454
    
    G76: Optional Program Pause
    455
    
    G79: Program End
    456
    
    G90: Absolute Specification
    457
    
    G91: Incremental Specification
    457
  - M Code Outputs
    458
    
    Introduction
    458
    
    M Code Data
    460
    
    M Code Examples
    460
    
    Effect of Mode Changes on M Code Resets
    460
    
    Clearing M000 to M499 with Forced Block End or G74
    460
    
    Clearing M500 to M999 with Forced Block End or G74
    462
    
    M Code Outputs in Pass Mode
    463
    
    Stopover Function and Resetting M Codes
    464
    
    D Code Outputs
    465
    
    Stopover Function
    467
    
    Precautions on the Stopover Function
    470
- G-Language Programming Examples
  
  472
  - Programming Examples
    473
  - Executing MC Programs from the Ladder Program
    489
- Establishing the Origin
  
  492
  - Overview
    493
  - Input Signals Required for an Origin Search
    495
  - Origin Search Methods and Parameters
    495
  - Origin Search Operations
    497
  - Absolute Encoders
    506
  - Setting the Origin with an Absolute Encoder
    507
  - Absolute Encoder Interface Specifications
    510
- Teaching
  
  514
  - Introduction
    515
  - Setting the Teaching Address
    515
  - Performing Teaching
    517
  - Errors During Teaching
    519
- Getting Started
  
  522
- Troubleshooting
  
  548
  - Troubleshooting Tables
    549
  - Error Indicators
    558
  - System Error Codes
    559
  - Task Error Codes
    563
  - Axis Error Codes
    568
  - Error Log
    573
- Maintenance and Inspection
  
  576
  - Routine Inspections
    577
    
    A Performance
    580
    
    B G-Language Codes
    590
    
    C PLC Interface Area Lists
    592
    
    D System Parameters
    616
    
    E Control Bit/Flag Timing Charts
    640
    
    F Origin Search Patterns
    656
    
    G Encoder Divider Rate and Rotation Speed for OMRON Servo Drivers
    685
    
    H MC Program Coding Sheet
    686
    
    I System Parameter Settings
    688
    
    J Position Data Coding Sheet
    694
- Index
  
  696
- Revision History
  
  704

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