OMRON CS1W-MCH71 - Motion Control Unit Manuals

Manuals and User Guides for OMRON CS1W-MCH71 - Motion Control Unit. We have 4 OMRON CS1W-MCH71 - Motion Control Unit manuals available for free PDF download: Operation Manual, Manual, Datasheet

Omron CS1W-MCH71 - Operation Manual (717 pages)

SYSMAC CS/CJ-series

Brand: Omron | Category: Controller | Size: 9 MB

Table of Contents

31
Section 1 Features and System Configuration

46
- Features and System Configuration
  46
  - Features
    47
    
    Overview
    47
    
    Features
    48
  - System Configuration
    49
    
    System Configuration Example
    49
    
    Peripheral Devices (Models and Specifications)
    50
  - Basic Operations
    51
    
    Applicable Machines
    51
    
    Position Control
    51
    
    Speed Control
    53
    
    Torque Control
    53
    
    Synchronous Control
    53
    
    Other Functions
    55
  - Control System Configuration and Principles
    56
    
    Control System Configuration
    56
    
    Control System Principles
    57
    
    Feedback Pulse
    57
  - Performance Specifications
    57
    
    General Specifications
    57
    
    Functions and Performance Specifications
    57
  - Command List
    63
  - Performance
    66
Section 2 Basic Procedures

70
- Basic Procedures
  70
  - Basic Operation Flow
    71
  - Overview of CX-Motion-MCH
    73
    
    Functions
    73
    
    2-2-2 Installing and Uninstalling the Software
    74
    
    Operation Procedure
    75
Section 3 Installation and Wiring

76
- Installation and Wiring
  76
  - Nomenclature and Functions
    77
    
    Nomenclature
    77
    
    Area Allocations
    78
  - Installation
    79
    
    System Configuration Precautions
    79
    
    Mounting to the Backplane
    80
    
    Unit Handling Precautions
    81
    
    Dimensions
    82
  - External I/O Circuitry
    83
    
    MECHATROLINK-II Connector
    83
    
    I/O Connectors
    83
    
    Wiring Connectors
    84
    
    I/O Circuits (CJ1W-MCH71 and CS1W-MCH71 Units Version 3.0 and Later)
    85
    
    I/O Circuits (CS1W-MCH71 Unit Version 2.0 and Earlier)
    86
  - Wiring
    87
    
    Wiring Precautions
    87
  - Connecting MECHATROLINK Devices
    88
    
    Method of Connecting MECHATROLINK Devices
    89
    
    Servo Driver (W-Series WT@@@)
    89
    
    24 VDC I/O Module
    92
    
    Counter Module, Pulse Output Module
    96
Section 4 MC Unit Internal Data Configuration and Setting

100
- MC Unit Internal Data Configuration and Setting
  100
  - Data Configuration
    101
    
    Data
    101
    
    Data Configuration
    103
  - System Parameters
    103
    
    Description of System Parameters
    103
    
    System Parameters
    104
    
    Data Configuration and Content of System Parameters
    111
    
    Concept of Parameters
    148
    
    Timing that Enables Transferred System Parameters
    150
  - Variables
    150
    
    Overview of Variables
    150
  - Position Data
    152
    
    Position Data Address
    153
    
    Position Data Configuration
    153
    
    Indirect Specification
    153
    
    Methods Used to Read, Write and Transfer Position Data
    155
  - System Variables
    156
  - I/O Variables
    205
    
    I/O Variables Overview
    205
    
    List of Input Variables
    205
    
    List of Output Variables
    220
  - Present Position Preset
    235
  - Servo Parameter
    236
    
    Servo Parameter Overview
    236
    
    Data Configuration and Contents of Servo Parameters
    237
    
    Motor Parameters
    248
    
    Setting Method Using Combination of W Series and NS115
    251
  - CAM Data
    255
Section 5 Data Transfer and Storage

256
- Data Transfer and Storage
  256
- Data Transfer and Storage
  257
  - Data Transfer Overview
    257
  - Data Storage Overview
    258
  - Types of Data for Transfer and Storage
    258
  - Transfer and Storage of Servo Parameters
    260
- IOWR Instruction to Transfer Data
  266
  - Overview
    266
  - IOWR: Intelligent I/O Write
    267
  - Flags
    268
  - Precautions When Using IOWR
    268
  - IOWR Program Example
    268
- IORD Instruction to Transfer Data
  273
  - Overview
    273
  - IORD: Intelligent I/O Read
    273
  - Flags
    275
  - Precautions When Executing IORD Instruction
    275
  - IORD Program Example
    275
- Saving Data
  279
  - Flash Memory
    279
  - Data Saving Procedure
    280
  - Ladder Program Example of Saving the Data Transferred Using
    280
  - IOWR Instruction
    280
Section 6 Programming

284
- Programming
  284
  - Basic Information
    285
    
    Program and Task Configuration
    285
    
    Task Execution Format
    286
    
    Advancement of the Motion Program
    287
    
    Program System
    293
    
    Axis Movement Operation
    293
    
    Synchronous Command
    316
    
    Modal Data
    320
    
    Nesting
    321
    
    Unit for Time
    321
    
    6-1-10 Conditional Expression
    321
    
    6-1-11 Arithmetic Command
    322
    
    6-1-12 Data Used for Operand
    326
    
    6-1-13 Virtual Axis
    327
    
    6-1-14 I/O Axis
    328
    
    6-1-15 Parameters Having Influence on Axis Operation
    329
    
    6-1-16 Coordinate System
    330
  - Command Overview
    331
    
    Command List
    331
    
    Command Format
    335
    
    Command List (Operand List)
    340
    
    Program Number and Axis Declaration
    342
    
    Default Mode and Coordinate System
    342
  - Command Details
    343
    
    Expression in this Section
    343
    
    Axis Movement
    343
    
    Command for Axis Operations/Operation Cancel
    361
    
    Setting Command
    383
    
    Control Command
    392
    
    Simple Arithmetic Operation
    406
    
    Logic Operation
    408
    
    Function
    410
    
    Bit Operation
    412
    
    6-3-10 Data Operation
    413
Section 7 PC Interface Area

418
- PC Interface Area
  
  418
  - Overview
    419
    
    Data Exchange Area Overview
    419
    
    About I/O Refresh
    420
    
    Allocated Area List
    420
    
    CPU Unit's Influence
    426
  - Operating Mode
    427
    
    Manual Mode/Automatic Mode
    428
    
    Manual Mode
    429
    
    Automatic Mode
    431
  - Allocations for the CPU Unit
    441
    
    DM Area Words for Unit (20 Words, CPU Unit → MC Unit)
    447
    
    Custom Bit Area
    456
    
    Custom Data Area
    460
  - Interface Specifics
    465
    
    Unit Control Bits
    465
    
    Unit Status Bits
    485
    
    Motion Task Control Bits
    488
    
    Axis Control Bits, Axis Status Bits
    517
- Establishing the Origin
  
  576
  - Overview
    577
  - Input Signals Required for Origin Search
    579
  - Origin Search Operations
    581
  - Absolute (ABS) Encoders
    584
  - ABS Encoder Origin Setting
    585
- Other Operations
  
  590
  - Teaching
    591
  - Debugging the Program
    598
  - Coordinate System
    603
  - Backup and Restore Function
    611
  - Servo Driver Status Output
    614
  - Data Tracing
    615
  - Zones
    616
- Program Example
  
  618
  - Program Example
    619
  - Slave Modules
    652
  - Others
    664
- Troubleshooting
  
  672
  - Troubleshooting
    673
  - Countermeasures
    679
  - Error Indicators
    683
  - Unit-Related Alarm Codes
    684
  - Motion Task-Related Alarm Codes
    687
  - Axis-Related Alarm Codes
    693
  - MLK Device Alarm Codes
    698
  - Servo Driver Warnings
    700
  - Error Log
    701
- Maintenance and Inspection
  
  704
  - Routine Inspection
    705
  - A Performance
    708
  - Built-In MECHATROLINK-II Communications
    712
- Revision History
  
  716

OMRON CS1W-MCH71 - Manual (644 pages)

Motion Control Unit

Brand: OMRON | Category: Controller | Size: 9 MB

Table of Contents

13
Precautions

18
- General Precautions
  19
- Intended Audience
  19
- Safety Precautions
  20
- Application Precautions
  21
- Operating Environment Precautions
  22
- Conformance to EC Directives
  23
  - Applicable Directives
    23
  - Concepts
    23
  - Installation Within Control Panel
    23
Section 1 Features and System Configuration

24
- Features and System Configuration
  24
  - Features
    25
    
    Overview
    25
    
    Features
    26
  - System Configuration
    27
    
    System Configuration Example
    27
    
    Peripheral Devices (Models and Specifications)
    28
  - Basic Operations
    29
    
    Applicable Machines
    29
    
    Position Control
    29
    
    Speed Control
    31
    
    Torque Control
    31
    
    Synchronous Control
    31
    
    Other Functions
    33
  - Control System Configuration and Principles
    33
    
    Control System Configuration
    33
    
    Control System Principles
    34
    
    Feedback Pulse
    34
  - Performance Specifications
    34
    
    General Specifications
    34
    
    Functions and Performance Specifications
    35
  - Command List
    39
  - Performance
    41
Section 2 Basic Procedures

46
- Basic Procedures
  46
  - Basic Operation Flow
    47
  - Overview and Operating Procedure of MC-Miel
    49
    
    Overview and Features
    49
    
    MC-Miel Function List
    49
    
    Installing and Uninstalling MC-Miel
    50
    
    MC-Miel Operation Flow
    50
Section 3 Installation and Wiring

52
- Installation and Wiring
  52
  - Nomenclature and Functions
    53
    
    Nomenclature
    53
    
    Area Allocations
    54
  - Installation
    55
    
    System Configuration Precautions
    55
    
    Mounting to the Backplane
    56
    
    Unit Handling Precautions
    57
    
    Dimensions
    57
  - External I/O Circuitry
    58
    
    MECHATROLINK-II Connector
    58
    
    I/O Connectors
    58
    
    Wiring Connectors
    58
    
    I/O Circuitry
    59
  - Wiring
    60
    
    Wiring Precautions
    60
  - Connecting MECHATROLINK Devices
    61
    
    Method of Connecting MECHATROLINK Devices
    61
    
    W-Series Servo Driver
    62
    
    24VDC I/O Module
    65
    
    Counter Module, Pulse Output Module
    69
Section 4 MC Unit Internal Data Configuration and Setting

72
- MC Unit Internal Data Configuration and Setting
  72
  - Data Configuration
    73
    
    Data
    73
    
    Data Configuration
    75
  - System Parameters
    75
    
    Description of System Parameters
    75
    
    System Parameters
    76
    
    Data Configuration and Content of System Parameters
    81
    
    Concept of Parameters
    111
    
    Timing that Enables Transferred System Parameters
    114
  - Variables
    114
    
    Overview of Variables
    114
  - Position Data
    116
    
    Position Data Address
    116
    
    Position Data Configuration
    116
    
    Indirect Specification
    117
    
    Methods Used to Read, Write and Transfer Position Data
    118
  - System Variables
    119
  - I/O Variables
    166
    
    I/O Variables Overview
    167
    
    List of Input Variables
    167
    
    List of Output Variables
    182
  - Present Position Preset
    193
  - Servo Parameter
    194
    
    Servo Parameter Overview
    194
    
    Data Configuration and Contents of Servo Parameters
    195
    
    Motor Parameters
    206
    
    Setting Method Using Combination of W-Series and NS115
    209
  - CAM Data
    213
Section 5 Data Transfer and Storage

216
- Data Transfer and Storage
  216
- Data Transfer and Storage
  217
  - Data Transfer Overview
    217
  - Data Storage Overview
    218
  - Types of Data for Transfer and Storage
    218
  - Transfer and Storage of Servo Parameters
    220
- IOWR Instruction to Transfer Data
  226
  - Overview
    226
  - IOWR: Intelligent I/O Write
    227
  - Flags
    228
  - Precautions When Using IOWR
    228
  - IOWR Program Example
    228
- IORD Instruction to Transfer Data
  233
  - Overview
    233
  - IORD: Intelligent I/O Read
    233
  - Flags
    235
  - Precautions When Executing IORD Instruction
    235
  - IORD Program Example
    235
- Saving Data
  239
Section 6 Programming

242
- Programming
  242
  - Program and Task Configuration
    243
    
    Task Execution Format
    244
    
    Advancement of the Motion Program
    245
    
    Program System
    250
    
    Axis Movement Operation
    251
    
    Synchronous Command
    269
    
    Modal Data
    273
    
    Nesting
    273
    
    Unit for Time
    273
    
    6-1-10 Conditional Expression
    274
    
    6-1-11 Arithmetic Command
    274
    
    6-1-12 Data Used for Operand
    278
    
    6-1-13 Virtual Axis
    279
    
    6-1-14 I/O Axis
    280
    
    6-1-15 Parameters Having Influence on Axis Operation
    281
    
    6-1-16 Coordinate System
    282
  - Command Overview
    283
    
    Command List
    283
    
    Command Format
    286
    
    Command List (Operand List)
    291
    
    Program Number and Axis Declaration
    293
    
    Default Mode and Coordinate System
    293
  - Command Details
    294
    
    Expression in this Section
    294
    
    Axis Movement
    294
    
    Command for Axis Operations/Operation Cancel
    312
    
    Setting Command
    328
    
    Control Command
    336
    
    Simple Arithmetic Operation
    350
    
    Logic Operation
    352
    
    Function
    354
    
    Bit Operation
    356
    
    6-3-10 Data Operation
    357
Section 7 PC Interface Area

362
- PC Interface Area
  
  362
  - Overview
    363
    
    Data Exchange Area Overview
    363
    
    About I/O Refresh
    364
    
    Allocated Area List
    364
    
    CPU Unit's Influence
    367
  - Operating Mode
    368
    
    Manual Mode/Automatic Mode
    368
    
    Manual Mode
    369
    
    Automatic Mode
    371
  - Allocations for the CPU Unit
    381
    
    DM Area Words for Unit (20 Words, CPU Unit_Mc Unit)
    387
    
    Custom Bit Area
    395
    
    Custom Data Area
    399
  - Interface Specifics
    404
    
    Unit Control Bits
    404
    
    Unit Status Bits
    424
    
    Motion Task Control Bits
    427
    
    Axis Control Bits, Axis Status Bits
    455
- Establishing the Origin
  
  512
  - Overview
    513
  - Input Signals Required for Origin Search
    515
  - Origin Search Methods and Parameters
    515
  - Origin Search Operations
    517
  - Absolute (ABS) Encoders
    520
  - ABS Encoder Origin Setting
    521
- Other Operations
  
  526
  - Teaching
    527
  - Debugging the Program
    533
  - Coordinate System
    537
  - Backup and Restore Function
    545
- Program Example
  
  548
  - Program Example
    549
  - Slave Modules
    583
  - Others
    595
- Troubleshooting
  
  604
  - Troubleshooting
    605
  - Countermeasures
    611
  - Error Indicators
    615
  - Unit-Related Alarm Codes
    616
  - Motion Task-Related Alarm Codes
    619
  - Axis-Related Alarm Codes
    625
  - MLK Device Alarm Codes
    630
  - Servo Driver Warnings
    632
  - Error Log
    633
- Maintenance and Inspection
  
  636
  - Routine Inspection
    637
- Revision History
  
  640

Omron CS1W-MCH71 - Operation Manual (646 pages)

Motion Control Unit

Brand: Omron | Category: Controller | Size: 8 MB

Precautions

18
- Table of Contents
  18
- Intended Audience
  19
- General Precautions
  19
- Safety Precautions
  20
- Application Precautions
  21
- Operating Environment Precautions
  22
- Conformance to EC Directives
  23
- Applicable Directives
  23
- Concepts
  23
- Installation Within Control Panel
  23
Section 1 Features and System Configuration

24
- Features
  25
- Overview
  25
- Features
  26
- System Configuration
  27
- System Configuration Example
  27
- Peripheral Devices (Models and Specifications)
  28
- Applicable Machines
  29
- Basic Operations
  29
- Position Control
  29
- Speed Control
  31
- Synchronous Control
  31
- Torque Control
  31
- Control System Configuration
  33
- Control System Configuration and Principles
  33
- Other Functions
  33
- Control System Principles
  34
- Feedback Pulse
  34
- General Specifications
  34
- Performance Specifications
  34
- Functions and Performance Specifications
  35
- Command List
  39
- Performance
  41
Section 2 Basic Procedures

46
Section 3 Installation and Wiring

52
- Nomenclature
  53
- Nomenclature and Functions
  53
- Area Allocations
  54
- Installation
  55
- System Configuration Precautions
  55
- Mounting to the Backplane
  56
- Dimensions
  57
- Unit Handling Precautions
  57
- External I/O Circuitry
  58
- I/O Connectors
  58
- MECHATROLINK-II Connector
  58
- Wiring Connectors
  58
- I/O Circuitry
  59
- Wiring
  60
- Wiring Precautions
  60
- Connecting MECHATROLINK Devices
  61
- Method of Connecting MECHATROLINK Devices
  61
- W-Series Servo Driver
  62
- 24VDC I/O Module
  65
- Counter Module, Pulse Output Module
  69
Section 4 MC Unit Internal Data Configuration and Setting

72
- Data
  73
- Data Configuration
  73
- Data Configuration
  75
- Description of System Parameters
  75
- System Parameters
  75
- System Parameters
  76
- Data Configuration and Content of System Parameters
  81
- Concept of Parameters
  111
- Overview of Variables
  114
- Timing that Enables Transferred System Parameters
  114
- Variables
  114
- Position Data
  116
- Position Data Address
  116
- Position Data Configuration
  116
- Indirect Specification
  117
- Methods Used to Read, Write and Transfer Position Data
  118
- System Variables
  119
- I/O Variables
  166
- I/O Variables Overview
  167
- List of Input Variables
  167
- List of Output Variables
  182
- Present Position Preset
  193
- Servo Parameter
  194
- Servo Parameter Overview
  194
- Data Configuration and Contents of Servo Parameters
  195
- Motor Parameters
  206
- Setting Method Using Combination of W-Series and NS115
  209
- CAM Data
  213
Section 5 Data Transfer and Storage

216
- Data Transfer and Storage
  217
- Data Transfer Overview
  217
- Data Storage Overview
  218
- Types of Data for Transfer and Storage
  218
- Transfer and Storage of Servo Parameters
  220
- IOWR Instruction to Transfer Data
  226
- Overview
  226
- IOWR: Intelligent I/O Write
  227
- Flags
  228
- IOWR Program Example
  228
- Precautions When Using IOWR
  228
- IORD Instruction to Transfer Data
  233
- IORD: Intelligent I/O Read
  233
- Overview
  233
- Flags
  235
- IORD Program Example
  235
- Precautions When Executing IORD Instruction
  235
- Flash Memory
  239
- Saving Data
  239
- Data Saving Procedure
  240
- Ladder Program Example of Saving the Data Transferred Using IOWR Instruction
  240
Section 6 Programming

242
- Program and Task Configuration
  243
- Task Execution Format
  244
- Advancement of the Motion Program
  245
- Program System
  250
- Axis Movement Operation
  251
- Synchronous Command
  269
- Modal Data
  273
- Nesting
  273
- Unit for Time
  273
- 6-1-10 Conditional Expression
  274
- 6-1-11 Arithmetic Command
  274
- 6-1-12 Data Used for Operand
  278
- 6-1-13 Virtual Axis
  279
- 6-1-14 I/O Axis
  280
- 6-1-15 Parameters Having Influence on Axis Operation
  281
- 6-1-16 Coordinate System
  282
- Command List
  283
- Command Overview
  283
Command Format

286
- Command List (Operand List)
  291
- Default Mode and Coordinate System
  293
- Program Number and Axis Declaration
  293
- Axis Movement
  294
- Command Details
  294
- Expression in this Section
  294
- Command for Axis Operations/Operation Cancel
  312
- Setting Command
  328
- Control Command
  336
- Simple Arithmetic Operation
  350
- Logic Operation
  352
- Abs
  354
- Acos
  354
- Asin
  354
- Atan
  354
- Cos
  354
- Exp
  354
- Function
  354
- Sin
  354
- Sqr
  354
- Tan
  354
- Bit Operation
  356
- Frac
  356
- Sgn
  356
- 6-3-10 Data Operation
  357
Section 7 PC Interface Area

362
- Data Exchange Area Overview
  363
- Overview
  363
- About I/O Refresh
  364
- Allocated Area List
  364
- CPU Unit's Influence
  367
- Manual Mode/Automatic Mode
  368
- Operating Mode
  368
- Manual Mode
  369
- Automatic Mode
  371
- Allocations for the CPU Unit
  381
- DM Area Words for Unit (20 Words, CPU Unit_Mc Unit)
  387
- Custom Bit Area
  395
- Custom Data Area
  399
- Interface Specifics
  404
- Unit Control Bits
  404
- Unit Status Bits
  424
- Motion Task Control Bits
  427
- Axis Control Bits, Axis Status Bits
  455

OMRON CS1W-MCH71 - Datasheet (8 pages)

Motion control unit

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

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OMRON CS1W-MCH71 - Motion Control Unit Manuals

Omron CS1W-MCH71 - Operation Manual (717 pages)

Table of Contents

Table of Contents

Section 1 Features and System Configuration

Section 2 Basic Procedures

Section 3 Installation and Wiring

Section 4 MC Unit Internal Data Configuration and Setting

Section 5 Data Transfer and Storage

Section 6 Programming

Section 7 PC Interface Area

PC Interface Area

Establishing the Origin

Other Operations

Program Example

Troubleshooting

Maintenance and Inspection

Revision History

OMRON CS1W-MCH71 - Manual (644 pages)

Table of Contents

Table of Contents

Precautions

Section 1 Features and System Configuration

Section 2 Basic Procedures

Section 3 Installation and Wiring

Section 4 MC Unit Internal Data Configuration and Setting

Section 5 Data Transfer and Storage

Section 6 Programming

Section 7 PC Interface Area

PC Interface Area

Establishing the Origin

Other Operations

Program Example

Troubleshooting

Maintenance and Inspection

Revision History

Omron CS1W-MCH71 - Operation Manual (646 pages)

Table of Contents

Precautions

Section 1 Features and System Configuration

Section 2 Basic Procedures

Section 3 Installation and Wiring

Section 4 MC Unit Internal Data Configuration and Setting

Section 5 Data Transfer and Storage

Section 6 Programming

Command Format

Section 7 PC Interface Area

OMRON CS1W-MCH71 - Datasheet (8 pages)

Table of Contents

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