Omron SYSMAC CS-series Manuals

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OMRON SYSMAC CS-series Manual

OMRON SYSMAC CS-series Manual (644 pages)

Motion Control Unit

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

Table of Contents

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

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