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SYSMAC CS1W-NC133
Omron SYSMAC CS1W-NC133 Manuals
Manuals and User Guides for Omron SYSMAC CS1W-NC133. We have
4
Omron SYSMAC CS1W-NC133 manuals available for free PDF download: Operation Manual, Manual, Datasheet
OMRON SYSMAC CS1W-NC133 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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Omron SYSMAC CS1W-NC133 Manual (350 pages)
Brand:
Omron
| Category:
Control Unit
| Size: 4.94 MB
Table of Contents
Table of Contents
7
Reading Data with the READ DATA Bit
5
Table of Contents
7
Features
8
Position Control Unit
10
Intended Audience
10
General Precautions
10
Safety Precautions
10
Operating Environment Precautions
11
Application Precautions
12
Conformance to EC Directives
14
Applicable Directives
14
Concepts
14
Installation Within Control Panel
14
Section 1 Introduction
15
Features
16
Functions
16
System Configuration
17
CS1W-NC413 System Configuration Example
18
Basic Operations
19
Position Control
19
Other Operations
21
Speed Control
21
List of Functions
22
Basic Specifications
23
Specifications
23
Performance Specifications
24
Comparison with Existing Models
25
Control System Principles
27
Data Flow
27
Basic Positioning System Design
28
SECTION 2 Basic Procedures
29
Basic Operational Flow
30
Section 3 Installation and Wiring
32
Nomenclature and Functions
33
Area Allocation
35
Installation
35
System Configuration Considerations
35
Mounting the Unit
36
Precautions When Handling the PCU
37
Dimensions
37
External I/O Circuitry
38
Connector Pin Arrangement
38
Wiring
40
External I/O Connector Arrangement
41
I/O Circuitry
42
I/O Electrical Specifications
45
Wiring
46
Output Connection Examples
46
Connecting Input Signals
50
Connecting Origin and Positioning Completed Input Signals
51
Wiring Precautions
53
Connection Examples for Different Types of Motor Driver
54
Connection of Unused Axes
65
CS1W-NC213/NC233 - - X Axis Only
65
Servo Relay Unit
65
Section 4 Data Areas
68
Overall Structure
69
Common Parameter Area
71
Data Areas
71
Axis Parameter Area
74
Details
75
Outline
75
Operating Memory Area
76
Common Parameter Area
74
Axis Parameter Area
78
Outline
78
Details
80
Operation Modes
84
Operating Memory Area
95
Outline
96
Operating Data Area
96
Name
99
Operating Data Area
99
Outline
99
Memory Operation Data
102
Outline
102
Zone Data Area
105
Zone Function
105
Zone Data Settings
105
Section 5 Transferring and Saving Data
107
Transferring and Saving Data
107
Transferring and Saving Data
108
Transferring Data
108
Writing Data with the WRITE DATA Bit
108
Saving Data
109
Data Addresses
110
Data that Can be Saved And/Or Transferred
110
Data Checking
111
Data Transfer Priority
113
Writing Data with the WRITE DATA Bit
115
Data Writing Procedure
116
Outline
116
Data Settings Required for Writing Data
117
Timing Chart for Writing Data
118
Model Operating Data Area
118
Designation Designation
118
EM Bank DM/EM
118
Specifies the Area Where the
118
DM/EM Designation
118
Designates DM Area
118
Designates EM Area
118
EM Bank Designation
118
Specifies the EM Area
118
Example of a Write Data Program
119
Reading Data with the READ DATA Bit
120
Outline
120
Data Settings Required for Reading Data
121
Reading Data with the Read Data Bit 5-3
122
Number of Read
122
Read Source
122
Data Reading Program Example
123
Writing Data with IOWR
125
Outline
125
Iowr: Intelligent I/O Write
126
Flags
126
Precautions When Using IOWR
127
Hex (Words 0 to 32767)
127
IOWR Program Example
130
Reading Data with IORD
131
Outline
131
READ DATA Procedure
131
Iord: Intelligent I/O Read
131
Flags
132
Precautions When Using IORD
133
IORD Program Example
133
Saving Data
134
Saving Data
135
Flash Memory
135
Data Saving Procedure
135
Timing Chart for Saving Data
136
Transferring Data with CX-Position
136
Section 6 Defining the Origin
138
Defining the Origin
138
Outline
139
Origin Search Procedure
140
Data Settings Required for Origin Search
141
And Parameter Areas
141
Beginning Words of Operating Memory Area, Operating Data Area
141
Axis Parameter Area
142
Origin Search Operation
142
Operating Memory Area
143
Origin Search Operation
143
Operation Pattern Settings for Origin Search
143
Details of Parameters
144
Operation Mode Settings
147
Origin Search Operation and Origin Detection Direction Settings
152
Operation Pattern with Origin Compensation
156
Origin Search Timing Charts
157
Without Origin Compensation
157
With Origin Compensation
158
Origin Search Deceleration Stop
160
Emergency Stop of Origin Search
161
Present Position Preset
162
And Parameter Areas
162
Beginning Words of Operating Memory Area, Operating Data Area
162
Operating Memory Area Allocation and Operating Data Area Settings
162
Outline of Operation
162
Timing Chart
163
Origin Return
163
Timing Chart
164
Z-Phase Margin
165
Calculating the Z-Phase Margin (Example)
165
Description
165
Section 7 Direct Operation
167
Outline
168
Direct Operation Procedure
169
Setting Data for Direct Operation
169
Beginning Words of Operating Memory Area, Operating Data Area, and Parameter Areas
169
Axis Parameter Area
170
Operating Data Area
170
Operations with Direct Operation
171
Starting Direct Operation
171
Direct Operation and the Operating Data Area
171
Multiple Starts with Direct Operation
171
Multiple Start Operating Patterns
171
Starting Direct Operation During Memory Operation
173
Direct Operation Timing Charts
173
Acceleration/Deceleration
175
Calculation of Basic Acceleration/Deceleration Times
175
Calculation of Acceleration/Deceleration Times When the Speed Is Changed
177
Sample Program
178
Details of Operation
178
7-7-3 Sample Program
179
Sample Program
180
SECTION 8 Memory Operation
181
Outline
182
Axis Designation
183
Axis Designation and Flags
183
Name
184
Memory Operation Procedure
185
Speed
185
Setting Data for Memory Operation
186
And Parameter Areas
186
Beginning Words of Operating Memory Area, Operating Data Area
186
Acceleration Time 15
187
Leftmost
187
Leftmost 00
187
Leftmost Rightmost 00 15
187
Rightmost
187
Setting Range
187
To 7A120 Hex
187
Positioning Sequences
188
Sequence Format
189
Axis Designation
190
Output Code
190
Completion Code
191
Position Designation
191
Dwell Time Number
193
Acceleration and Deceleration Time Numbers
194
Initial Speed and Target Speed Numbers
194
Completion Codes
194
Starting Memory Operation
194
Memory Operation in Accordance with Positioning Sequences
195
Linear Interpolation
198
Using Continuous Completion with Linear Interpolation
200
Transferring Positioning Sequences
202
Pcu's Internal Addresses
202
Timing Chart for Memory Operation
204
Busy Flag
204
Sequence Number Enable Bit
204
Timing Chart for START
206
Timing of Data Changes During Memory Operation
207
Acceleration/Deceleration
207
Calculation of Acceleration/Deceleration Times for Continuous Positioning
208
Calculation of Basic Acceleration/Deceleration Times
208
Sample Program
210
Operation
210
Program Example
212
Section 9 Other Operations
213
Jogging
215
Outline of Operation
215
Procedure for Executing JOG
215
Beginning Words of Operating Memory Area, Operating Data Area
215
Operating Memory Area Allocation and Operating Data Area Settings
215
Teaching
216
Timing Chart
218
Teaching
218
Outline of Operation
219
Interrupt Feeding
219
Procedure for Memory Operation
219
Procedure for Direct Operation
219
Beginning Words of Operating Memory Area, Operating Data Area
220
Operating Memory Area Allocation and Operating Data Area Settings
220
Forced Interrupt
222
Beginning Words of Operating Memory Area, Operating Data Area
222
Deceleration Stop
224
Timing Chart
229
Deceleration Stop
229
Override
229
Beginning Words of Operating Memory Area, Operating Data Area
230
Error Counter Reset Output and Origin Adjustment Command Output
233
Backlash Compensation
236
Outline of Operation
236
Software Limit
238
Outline
238
Beginning Words of Operating Memory Area, Operating Data Area
239
Operation Timing
240
Stop Function
241
Outline
241
Stop Methods
242
Section 10 Program Examples
243
Operating Procedures for Program Examples
244
Memory Operation
246
Checking Positioning Operations
246
Repeat Operation
251
Cancelling Positioning
255
Direct Operation
261
Positioning with Positions in the DM Area
261
Inching
264
Linear Interpolation
267
Two-Axis Linear Interpolation
267
Origin Search
273
Origin Search Using Limit Input
273
Override
276
Changing Speed During Pulse Output
276
Transferring and Saving Data
279
Copying Data
279
Section 11 Troubleshooting
285
Troubleshooting Tables
286
Items to Check First
286
Problems and Countermeasures
287
Introduction
293
LED Error Indicators
294
Reading Error Codes
297
Error Code Lists
298
Data Check at Startup
298
Error Code Lists Section 11-5
299
Command Execution Check
301
Axis Designation
303
Releasing Pulse Output Prohibition and Resetting after Errors
313
Outline
313
And Parameter Areas
314
Beginning Words of Operating Memory Area, Operating Data Area
314
Operating Memory Area Allocation
315
Timing Chart
315
Error Display at the CPU
316
Reading Error Information with CX-Position
316
SECTION 12 Maintenance and Inspection
317
Inspection
318
Routine Inspections
319
Handling Precautions
320
Procedure for Replacing a PCU
320
A Performance Characteristics
322
Response
326
B Estimating Times and Pulses for Acceleration/Deceleration
328
C Common Parameter Area
330
D Error Code Lists
331
Initial Speed Error
332
Maximum Maximum Speed
332
Speed Error
332
Acceleration Time
336
Acceleration
336
Deceleration Time
336
F Parameter Coding Sheets
339
Origin Search Origin
341
Operation Mode
341
Origin Search
341
Index
349
Revision History
350
OMRON SYSMAC CS1W-NC133 Datasheet (3 pages)
Position control units
Brand:
OMRON
| Category:
Control Unit
| Size: 0.28 MB
Advertisement
OMRON SYSMAC CS1W-NC133 Datasheet (2 pages)
Position control units
Brand:
OMRON
| Category:
Control Unit
| Size: 0.66 MB
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