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202

Timing Chart

Block execution

General input 1

Axis movement

9-3

Positioning with Linear and Circular Interpolation

This program uses linear and circular interpolation to move the X and Y axes in

the pattern shown in the following diagram.

Sample Program

N000

P003

N001

G17

N002

G01

X200

Y100

F50

N003

G03

X300

Y200

R100

N004

G01

Y300

N005

G02

X400

Y400

R–100

N006

G79

Explanation

Block N000 declares the program number and axes being used.

N001

Sets the X-Y plane as the plane for circular interpolation.

N002

Moves the axes to (X200, Y100) by linear interpolation.

N003

Moves the axes to (X300, Y200) by circular interpolation in the counter-clock-

wise direction with a radius of 100. A positive value is specified for the radius, so

an arc smaller than a semicircle (1/4 circle) is drawn.

N004

Moves the axes to (X300, Y300) by linear interpolation.

Positioning with Linear and Circular Interpolation

Section 9-3

Summary of Contents for C200H-MC221 -

Page 1: ...Cat No W315 E1 03 Motion Control Unit C200H MC221 OPERATION MANUAL ...

Page 2: ......

Page 3: ...C200H MC221 Motion Control Unit Operation Manual Details Revised June 2010 ...

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Page 5: ...ans word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for any thing else Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular interest for efficient and convenient operation of the product 1 2 3...

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Page 7: ...necting Peripheral Devices 23 3 1 Connecting a Personal Computer 24 3 2 Connecting the Teaching Box 25 SECTION 4 MC Unit Data 29 4 1 MC Unit Data Configuration 30 4 2 System Parameters 30 4 3 Data Transmission and Reception 33 4 4 Details of Data Transmission and Reception Units 36 4 5 Details of I O Transfer and Necessary Information 51 4 6 Data Transfer Examples 52 4 7 I O Transfer Timing 56 4 8...

Page 8: ... Teaching Address 195 8 4 Performing Teaching 196 8 5 Errors 197 SECTION 9 Sample Programs 199 9 1 Positioning with PTP Control 200 9 2 Positioning with Linear Interpolation 201 9 3 Positioning with Linear and Circular Interpolation 202 9 4 Indirect Addressing with Registers 203 9 5 Using the Workpiece Origin Offset 204 9 6 Changing the Interpolation Acceleration Time 205 9 7 Calculating Position ...

Page 9: ...Appendices A Control Bit Flag Timing Charts 225 B Additional Origin Search Patterns 239 C MC Program Coding Sheet 265 D MC Parameter Settings 267 E Position Data Coding Sheet 271 Glossary 273 Index 279 Revision History 285 ...

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Page 11: ...ns its indicators unit number and DIP switch settings and describes how to install the Unit Section 2 describes how to connect to the I O DRV and MPG connectors and shows the interface circuits for all of the connectors Section 3 explains how to connect a personal computer or a Teaching Box Section 4 describes the three kinds of data system parameters position data and registers used in MC Unit fu...

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Page 13: ...HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILI...

Page 14: ... that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government...

Page 15: ...onfirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions an...

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Page 17: ...ion is important for the safe and reliable application of the Motion Control Unit You must read this section and understand the information contained before attempting to set up or operate a Motion Control Unit 1 Intended Audience xviii 2 General Precautions xviii 3 Safety Precautions xviii 4 Operating Environment Precautions xviii 5 Application Precautions xix ...

Page 18: ...read this manual before attempting to use the Unit and keep this manual close at hand for reference during operation WARNING It is extreme important that Motion Control Units and related devices be used for the specified purpose and under the specified conditions especially in applications that can directly or indirectly affect human life You must consult with your OMRON representative before appl...

Page 19: ...emory Cassettes or any other Units Assembling the Units Setting DIP switches or rotary switches Connecting or wiring the cables Connecting or disconnecting the connectors Caution Failure to abide by the following precautions could lead to faulty operation or the MC Unit or the system or could damage the MC Units or PC Units Always heed these precautions Fail safe measures must be taken by the cust...

Page 20: ...t value of any word or any set value in memory Not doing so may result in an unexpected operation Confirm that set parameters and data operate properly Not doing so may result in an unexpected operation Do not attempt to take any Units apart to repair any Units or to modify any Units in any way Do not pull on the cables or bend the cables beyond their natural limit Doing either of these may break ...

Page 21: ...it explains its indicators unit number and DIP switch settings and describes how to install the Unit 1 1 Components 2 1 2 Indicators 3 1 3 Setting the Unit Number 3 1 4 Setting the DIP Switch 4 1 5 Installing the MC Unit 5 1 6 Changing the Task Configuration 6 1 6 1 Operation Flow 6 1 6 2 Basic Operations 6 ...

Page 22: ...the main components of the MC Unit Indicators Unit number setting selector DRV X Y connector I O connector Peripheral device switch Peripheral device connector Note Refer to Section 2 Wiring for details on wiring the MC Unit Components Section 1 1 ...

Page 23: ...he PC data area interface Allocated Words The interface area varies with the type of the PC to which the MC Unit is mounted Refer to the following examples Refer to Section 6 PC Data Area Interface for more details C200H C200HS IR area 20 words beginning with word n 100 10 x unit no DM area 2 words beginning with word m 1 000 100 x unit no C200HX C200HG C200HE IR area 20 words beginning with word ...

Page 24: ... absolute encoder the factory setting 2 OFF The Teaching Box will display Japanese text ON The Teaching Box will display English text factory setting 3 to 4 Leave these pins set to OFF factory settings The pin 1 setting will be ignored when using an incremental encoder Note 1 Use the interface relay for the initial setting and soft reset setting of the abso lute encoder Refer to Section 6 5 Interf...

Page 25: ...in any one of the remaining slots 10 8 5 3 In the following example the MC Unit is mounted to the slot indicated by 3 and the Input Unit is mounted to the slot indicated by 4 Mount the MC Unit in any of these slots Connectors for I O cables Mounting screw of Backplane 1 2 3 4 1 Power Supply Unit 2 CPU 3 MC Unit 4 Input Unit Mount the MC Unit by connecting the connector on the rear panel of the MC ...

Page 26: ... 1 2 3 1 Change the task number from 1 to 2 or from 2 to 1 in the MC Support Soft ware s Unit Parameter Edit menu If there are other parameters that should be changed change them and save them 2 Transfer the parameters created in step 1 from the Unit to the personal computer Write all data to flash memory 3 Turn the Unit s power supply off and on again 4 Delete the Unit s entire program with the M...

Page 27: ... 8 2 1 1 Pin Allocation 8 2 1 2 Attaching a Connector 8 2 1 3 Connection Example 9 2 2 DRV Connectors 11 2 2 1 Pin Allocation 11 2 2 2 Attaching a Connector 11 2 2 3 Dedicated Driver Cables Optional 13 2 2 4 Connection Examples 15 2 3 MPG Connector 19 2 3 1 Wiring Example 19 2 3 2 Connection Example 19 2 4 Interface Circuits 20 2 4 1 I O and DRV Connector Circuits 20 ...

Page 28: ...limit input Limits movement of the X axis in the CCW direction 5 YCCWL NC Y axis CCW limit input Limits movement of the Y axis in the CCW direction 6 XSTOP NC X axis emergency stop input Invalidates the X axis s run output and stops it 7 YSTOP NC Y axis emergency stop input Invalidates the Y axis s run output and stops it 8 IN1 NO General input 1 General input 1 9 IN2 NO General input 2 General in...

Page 29: ...input Origin proximity input CW limit input Stop input DC Power Supply 24 V 0 V 1 24V 2 XCWL 3 YCWL 4 XCCWL 5 YCCWL 6 XSTOP 7 YSTOP 8 IN1 9 IN2 10 XORG 11 YORG 14 DC GND Dedicated Cable and Terminals XW2Z 100J F1 MC Unit Cable XW2B 20J6 6 MC Unit Terminals XCW XCCW origin proximity and emergency stop YCW YCCW origin proximity and emergency stop I O Connector Section 2 1 ...

Page 30: ...wires in the same way Terminal no Label 24 V 0 V Normally closed Normally open Emergency stop input CCW limit input Origin proximity input CW limit input Common Common Common Common Common Common DC power supply Note OUT1 or OUT2 of the Terminals is not available for the C200H MC221 I O Connector Section 2 1 ...

Page 31: ...onnector and case are provided with the Unit 1 connector 10136 3000VE Sumitomo 3M Model available in Japan 1 case 10336 42F0 008 or 10336 52F0 008 Sumitomo 3M Models available in Japan DRV X Y Pin Allocation The following diagram shows the pin allocation for the DRV X Y connector Pins 6 7 24 and 25 aren t used XSGND XSOUT YSGND YSOUT 2 2 2 Attaching a Connector Attach a connector in one of the fol...

Page 32: ... XOUT X axis speed control Speed control voltage to the X axis driver 18 XAGND X axis speed control ground Ground for the X axis s speed control voltage 19 F24V 24 VDC output Supplies 24 VDC input to the driver for the X Y axes 20 FDC GND 24 VDC output ground Ground for 24 VDC outputs for the X Y axes 21 YALM Y axis alarm input Driver alarm input for the Y axis 22 YRUN Y axis run output Driver run...

Page 33: ...1 1 0 for 30 to 750 W Servodrivers R88A CPU002M2 R88A CPU002M1 2 0 R88D U for 1 to 5 kW R88A CPUB001M2 R88A CPUB001M1 1 0 for 1 to 5 kW Servodrivers R88A CPUB002M2 R88A CPUB002M1 2 0 R88D H R88A CPH001M2 R88A CPH001M1 1 0 R88A CPH002M2 R88A CPH002M1 2 0 R88D M R88A CPM001M2 R88A CPM001M1 1 0 R88A CPM002M2 R88A CPM002M1 2 0 R88A CPU001M2 002M2 For U Series R88A CPUB001M2 002M2 Connect to 24 V Red 2...

Page 34: ...002M2 For M Series Connect to 24 V Red 24 V Black 0 V In the case of Cables for single axis models only one connector is available for the MC Unit side and only the X axis signal line is wired DRV Connectors Section 2 2 ...

Page 35: ...reset output X axis SEN signal ground X axis feedback ground X axis phase A input X axis phase A input X axis phase B input X axis phase B input X axis phase Z input X axis phase Z input X axis speed control X axis speed control ground 24 VDC output 24 VDC output ground Dedicated Driver Cable R88A CPU00jM2 DRV X Y connector X axis SEN signal output AC Servodriver R88D UAjjj Battery 2 8 to 4 5 V AC...

Page 36: ...Z input X axis phase Z input X axis speed control X axis speed control ground 24 VDC output 24 VDC output ground Y axis alarm input Y axis run output Y axis alarm reset output Y axis feedback ground Y axis phase A input Y axis phase A input Y axis phase B input Y axis phase B input Y axis phase Z input Y axis phase Z input Y axis speed control Y axis speed control ground DC Power Supply 24 V 0 V R...

Page 37: ...et output Y axis feedback ground Y axis phase A input Y axis phase A input Y axis phase B input Y axis phase B input Y axis phase Z input Y axis phase Z input Y axis speed control Y axis speed control ground DC Power Supply 24 V 0 V Red Black AC Servodriver Analog Input Model R88D HL HT HS CN1 CN1 27 13 30 6 19 37 1 4 22 3 2 20 17 35 18 36 26 21 ALM RUN RESET EM 24V IN G24V EGND A A B B Z Z REF AG...

Page 38: ...phase Z input X axis speed control X axis speed control ground 24 VDC output 24 VDC output ground Y axis alarm input Y axis run output Y axis alarm reset output Y axis feedback ground Y axis phase A input Y axis phase A input Y axis phase B input Y axis phase B input Y axis phase Z input Y axis phase Z input Y axis speed control Y axis speed control ground AC Servodriver R88D M Series DC Power Sup...

Page 39: ...0 manufactured by SAMUTAKU is recom mended 2 3 1 Wiring Example Refer to 2 2 DRV Connectors for dedicated driver cables X axis side Y axis side 5 VDC power supply 2 3 2 Connection Example The following diagram shows an example connection for the MPG connector 29 30 31 32 Y A Y A Y B Y B PIN Symbol 5 V 0 V 1 2 3 4 5 6 A A B B DC Power Supply 5 V 0 V DRV X Y connector MPG side LGF OO3 100 MPG Connec...

Page 40: ... Rated input current 4 3 mA 24 V 24 VDC 680 Ω ON voltage 17 4 V min 24 VDC 5 6 kΩ 680 Ω OFF voltage 3 0 V max Photocoupler 5 6 kΩ ON response time 1 ms max OFF response time 2 5 ms max The circuit in the table below is used to interface outputs RUN X and Y and ALMRS X and Y Item Specification Circuit Configuration Max switching capacity 50 mA 24 VDC 24 V Leakage current 0 1 mA max Output Residual ...

Page 41: ...A Standards 5 V Input impedance 220 Ω Phase A B or Z Phase A B or Z 1 2W 220 Ω Response frequency 250 kpps max Phase A B or Z Line receiver The circuit in the table below is used to interface outputs OUT X and Y Item Specification Circuit Configuration Output voltage 0 to 10 V 15 V X to Y OUT Load impedance 10 KΩ min 15 V X to Y AGND Interface Circuits Section 2 4 ...

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Page 43: ...onnecting Peripheral Devices This section explains how to connect a personal computer or a Teaching Box 3 1 Connecting a Personal Computer 24 3 1 1 Personal Computer and MC Unit 24 3 2 Connecting the Teaching Box 25 ...

Page 44: ...er via RS 232C The following are the communications conditions of the MC Unit and personal computer via RS 422 or RS 232C Communications rate 9 600 bps Parity None Data length 8 bits Stop bits 2 bits Response monitor time 10 s RS 422 The following connections are possible Set the slide switch to HOST CV500 CIF01 OMRON 20 pin half pitch connector IBM PC AT or compatible 25 pin D sub connector 25 pi...

Page 45: ...eaching Box The procedure for connecting the Teaching Box to the MC Unit is described below Connecting Cables Use the Connecting Cables listed below separately sold to connect the Teach ing Box to the MC Unit Model Cable length CV500 CN224 2 m CV500 CN424 4 m CV500 CN624 6 m Connection Procedure Use the following procedure to connect the Teaching Box to the MC Unit 1 2 3 1 To display messages in J...

Page 46: ... rear surface not to lose it Cover attached 3 Plug the Connecting Cable into the connector Align the connector and push it in until you hear a click 4 Plug the Connecting Cable into the MC Unit connector marked TOOL Peripheral device switch 5 Set the peripheral device switch to T B Connecting the Teaching Box Section 3 2 ...

Page 47: ...27 Removing the Cable Using your fingers press in and hold the clamps on both sides of the connector and pull out the connector Unlocking clamps Connecting the Teaching Box Section 3 2 ...

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Page 49: ...3 Details of System Parameters 37 4 4 4 Details of Monitoring Data 48 4 4 5 Details of Special Data 51 4 5 Details of I O Transfer and Necessary Information 51 4 5 1 Instructions and Data 51 4 5 2 Common Data for Transmission and Reception 51 4 5 3 Transmission Bits and Flags 52 4 5 4 Reception Bits and Flags 52 4 6 Data Transfer Examples 52 4 6 1 Data Transmission 52 4 6 2 Data Reception 54 4 7 I...

Page 50: ...d to the MC Unit using the PC data area interface Refer to 4 3 Data Transmission and Reception for details 4 2 System Parameters There are three types of system parameters unit parameters memory manage ment parameters and axis parameters The axis parameters are made up of 5 groups of parameters mechanical parameters coordinate system parameters feed rate parameters zone parameters and servo parame...

Page 51: ...hat the program is executed from the beginning Other parameters Effective immediately 4 2 2 Parameter Lists Memory Management Parameters Parameter name Function Position data for task 1 First and last addresses Sets the first and last addresses of the position data used for task 1 Position data for task 2 First and last addresses Sets the first and last addresses of the position data used for task...

Page 52: ...he maximum feed rate for each axis in PTP operation Maximum interpolation feed rate Sets the maximum feed rate in interpolation operation High speed origin search speed When an origin search is executed it is performed at this speed until an origin proximity sensor input is received Low speed origin search speed An origin search goes from high speed to low speed specified with this parameter when ...

Page 53: ...es must be allocated to enable a ladder program to transfer data with the MC Unit 4 3 2 Types of Data Transmission and Reception The following two types of data transmission and reception are available to a lad der program I O Transfer I O transfer makes it possible to transfer data of 6 000 word max by using the PC s I O refresh data initial setting and expansion data areas of the interface area ...

Page 54: ...the expansion data area Set the first DM word to be allocated to the expansion data area 2 Set the following data with the expansion data area The total number of words of the position data to be transmitted i e the number of data transfer words A transmission data item uses three words The first word i e the data source word of the DM area that has the posi tion data to be transmitted The destina...

Page 55: ...position data The first word S of the DM area that has the position data to be trans mitted The unit number of the destination and the total number of words D of the position data to be transmitted A transmission data item uses three words 2 Set in the DM area the position data to be transmitted 3 Set a bit as a transmission bit The position data can be transmitted if the transmission bit is set t...

Page 56: ...x103 x102 x101 x100 0 x107 0 x106 0 x105 A x104 j 0 j 1 j 2 Decimal point A 0 Indicates 1 1 Indicates 0 1 2 Indicates 0 01 3 Indicates 0 001 4 Indicates 0 0001 Words j Optional 3 2 1 0 bit Sign bit 0 Positive 1 Negative Position data x107 2 3 4 5 0 0 0 0 0 0 2 1 j 0 j 1 j 2 2 3 4 5 0 8 0 0 0 0 0 1 j 0 j 1 j 2 System parameters Monitoring data Special data Two words are used to transmit or receive ...

Page 57: ...tten only R W Parameters that can be read and written Unit Parameters Axis Address R W Name Description Common 4000 R Axis configuration Specifies the number of axis used with the MC Unit X 1 A single axis is used X 2 Two axes are used 0 0 0 0 0 0 0 X L 1 L 4001 R No of tasks Specifies the number of tasks used with the MC Unit X 1 A single task is used X 2 Two tasks are used 0 0 0 0 0 0 0 X L 1 L ...

Page 58: ...on data items used for task 1 and those used for task 2 Mechanical Parameters Axis Address R W Name Description X 4200 R Minimum unit setting Specifies the minimum unit i e the decimal position for the mechanical system X 0 1 X 1 0 1 X 2 0 01 X 3 0 001 X 4 0 0001 0 0 0 0 0 0 0 X L 1 L 4201 R Display unit Specifies the unit displayed with the MC Support Software X 0 mm X 1 inch X 2 deg X 3 Pulse 0 ...

Page 59: ...within the following range 1 100 000 x Numerator Denominator x 1 0 0 x104 x103 x102 x101 x100 x105 4210 R Max motor frequency Specifies the maximum rpm rating for the motor being used within a range of 1 to 32 767 rpm 0 0 0 x104 x103 x102 x101 x100 L 1 L 4213 R Stroke limit Stroke limit Stroke limit x107 x106 x105 x104 x103 x102 x101 x100 L 1 L 3 2 1 0 bit x107 Sign bit 0 Positive 1 Negative L 1 L...

Page 60: ... check function is used X 0 The wiring check function is not used X 1 The wiring check function is used 0 0 0 0 0 0 0 X L 1 L 4220 R Wiring check time Specifies the wiring check time within a range of 0 to 99 x 10 ms 0 0 0 0 0 0 x101 x100 L 1 L 4221 R Wiring check pulses Specifies the number of pulses to check the wiring within a range of 0 to 999 pulses 0 0 0 0 0 x102 x101 x100 L 1 L 4222 R ABS i...

Page 61: ...ue Sets the reference origin offset value within a range of 39 999 999 to 39 999 999 The minimum setting unit is set to 2 for 0 01 the display unit is set to 0 for mm and the negative stroke limit is 3 99 mm i e 399 x 0 01 if the data is 399 When this value is changed it will become valid from the time when the next origin search is executed x107 x106 x105 x104 x103 x102 x101 x100 L 1 L 3 2 1 0 bi...

Page 62: ...es the low speed origin search speed There is no difference in data configuration range or unit between the low speed origin search speed and maximum feed rate 4404 R Maximum JOG feed rate Specifies the upper limit of the JOG feed rate There is no difference in data configuration range or unit between the maximum JOG feed rate and maxi mum feed rate 4405 R Acceleration decelera tion curve Specifie...

Page 63: ...as set value 4 There is no difference in data configuration or range between MPG factors 4 and 1 Y 4425 R Maximum feed rate Refer to the corresponding X axis parameters 4426 R Maximum interpolation feed rate p g p 4427 R High speed origin search speed 4428 R Low speed origin search speed 4429 R Maximum JOG feed rate 4430 R Acceleration Decelera tion curve 4431 R W Acceleration time 4432 R W Decele...

Page 64: ...101 x100 L 1 L 3 2 1 0 bit x107 Sign bit 0 Positive 1 Negative x107 x106 x105 x104 x103 x102 x101 x100 L 1 L 3 2 1 0 bit x107 4502 R W Positive direction set value Sets the negative or positive direction range of zone 1 The set value is effective if the specification of the zone is valid The set value can be set within a range of 39 999 999 to 39 999 999 and must satisfy the following condition Ne...

Page 65: ...alues of zones 4 and 1 4509 R W Zone 5 Negative direction set value Sets the negative or positive direction range of zone 5 There is no difference in data configuration range or it b t th ti iti di ti t 4510 R W Positive direction set value g g unit between the negative or positive direction set values of zones 5 and 1 4511 R W Zone 6 Negative direction set value Sets the negative or positive dire...

Page 66: ...et value 4531 R W Positive direction set value 4532 R W Zone 4 Negative direction set value 4533 R W Positive direction set value 4534 R W Zone 5 Negative direction set value 4535 R W Positive direction set value 4536 R W Zone 6 Negative direction set value 4537 R W Positive direction set value 4538 R W Zone 7 Negative direction set value 4539 R W Positive direction set value 4540 R W Zone 8 Negat...

Page 67: ...tion loop gain Sets the position loop gain within a range of 5 s to 250 s 0 0 0 0 0 x102 x101 x100 L 1 L 4603 R W Position loop FF gain Sets the position loop FF gain within a range of 0 to 100 0 0 0 0 0 x102 x101 x100 L 1 L 4604 R W Backlash compensation value Sets the backlash compensation value within a range of 0 to 999 pulses 0 0 0 0 0 x102 x101 x100 L 1 L Y 4625 R W Accumulated pulses warnin...

Page 68: ...s no difference in data configuration between X axis and system error codes 6006 R Y axis error code Outputs Y axis error codes An error code will be set if a Y axis error results There is no difference in data configuration between Y axis and system error codes 6011 R I O monitor data Outputs the ON or OFF status of each I O signal of the MC Unit L 1 L Y axis I O monitor data X axis I O monitor d...

Page 69: ... execution address Current position 6050 R Reference coordinate system current position X X axis reference coordinate system current position Y axis reference coordinate system current position x107 x106 x105 x104 x103 x102 x101 x100 L 1 L 3 2 1 0 bit x107 Sign bit 0 Positive 1 Negative x107 x106 x105 x104 x103 x102 x101 x100 L 1 L 6051 R Y Outputs the reference coordinate system current position ...

Page 70: ...roximity sensor and encoder phase Z signal There is no difference in data configuration or range between the phase Z margin with pulses and f Origin proximity sensor Encoder phase Z Distance 6071 R Y be ee e p ase a g p ses a d reference coordinate system current position This data is refreshed whenever the origin search operation completes The distance is a slightly dispersed due to the searching...

Page 71: ...e I O transfer if it is necessary to transfer a large number of data items 4 5 1 Instructions and Data The following information is necessary for the transmission and reception of position data using I O transfer Refer to Section 6 PC Data Area Interface for details 4 5 2 Common Data for Transmission and Reception Initial Setting Area I O transfer uses the expansion data area of the PC data area i...

Page 72: ... Transmission Control Bit is turned OFF Transmission Error Flag This flag is turned ON if data transmission has not been completed properly due to an error during data transmission 4 5 4 Reception Bits and Flags The following bits and flags are used for reception Reception Control Bit This bit is used to control reception It is allocated in the I O refresh area of the PC data area interface Data r...

Page 73: ... the following information used for data transmis sion D0500 D0501 D0502 0015 0100 0456 D0522 Set a total of 15 words to be transmitted i e 3 words x 5 data items Set the first word 100 of the position data Set the first address A0456 of the MC Unit for the position data After Transmission DM 0002 7890 3456 0002 5678 1234 0002 5432 B876 0003 3456 0012 0002 2100 0543 D0100 D0101 D0102 D0103 D0104 D...

Page 74: ...ds x 1 data item Set the first word 100 of the acceleration time Set the address 4406 of the MC Unit for the acceleration time Note A parameter can change a single data item at a time In other words a total of two words is transmitted at a time After Transmission DM D0100 D0101 0500 0000 Means 500 ms 4 6 2 Data Reception Refer to the following for examples of data reception using the C200HS with t...

Page 75: ...f 15 words to be received i e 3 words x 5 data items Set the first address A0456 of the position data Set the first word 100 of the DM area to store the position data 0015 0456 0100 After Reception DM 0002 7890 3456 0002 5678 1234 0002 5432 B876 0003 3456 0012 0002 2100 0543 D0100 D0101 D0102 D0103 D0104 D0105 D0106 D0107 D0108 D0109 D0110 D0111 D0112 D0113 D0114 Means 345678 90 Means 123456 78 Me...

Page 76: ...4406 0100 D0503 D0504 D0505 D0500 D0522 Set a total of two words to be received Set the first address 4406 of the acceleration time Set the first word 100 of the DM area to store the acceleration time DM D0100 D0101 0500 0000 Means 500 ms 4 7 I O Transfer Timing This section provides information on the transfer timing and transfer time of a large number of position data items 1 2 3 5 2 3 2 3 Set S...

Page 77: ...ocks of 20 words It takes a few cycles to obtain the 20 word transmission data 3 The MC Unit checks whether the transmission data is correct after receiving the first block of data It takes a few milliseconds to check this 4 The MC Unit repeats steps 2 and 3 described above until the MC Unit finishes checking all the transmission data 5 The MC Unit turns the Transmission Completed Flag ON after da...

Page 78: ...max or a maximum of 42 position data items with one instruction As shown in the following diagram however an MC Unit each must be mounted to the CPU Backplane and I O Backplane for intelligent transfer The Remote I O Unit is not available for intelligent transfer C200HX C200HG C200HE CPU Backplane MC Unit C200HW BC031 BC051 BC081 BC101 C200HW BI031 BI051 BI081 BI101 I O Backplane Details of Intell...

Page 79: ...st source word Area Range IR area 1 000 to 250 IR area 2 256 to 511 HR area HR 00 to HR 99 AR area AR 00 to AR 27 LR area LR 00 to LR 63 Timer Counter T C 000 to T C 511 Data memory DM 0000 to DM 6143 Indirect DM addressing DM 0000 to DM 6655 D Designates the destination unit number and the number of transfer data words The number of data transfer words varies as follows Three words are required f...

Page 80: ...r has not been completed The address of the specified MC Unit is not within the acceptable range or BCD The data was transmitted to an address that can be read only The number of data transfer words was one of the following The number of position data transmission words was not a multiple of three The number of data transmission words other than position data transmission words was not two The val...

Page 81: ... in the following Set the first address of the position data of the MC Unit to 0456 Set the first source word of the position data Set the source unit number 0 and a total of 15 words to be transmitted i e 3 words x 5 position data items OUT Work bit OUT Work bit Settings DM D0100 D0101 D0102 D0103 D0104 D0105 D0106 D0107 D0108 D0109 D0110 D0111 D0112 D0113 D0114 0002 7890 3456 0002 5678 1234 0002...

Page 82: ...nd the number of words IOWR instruction 1 2 3 1 The PC performs a format check to confirm whether the designation of the operand of the IOWR instruction is correct ER Flag 25503 will be turned OFF if the designation is correct ER Flag 25503 will be turned ON and the IOWR instruction will not be executed if the designation is wrong 2 The MC Unit performs a data check to confirm if the MC Unit can p...

Page 83: ...ansfer data IOWR instruction Set Equal Flag 25506 Program number n Reading program number Word n 1 bit 07 Starting scanning Word n 1 bit 02 Run instruction 3 Bit Word Program execution 1 Format check Data check Data processing N001 N002 N003 4 9 5 Transfer Time The calculation of transmission time with the IOWR instruction is complicated and varies with the PC model ladder program and the status o...

Page 84: ...ds are required to transmit four position data items i e 3 words x 4 position data items Two words are required for the transmission of a data item other than a position data item X No of data transfer words BCD Destination unit no 0 to 8 or A to E D Refer to the following table to designate first data source words of the PC to store the reception data Refer to the C200HX C200HG C200HE PCs Operati...

Page 85: ...of the specified MC Unit is not within the acceptable range or BCD The number of data transfer words was one of the following The number of position data transmission words was not a multiple of three The number of data transmission words other than position data transmission words was not two The value of the MC Unit s address plus the number of transfer words divided by three exceeded the value ...

Page 86: ...dition OUT Work bit Set the first address of the position data of the MC Unit to 0456 Set the source unit number 0 and a total of 15 words to be transmitted i e 3 words x 5 position data items Set the first word of the destination to store the position data OUT Work bit Settings DM 0002 7890 3456 0002 5678 1234 0002 5432 B876 0003 3456 0012 0002 2100 0543 D0100 D0101 D0102 D0103 D0104 D0105 D0106 ...

Page 87: ...ta processing 3 Within one cycle Set Transfer data IORD instruction 1 2 3 1 The PC performs a format check to confirm whether the designation of the operand of the IORD instruction is correct ER Flag 25503 will be turned OFF if the designation is correct ER Flag 25503 will be turned ON and the IOWR instruction will not be executed if the designation is wrong 2 The MC Unit performs a data check to ...

Page 88: ...C200HX as a refer ence value Cycle time 2 5 ms Status of MC Unit 1 task with 2 axes that are servo locked No of position data items Transmission time ms 1 1 2 6 1 9 20 4 2 42 7 3 Note The IORD instruction transfers all data while the IORD instruction is being executed In the above example the ladder scan time will increase according to the above table Adjust the time to monitor the cycle time if n...

Page 89: ... INTERRUPT INCHING 89 5 5 14 G50 SELECT REFERENCE COORDINATE SYSTEM 93 5 5 15 G51 SELECT WORKPIECE COORDINATE SYSTEM 93 5 5 16 G53 CHANGE WORKPIECE ORIGIN OFFSET 94 5 5 17 G54 CHANGE REFERENCE COORDINATE SYSTEM PV 95 5 5 18 G60 ARITHMETIC OPERATIONS 96 5 5 19 G63 SUBSTITUTION 97 5 5 20 G69 CHANGE PARAMETER 98 5 5 21 G70 UNCONDITIONAL JUMP 99 5 5 22 G71 CONDITIONAL JUMP 100 5 5 23 G72 SUBPROGRAM JU...

Page 90: ... origin undefined 88 G30 SPEED CONTROL Performs the speed control of a maximum of two axis 88 G31 INTERRUPT INCHING Performs the inching of a single axis for a certain distance after an interrupt input 89 G50 SELECT REFERENCE COORDINATE SYSTEM Specifies the reference coordinate system 93 G51 SELECT WORKPIECE COORDINATE SYSTEM Specifies the workpiece coordinate system 93 G53 CHANGE WORKPIECE ORIGIN...

Page 91: ...al number Axis movement command _ R radius _ F speed command _ M M code _ optional number DWELL TIMER G04 j wait time PASS MODE G10 STOP MODE G11 CIRCULAR PLANE SPECIFICATION X Y G17 REFERENCE ORIGIN RETURN G26 Axis name _ M M code WORKPIECE ORIGIN RETURN G27 Axis name _ M M code ORIGIN SEARCH G28 Axis name _ M M code ORIGIN UNDEFINED G29 Axis name SPEED CONTROL G30 Axis movement command INTERRUPT...

Page 92: ...owing table lists the symbols used in G language programming Symbol Meaning A Indicates a position data address There are 2000 addresses ranging from A0000 to A1999 E Indicates an indirect register There are 32 indirect registers ranging from E00 to E31 F Indicates the speed when performing interpolation operations G G function I Arc center coordinate for the X axis J Arc center coordinate for the...

Page 93: ...r Position data E00 1000 A1000 123 35 E01 1001 A1001 50 Registers and position data aren t assigned together to each task they can be used independently for different tasks The contents of registers are all cleared to zero only when power is turned ON Initialize register contents at the beginning of the program by executing an func tion such as the SUBSTITUTION function G63 Registers can contain v...

Page 94: ...ith a declaration of the program number and the axes being used Main programs end with a PROGRAM END function G79 and subprograms end with a SUBPROGRAM END function G73 This declara tion is made at the beginning of the program block number N000 an error will occur if the declaration is made in a later block The MC Unit can contain up to 100 programs Example Programs Use the following format for ma...

Page 95: ... or M code 000 to 999 E00 to E31 A0000 to A1999 Optional number 00 to 06 Note Refer to 5 6 M code Outputs for details on M codes Description Positions up to 2 axes simultaneously with PTP control according to the maxi mum feed rate acceleration deceleration time and acceleration deceleration curve settings in the system parameters The override is also valid with this func tion The override is refe...

Page 96: ...ion N010 G90 ABSOLUTE SPECIFICATION N011 G00 X100 Y50 M001 The following program is for incremental operation N010 G91 INCREMENTAL SPECIFICATION N011 G00 X100 Y50 M001 Note The X and Y axes are operated at the same speed in the above examples G Functions Section 5 5 ...

Page 97: ... Ǔ If the interpolation speed isn t specified the interpolation will be performed at the last speed used in a G01 G02 or G03 function An error will occur if the inter polation speed isn t specified and the G01 G02 or G03 function hasn t been executed before Caution When linear interpolation is performed in pass mode and an M code from 0 through 499 or an optional number is specified the interpolat...

Page 98: ...1 X100 Y50 F300 Present value 5 5 3 G02 and G03 CIRCULAR INTERPOLATION Performs two axis circular interpolation in the clockwise G02 or counterclock wise G03 direction at the specified interpolation speed Format G02 G03 _ Axis movement command _ I to J center coordinate _ F speed command _ M M code _ optional number G02 G03 _ Axis movement command _ R radius _ F speed command _ M M code _ optional...

Page 99: ...he current position the circle s starting point and specify one or two axes An error will occur if there is no specification When specifying the radius an arc smaller than a semicircle will be drawn with positive values and an arc greater than a semicircle will be drawn with negative values Either a negative or positive value can be specified for a semicircle When specifying a complete circle 360_...

Page 100: ... to 2000 mm s Note When the radius exceeds 9 999 999 pulses circular interpolation will be per formed within the specified circle Keep the radius under 9 999 999 pulses when performing high precision circular interpolation When an optional number is specified the axis movement command will be car ried out when that optional input goes ON The operation won t be performed until the optional input go...

Page 101: ...ed N012 G02 X140 Y50 R 40 F300 Starting point present value End point target value Center The following program shows circular interpolation with radius specification R 0 An arc smaller than a semicircle will be drawn when R 0 N010 G91 INCREMENTAL SPECIFICATION N011 G17 Makes X Y the circular plane This need not be described N012 G02 X40 Y40 R40 F300 Starting point present value End point target v...

Page 102: ...waits for the specified wait time The wait time can be specified in a register or position data address An error will occur if the result of this rounding is outside of the acceptable range 0 001 to 39 999 994 Values from 0 001 to 39 999 999 can be input for the wait time but settings of 39 999 995 to 39 999 999 will cause an error The accuracy of the timer is about 0 02 s Caution If this function...

Page 103: ...s will be executed until the next G01 G02 or G03 function in the program In the following program blocks N003 to N006 will be pre executed while the axis is moving according to the command in block N002 Although he axis is moving according to program block N002 the executed block number will be refreshed with block numbers N003 to N006 Program execution will then standby at block N006 When command...

Page 104: ...end point an in position check will be performed and then the next positioning operation will be performed after completion of the position ing is verified The stop mode is valid until one of the following functions is executed 1 2 3 1 The PASS MODE function G10 2 The REFERENCE ORIGIN RETURN function G26 3 The WORKPIECE ORIGIN RETURN function G27 4 The ORIGIN SEARCH function G28 A reset will be pe...

Page 105: ...programs used with the CV500 MC421 or CV500 MC221 Example Program The following program performs circular interpolation in the X Y plane N010 G90 ABSOLUTE SPECIFICATION N011 G17 N012 G03 X0 Y150 I0 J50 F300 5 5 8 G26 REFERENCE ORIGIN RETURN Moves to the reference origin Format G26_ Axis name _ M M code Parameters The following table shows the possible settings for the parameters Parameter Possible...

Page 106: ...e parameters Parameter Possible settings Axis name X and Y M code 000 to 999 E00 to E31 A0000 to A1999 Note Refer to 5 6 M code Outputs for details on M codes Description This function moves the specified axes to the workpiece origin by PTP control The coordinate system and mode settings will be as follows after the return to the workpiece origin 1 2 3 1 The coordinate system is set to the workpie...

Page 107: ...rigin Search Method Origin Search Direction Origin Deceleration Method and Origin Proximity Input Logic parameters For axes in origin mode the current position is set to zero and fixed as the origin when the origin search method is set For axes in other modes the origin is fixed after the origin search operation is executed Axes using Absolute Encoders The axes will be set to the machine origin by...

Page 108: ...mum feed rate x X axis override value 100 Y axis feed rate Y axis maximum feed rate x Y axis override value 100 Fast feed rate Set with system parameters Override value Set with PC or Teaching Box within a range of 0 1 to 100 0 Example The following X axis feed rate will be obtained if the X axis maxi mum feed rate is 10 000 mm s and the X axis override value is 50 0 X axis feed rate 10 000 x 50 0...

Page 109: ...dinate data 39 999 999 to 39 999 999 E00 to E31 A0000 to A1999 Speed command 1 Speed command 2 39 999 999 to 39 999 999 E00 to E31 A0000 to A1999 M code 000 to 999 E00 to E31 A0000 to A1999 Note The value of speed command 1 must be larger than that of the speed command 2 Description The specified axis will be moved for the specified distance for positioning after general input 1 or 2 is turned ON ...

Page 110: ...is defined or not With defined origin The soft limit is valid and the current position is always refreshed With undefined origin The soft limit is invalid and the current position will be set to 0 when the operation starts or a general input is turned ON Note The previous G01 G02 and G03 function will operate in stop mode instead of pass mode if this function is executed An error will result if th...

Page 111: ...se the movement of the axis is small and the speed of the axis is high With Speed Command 2 1 2 3 1 A general input is turned ON while the axis is moving at constant speed but the deceleration time is extremely short and the speed is not decelerated to what was specified with speed command 2 because the speed of the axis is high and the movement of the axis is small General input ON Speed command ...

Page 112: ... the axis is high Supplementary Information When positioning using INTERRUPT INCHING positions that are determined after external sensors become valid will vary depending on various conditions such as an ambient temperature This is caused by a delay in sensing by exter nal sensors and the general input circuit of the MC Unit Shown below is a description of the MC Unit s sensing delay assuming ther...

Page 113: ...refers to the one specified by G31 Sensing delay is 0 001 s max 5 5 14 G50 SELECT REFERENCE COORDINATE SYSTEM Sets the coordinate system to the reference coordinate system Format G50 Parameters None Description This function sets the coordinate system to the reference coordinate system After this function is executed the coordinate data in all axis operations is pro cessed as reference coordinate ...

Page 114: ...tion G27 Example Program N009 G90 N010 G51 N011 G01 X100 Y200 Workpiece coordinate system Reference coordinate system 5 5 16 G53 CHANGE WORKPIECE ORIGIN OFFSET Changes the origin of the workpiece coordinate system Format G53_ offset value Parameters The following table shows the possible settings for the parameters Parameter Possible settings Offset value Axis name X and Y Data 39 999 999 to 39 99...

Page 115: ...he following table shows the possible settings for the parameters Parameter Possible settings Present l Axis name X and Y value Data 39 999 999 to 39 999 999 E00 to E31 A0000 to A1999 Description This function changes the present value of the specified reference coordinate system to a specified value For the absolute encoder axis if the servo lock is executed after the servo free is executed the p...

Page 116: ... following program shows the present value of the reference coordinate sys tem changed from 300 400 to 200 200 N010 G54 X200 Y200 Old reference coordinate New reference coordinate Movement 5 5 18 G60 ARITHMETIC OPERATIONS Performs arithmetic operations on position data and registers Format G60_ first term second term operator third term Parameters The following table shows the possible settings fo...

Page 117: ...d term Parameters The following table shows the possible settings for the parameters Parameter Possible settings First term A0000 to A1999 E00 to E31 Second term A0000 to A1999 E00 to E31 39 999 999 to 39 999 999 X or Y Description This function copies position data register contents present values or numeri cal values into position data addresses or registers When the second term is an axis name ...

Page 118: ...ters aren t changed but the values set with this function take precedence The settings units are ms When the operating mode is stop mode the new acceleration deceleration time will be reflected in the next operation When the operating mode is pass mode and the interpolation acceleration de celeration time is changed during linear or circular interpolation the new inter polation acceleration decele...

Page 119: ...tionally jumps to the specified block A fixed number of jumps a loop can be created by specifying a number of loops When a number of loops is specified the destination block number must be before the current block number If another UNCONDITIONAL JUMP function G70 or a CONDITIONAL JUMP function G71 is used to exit a loop before the number of loops has counted down to zero the number of loops will b...

Page 120: ... by block N100 5 5 22 G71 CONDITIONAL JUMP Jumps to the specified block when the condition is met Format G71_ jump destination block number condition equation Parameters The following table shows the possible settings for the parameters Parameter Possible settings Destination block number N000 to N999 Condition equation First term A0000 to A1999 E00 to E31 eq a o Operator or Second term A0000 to A...

Page 121: ...e position data will be called and executed An error will result if the position data does not satisfy the following condition 500 x Position data x 999 Example Program N010 G72 P500 Up to 6 loops can be created by calling subprograms as shown in the following diagram Up to 5 subprograms are possible Counting the main program up to 6 loops can be created with G70 5 5 24 G73 SUBPROGRAM END Ends the...

Page 122: ...he next block If a DWELL TIMER function G04 is being executed the function will be interrupted and the remaining time cancelled The source of the optional input depends on the optional number specified as shown below 0 through 4 Inputs from the PC s data area interface 5 and 6 Inputs from general inputs 1 and 2 This function is ineffective if the following block contains a SUBPROGRAM END function ...

Page 123: ...puts 1 and 2 Program execution will continue normally if the optional input comes ON while the next block is being executed The OPTIONAL SKIP function is ineffective if the following block contains a SUBPROGRAM END function G73 or PRO GRAM END function G79 Example Program N008 G11 N009 G91 N010 G01 X50 N011 G75 3 N012 G01 X50 N013 G01 X50 Operation when the optional input isn t ON Speed Time Optio...

Page 124: ...ssible settings Optional number 00 to 06 Description If the specified input is ON when this function is executed program execution will be paused Program execution will continue from the next block when the optional input is reset The source of the optional input depends on the optional number specified as shown below 0 through 4 Inputs from the PC s data area interface 5 and 6 Inputs from general...

Page 125: ...and must be included at the end of the main program When G79 is executed and an axis is in operation the Unit will wait for the axis to be positioned before executing G79 M codes M500 to M999 will be forcibly cleared if they are being output when G79 is executed Example Program The following example shows how G79 is executed after axis operation is com pleted in pass mode N020 G10 Sets pass mode N...

Page 126: ...NCREMENTAL SPECIFICATION Specifies the use of relative coordinates in axis operations Format G91 Parameters None Description This function specifies that positioning axis operations are performed relative to the current position After this function is executed the coordinate data in axis movement commands is treated as the distance to be moved from the current position Example Program The followin...

Page 127: ... X100 F100 Moves to 100 mm on the X axis by linear interpolation N002 M100 Outputs M code 100 to the PC and waits for OK to perform the next operation Proceeds to next block when the M code reset is received from the PC N003 G01 X0 Moves to 0 mm on the X axis by linear interpolation N004 G79 Declares the end of the program Timing Chart The following diagram shows the timing of the example program ...

Page 128: ...ccur if the result isn t an acceptable M code value 0 to 999 M Codes 0 to 499 M codes 0 to 499 are used to interlock with external devices Execution of the program is paused when there isn t an M code reset input M Codes 500 to 999 Use M codes 500 to 999 when it isn t necessary to interlock These M codes are just output and the program is executed without waiting for an M code reset input These M ...

Page 129: ...e able to reset the M code Mode Explanation Manual mode Valid for M500 to M999 Automatic d Program not being executed Valid for M500 to M999 mode Program being executed Valid for M codes M000 to M999 5 6 5 Effect of Mode Changes on M Code Resets The status of M codes isn t affected by switching from manual to automatic mode or vice versa 5 6 6 Clearing M000 to M499 with Forced Block End or G74 The...

Page 130: ... the OPTIONAL END function s optional input is received before they are output G74 3 G00 X500 M100 G01 X1000 Optional input 3 X axis operation M strobe M code Example 3 When the output has been completed and the system is set to wait for the M code reset the M strobe will be turned OFF and the M code will be cleared to release the M code reset G00 X500 M100 Forced Block End X axis operation M stro...

Page 131: ... 999 won t be output cleared if the program block that outputs the M code is cleared with the Forced Block End signal PC data area interface bit or the OPTIONAL END function G74 but previous M codes won t be cleared Example 5 The M strobe and M code won t be output if a Forced Block End signal is received before they are output but a previous M code and M strobe won t be cleared M700 G00 X500 M600...

Page 132: ...n of some G code functions will change the MC Unit s modes and coor dinate settings The following table shows the operations and functions that can change the MC Unit s status Operation G d Status after the operation p code Coordinate system Command mode Operating Mode Reset Reference Absolute Pass mode Execution of the main program Reference Absolute Pass mode ORIGIN SEARCH G28 Reference Absolute...

Page 133: ... Teaching Type Bit Task 1 143 6 5 11 Word n 1 Bit 11 Transmission Control Bit All Tasks 144 6 5 12 Word n 1 Bit 12 Reception Control Bit All Tasks 145 6 5 13 Word n 1 Bit 13 Flash Memory Write Bit All Tasks 145 6 5 14 Word n 1 Bit 14 Error Reset Bit All Tasks 146 6 5 15 Word n 1 Bit 15 Expansion Data Read Bit All Tasks 147 6 5 16 Word n 3 Bits 11 to 15 Optional Inputs 147 6 5 17 Word n 5 Bit 00 De...

Page 134: ...it 07 M Code Reset Standby Flag Task 1 166 6 5 48 Word n 11 Bit 08 M Strobe Flag Task 1 167 6 5 49 Word n 11 Bit 09 Cycle Start Received Flag Task 1 167 6 5 50 Word n 11 Bit 12 Teaching Address Setting Completed Task 1 168 6 5 51 Word n 11 Bit 13 Teaching Completed Flag Task 1 168 6 5 52 Word n 11 Bit 14 Teaching Error Flag Task 1 169 6 5 53 Word n 11 Bit 15 Teaching Address Over Flag Task 1 169 6...

Page 135: ...ds and create a ladder program to process the data Refer to 6 3 Controlling the MC Unit from the PC for details on creating a ladder program to control the MC Unit PC Cycle Time The cycle time will be extended as shown in the following table for each Unit mounted to the CPU Backplane Take this into consideration when designing the system PC model C200H C200HS C200HX HG HE Case 1 Approx 4 ms Approx...

Page 136: ...nput refresh 20 words are used n 100 10 x unit no Fixed DM Area Initial Setting Area m m 1 Specification of Expansion DM Area First word of Expansion DM Area 2 words are used m 1000 100 x unit no Expansion Data Area Wd I to Wd I 11 Wd I 12 to Wd I 22 Output data Input refresh 23 words are used I Words specified with m and m 1 DM Area Optional Optional words 23 words Explanation Each MC Unit occupi...

Page 137: ...Area Wd n to Wd n 7 Wd n 8 to Wd n 19 Output refresh Input refresh 20 words are used If the unit number is 9 or less n can be obtained from the following n 100 10 x unit no If the unit number is 10 or more n can be obtained from the following n 400 10 x unit no 10 Fixed DM Area Initial Setting Area m m 1 Specification of Expansion DM Area First word of Expansion DM Area 2 words are used m 1000 100...

Page 138: ... command operates independently on each axis Either the automatic mode or manual mode can be selected by turning ON or OFF the automatic manual mode bit 6 3 1 Manual Mode Each command is executed on the up differentiation OFF ON transition of its control bit The following shows the commands that have a function when their control bits are OFF Command ON function OFF function Deceleration Stop Stop...

Page 139: ...e commands that can t be interrupted Cur rent Position Preset ABS initialization ABS Soft Reset Servo Lock and Servo Free are being executed Caution After executing a command do not execute another command until the first command is completed and the Busy Flag is turned OFF 6 3 2 Automatic Mode The MC program is executed in automatic mode Use the following procedure to operate in automatic mode Th...

Page 140: ...11 05 Use Auxiliary Area bits for inputs R1 R2 R3 and R4 In the sample program program number P001 is executed in task 1 Change the task and program number if necessary Program Flow Turn ON input R1 to specify automatic mode Turn ON input R2 in the following situations The first time that the program is executed after the power is turned ON When executing the program from the beginning When the pr...

Page 141: ...differentiation Up differentiation is indicated by an up arrow and down differentiation is indicated by a down arrow The following interface areas are explained below Initial setting area I O refresh area Expansion data area 6 4 1 Initial Setting Area The expansion data area is specified in the initial setting area If the expansion data area is not specified or wrongly specified initial setting al...

Page 142: ...on of first word of expansion data area 4 digit BCD Specifies the first word of the expansion data area Example Set the word to 100 for D0100 The expansion data area varies with the PC model to which the MC Unit is mounted Refer to the following table If the expansion data area is allocated incorrectly the initial setting alarm bit 13 of word n 8 will be turned ON x100 x101 x102 x103 PC model Expa...

Page 143: ...8 1 Prevents cycle start 05 Pause Pauses execution 139 1 Prevents cycle start 06 M Code Reset Bit Resets the M code 140 1 M code reset standby Prevents M code output Clears M code reset standby 07 Program Number Read Bit 1 Reads the program number 142 08 Teaching Address Set Bit Sets the address when teaching 142 09 Teaching Bit Starts teaching 142 10 Teaching Type Bit 1 Current position feedback ...

Page 144: ...de reset standby 07 Program Number Read Bit 1 Reads the program number 142 08 Teaching Address Set Bit Sets the address when teaching 142 09 Teaching Bit Starts teaching 142 10 Teaching Type Bit 1 Current position feedback value 143 g yp 0 Target position All task 2 11 Optional input 0 1 Optional input 0 is ON 147 common 2 p p 0 Optional input 0 is OFF 12 Optional input 1 1 Optional input 1 is ON ...

Page 145: ...Starts MPG operation 155 1 Continues MPG operation Stops MPG operation 09 Servo Lock Starts servo lock 156 10 Servo Free Clears the servo lock status 157 11 Driver Alarm Reset 1 Turns ON the driver alarm reset output 157 0 Turns OFF the driver alarm reset output 12 Override Setting 1 Enables the override setting 158 g 0 Disables the override setting 13 Jog Direction 1 Specifies negative direction ...

Page 146: ...operation 04 Not used 05 Current Position Preset Presets the current position 152 06 ABS Initialization Executes ABS Initialization 153 07 ABS Soft Reset Executes ABS Soft Reset 154 08 Not used 09 Servo Lock Starts servo lock 156 10 Servo Free Clears the servo lock status 157 11 Driver Alarm Reset 1 Turns ON the driver alarm reset output 157 0 Turns OFF the driver alarm reset output 12 Override Se...

Page 147: ...ta has been written to the flash memory 162 e o y e No data is being written to the flash memory 11 Teaching Box in Enable M d 1 The Teaching Box is in enable mode 162 g Mode 0 The Teaching Box is not in enable mode 12 Teaching Box in Protect M d 1 The Teaching Box is in protect mode 162 g Mode 0 The Teaching Box is not in protect mode 13 Initial Setting Alarm 1 Initial setting is incorrect 162 g ...

Page 148: ...an the above 08 M Strobe An M code 0 to 999 is being output 167 M code reset 09 Cycle Start Received The Cycle Start Signal was received 167 y The Cycle Start Signal is OFF 10 Not used 11 Not used 12 Teaching Address S i C l d The teaching address has been set 168 g Setting Completed Teaching address set command is OFF 13 Teaching Completed Teaching has been completed 168 g p Teaching command is O...

Page 149: ...ycle Start Received The Cycle Start Signal was received 167 y The Cycle Start Signal is OFF 10 Not used 11 Not used 12 Teaching Address S i C l d The teaching address has been set 168 g Setting Completed Teaching address set command is OFF 13 Teaching Completed Teaching has been completed 168 g p Teaching command is OFF 14 Teaching Error A teaching error occurred 169 g OFF when the next teaching c...

Page 150: ...nter exceeds the error counter warning value 173 0 Other than the above 07 Alarm Input 1 The driver alarm input is ON 174 p 0 The driver alarm input is OFF 08 Zone 1 Flag 1 Within zone 1 174 g 0 Outside of zone 1 09 Zone 2 Flag 1 Within zone 2 g 0 Outside of zone 2 10 Zone 3 Flag 1 Within zone 3 g 0 Outside of zone 3 11 Zone 4 Flag 1 Within zone 4 g 0 Outside of zone 4 12 Zone 5 Flag 1 Within zone...

Page 151: ... in position range 06 Error Counter Alarm 1 The number of accumulated pulses in the error counter exceeds the error counter warning value 173 0 Other than the above 07 Alarm Input 1 The driver alarm input is ON 174 p 0 The driver alarm input is OFF 08 Zone 1 Flag 1 Within zone 1 174 g 0 Outside of zone 1 09 Zone 2 Flag 1 Within zone 2 g 0 Outside of zone 2 10 Zone 3 Flag 1 Within zone 3 g 0 Outsid...

Page 152: ...ing the current position preset function at bit 05 of word n 5 specify the preset value in this area The data to be set depends on the minimum unit set with the MC Support Software In the following example the X axis is set to 100 Minimum unit I 7 I 6 Remarks 1 0000 0100 Indicates 100 0 1 0000 1000 Indicates 100 0 0 01 0001 0000 Indicates 100 00 0 001 0010 0000 Indicates 100 000 0 0001 0100 0000 I...

Page 153: ...he corresponding error code will be output Normal 0000 x100 x101 x102 x103 I 14 00 to 15 Task 2 error code 4 digit BCD When a task 2 error results the corresponding error code will be output Normal 0000 x100 x101 x102 x103 I 15 00 to 15 X axis error code 4 digit BCD When an X axis error results the corresponding error code will be output Normal 0000 x100 x101 x102 x103 I 16 00 to 15 Y axis error c...

Page 154: ...x102 x103 142 6 5 Interface Bit Specifics This section provides details on the functions of the interface bits in the IR area The timing chart and ladder program examples use the bits and words for task 1 and the X axis 6 5 1 Word n 1 Bit 01 Automatic Manual Mode Bit Task 1 Bits 00 to 10 of word n 3 are the control bits of task 2 The control bits of task 1 are explained below There is no differenc...

Page 155: ...t ON to start the program from the beginning or restart a program that has been interrupted from the block where it was interrupted If an error has been reset the program will continue when the Cycle Start Bit is turned ON The Cycle Start Bit is referenced at the start of each block and execution contin ues if it is ON If the Cycle Start Bit is OFF the program will be stopped In Pass operation the...

Page 156: ...02 n 19 02 R3 n 11 05 R1 n 11 02 R2 n 11 00 n 1 02 Auxiliary Area Bit OUT Auxiliary Area Bit All 2 axes are used in this example OUT Read program number OUT Start program execution Cycle Start Bit Memory Run Completed Flag Memory Run Com pleted Flag Automatic mode Servo Lock ON Task Error Flag X axis Servo Lock ON Y axis Servo Lock ON Start condition Auxiliary Area Bit n 1 02 MOV 21 0100 n 0 Set p...

Page 157: ...k of the program it is valid only when the mode is set to automatic mode The Single Block Bit and Cycle Start Bit are used together Single block execution can be performed by turning ON the Single Block Bit and then turning the Cycle Start BIt ON and OFF When the program is being executed the status of the Cycle Start Bit is checked at the start of each block if it is ON the next block will be exe...

Page 158: ...automatic mode When a block is terminated the remainder of the block is canceled Program execution will restart from the next block when restarted with the Cycle Start BIt Any axes that are operating will be decelerated to a stop If the block being executed is waiting for an M code reset the M code will be cleared to 0 the M strobe will be turned OFF and then program execution will be stopped Oper...

Page 159: ...ion can be restarted from the interrupted block by turning ON the Cycle Start BIt Operation of the Cycle Start Bit is disabled as long as the Pause Bit is ON The program won t be executed when the Cycle Start Bit is turned ON if the Pause Bit is ON The Pause Bit has a lower priority than the Forced Block End Bit n 1 bit 04 If both of these bits go ON at the same time the forced block end command w...

Page 160: ...urn OFF the M strobe Program execution will restart when this bit is turned OFF Keep this bit ON until the M strobe goes OFF If the M Code Reset BIt is ON when a block is executed that block s M code won t be output When M codes 500 to 999 are being output and this bit is turned ON the M code will be reset whether the mode is automatic or manual The M Code Reset Bits for task 2 bit 06 in word n 3 ...

Page 161: ...1 n 1 06 R1 Auxiliary Area Bit OUT Resets the M code Reset condition n 11 08 M Strobe n 1 06 M Code Reset Bit Timing Chart 2 M Code Reset Bit n 1 bit 06 Program execution N 10 M Code n 10 M Strobe n 11 bit 08 ON so the M code isn t output N003 G00 X10 M10 Program Example 2 n 1 06 Reset condition OUT Resets the M code Interface Bit Specifics Section 6 5 ...

Page 162: ... At the rising edge of this bit the teaching start address set in the expansion data area will be set as the first address for teaching This bit is available when the expansion data area is valid Immediately after power is turned ON the teaching address is 0 This bit is effective when it goes from OFF to ON up differentiation but keep the bit ON until the Teaching Address Setting Completed Flag go...

Page 163: ... current position of the command Current Position Feedback Value The actual current position produced from the encoder Determine which position is appropriate for your application The status of this bit is referenced when the Teaching Bit goes from OFF to ON The Teaching Type Bits for task 2 bit 10 in word n 3 operate in the same way Signal The Teaching Type Bit settings have the following functio...

Page 164: ...is bit is available when the expansion data area is valid Data cannot be written to the MC Unit read from the MC Unit and written to the flash memory at the same time If they are instructed together the instructions are executed in the following order Priority Data written to the MC Unit data read from the MC Unit and data written to the flash memory Signal The data transmission settings have the ...

Page 165: ...ree Set Set Set No of transfer words I 3 Source address I 4 Destination word I 5 Reception Control Bit n 1 bit 12 Reception Completed Flag n 8 bit 08 Required information is set in the expansion data area 40 ms min Depends on the volume of data Note Refer to Section 4 MC Unit Data 6 5 13 Word n 1 Bit 13 Flash Memory Write Bit All Tasks The position data of the MC Unit will be stored in the flash m...

Page 166: ...he MC Unit will be reset when this bit is turned ON This bit must be on hold until the Error Flag is turned OFF When the Error Flag is turned OFF error type data will be turned OFF as well Signal The Error Reset settings have the following functions Signal Function Resets MC Unit error Timing Chart XXXX Error reset n 1 bit 14 Error Flag n 8 bit 14 Error type data n 8 bits 00 to 04 Error code n 9 2...

Page 167: ...hart Expansion data read n 1 bit 15 Expansion Data Read Completed Flag n 8 bit 15 System error code I 12 Task 1 error code I 13 Task 2 teaching address I 22 20 s min 20 s min Not refreshed Refreshing Refreshing Not refreshed Not refreshed Not refreshed Not refreshed Not refreshed IN refresh of expansion data area Refreshing 6 5 16 Word n 3 Bits 11 to 15 Optional Inputs These bits can be used as co...

Page 168: ...le the axis is stopped but other manual commands can t be received as long as the bit is ON This disabling function can be used when interlocking and is valid with manual commands that don t involve axis operations The Deceleration Stop Bits for the Y axes bit 00 in word n 7 operate in the same way Signal The Deceleration Stop Bit settings have the following functions Signal Function OFF to ON Sta...

Page 169: ... Origin Flag n 16 bit 03 is turned OFF When the Origin Search Method machine parameter has been set to Set ori gin at power ON with the MC Support Software that position will be the origin for manual origin searches An Origin Return Operation will be performed for axes set for absolute operation The Origin Search Bits for the Y axes bit 01 in word n 7 operate in the same way Signal The Origin Sear...

Page 170: ...ation time and deceleration time are used during the opera tion An override 0 1 to 100 0 can be applied with the manual origin return An error will occur if this bit is turned ON but the mechanical origin hasn t been fixed This bit is ignored if the Busy Flag is ON Keep this bit ON until the Reference Origin Flag is turned ON The Reference Origin Return Bits for the Y axes bit 02 in word n 7 opera...

Page 171: ...ds on whether the mechanical origin has been fixed or not The Jogging Bit for the Y axis bit 03 in word n 7 operate in the same way When the mechanical origin has been fixed a Jogging can be performed within the software limits b The axis will consume accumulated pulses and stop within the software limits When the mechanical origin hasn t been fixed jogging can be performed with out any restrictio...

Page 172: ...sy Flag goes ON This bit is available when the expansion data area is valid This bit is ignored if the Busy Flag is ON The current position preset operation can be performed in the servo lock or ser vo free status This operation won t be interrupted while in progress even if the deceleration stop operation is executed The software limits are checked when this command is executed and the cur rent p...

Page 173: ...after the abso lute encoder has been replaced or set up Once this bit has been turned ON processing will continue until completion even if the bit is turned OFF before completion Keep this bit ON however until the Busy Flag turns ON This command is ignored when the Busy Flag is ON An error will occur if it is executed during a servo lock Processing will not be interrupted during execu tion of the ...

Page 174: ...y Flag is ON This command can be executed regardless of whether the servo lock is applied or not Processing will not be interrupted during execution of the command even if a deceleration stop command is executed Do not execute this command while system parameters are being downloaded Doing so may result in incorrect ABS Soft Reset values Refer to 7 7 ABS Soft Reset for details Signal Executes ABS ...

Page 175: ... ON This function is available to the X axis only Signal The Enable MPG Bit settings have the following functions Signal Function OFF to ON Starts MPG operation ON to OFF Stops MPG operation Timing Chart Enable MPG Bit n 5 bit 08 Busy Flag n 16 bit 01 MPG pulse input 20 ms min 20 ms min Axis Operating Flag n 16 bit 04 Positioning Completed Flag n 16 bit 05 MPG Operation Flag n 19 bit 15 Program Ex...

Page 176: ...w are performed when this bit goes ON 1 2 3 1 The present value is read from axes set for absolute operation 2 A wiring check is performed the first time the servo lock command is executed after power is turned ON If the wiring check is normal wiring checks won t be performed when subsequent servo lock commands are executed 3 A position loop is formed 4 The Run Command Output to the servodriver is...

Page 177: ... in word n 7 operate in the same way Turn OFF this bit when the Busy Flag turns ON Signal The Servo Free Bit settings have the following functions Signal Function OFF to ON Clears the servo lock status Timing Chart Servo Free Bit n 5 bit 10 Busy Flag n 16 bit 01 Servo Lock ON Flag n 16 bit 02 20 ms min 20 ms min Program Example DIFU 13 R1 n 5 10 R1 n 11 03 Manual Mode Flag Task Error Flag n 11 00 ...

Page 178: ...be applied in the following operations Mode Operation Setting Range Automatic G00 POSITIONING 0 1 to 100 0 G01 LINEAR INTERPOLATION 0 1 to 199 9 G02 G03 CIRCULAR INTERPOLATION 0 1 to 199 9 G26 REFERENCE ORIGIN RETURN 0 1 to 100 0 G27 WORKPIECE ORIGIN RETURN 0 1 to 100 0 G28 ORIGIN SEARCH When moving from the machine origin to the reference origin 0 1 to 100 0 G30 SPEED CONTROL 0 1 to 100 0 Manual ...

Page 179: ...n Completion Flag This flag will be turned ON regardless of whether data has been transmitted nor mally or not This flag is used for the timing to turn the Transmission Control Bit ON This flag will not turn OFF until the Transmission Control Bit is turned OFF No data can be transmitted while this flag is ON Signal The Transmission Completion Flag settings have the following meanings Signal Functi...

Page 180: ...This flag will be turned OFF when data is transmitted normally Signal The Data Transmission Error Flag settings have the following meanings Signal Function An error resulted during data transmission Data was retransmitted normally Timing Chart Free Free Free Set Set Set Set Set Set No of transfer words I Source word I 1 Destination address I 2 40 ms min Depends on the volume of data 40 ms min Depe...

Page 181: ...ry The destination word plus the number of transfer words are not within the acceptable range Example If the Reception Control Bit is turned ON to read 600 word position data beginning with position data number 1 900 the last position data number exceeds the upper limit 1 999 i e 1 900 600 3 2 100 This flag will be turned OFF when data is received normally Signal The Data Reception Error Flag sett...

Page 182: ...llowing meanings Signal Meaning 1 ON when the Teaching Box is in enabled mode 0 OFF when the Teaching Box isn t in enabled mode 6 5 37 Word n 8 Bit 12 Teaching Box Protected Flag This flag indicates whether the Teaching Box is in protect mode Use this flag as a condition to interlock the ladder program in this mode No operations can be performed from the PC when this flag is ON Refer to the Teachi...

Page 183: ...de is output to the 12 on 16expansion information area To check all the errors refer to the expansion data This flag is turned OFF with an error reset input This flag is turned ON again when another error results Signal The Error Flag settings have the following meanings Signal Meaning 1 An error resulted 0 No error resulted Timing Chart Example In this example a task 1 error resulted n 8 bit 00 n...

Page 184: ...02 Automatic Mode Flag Task 1 This flag indicates that the task is in automatic mode Always make sure that this flag is ON when starting MC program execution with the Cycle Start Bit It will be ignored if this flag is OFF Use the four flags listed below to determine the operating status of a task in auto matic mode When the program is executed from the Teaching Box the flags will change just as th...

Page 185: ...such as the Pause Bit or Forced Block End Bit when executing those commands This flag can also be used as an interlock condition checking whether the MC program is being executed or not The Memory Run Flags for task 2 bit 04 in word n 13 operate in the same way Signal The Memory Run Flag settings have the following meanings Signal Meaning 1 ON when the MC program is being executed 0 OFF when the M...

Page 186: ...3 operate in the same way Signal The Optional Input Standby Flag settings have the following meanings Signal Meaning 1 ON when waiting for an optional input 0 OFF when not waiting for an optional input 6 5 47 Word n 11 Bit 07 M Code Reset Standby Flag Task 1 This flag indicates whether MC program execution has been stopped to wait for an M code reset When this flag is ON MC program execution won t...

Page 187: ... Reset Bit n 1 bit 06 Program execution M code output n 10 M Strobe Flag n 11 bit 08 ON so the M code isn t output N003 G00 X10 M10 6 5 49 Word n 11 Bit 09 Cycle Start Received Flag Task 1 This flag is turned ON when the up differentiation of the Cycle Start Bit is received Use this flag to control Cycle Start Bit timing when executing one block at a time single block execution The Cycle Start Rec...

Page 188: ...n the teaching address setting is completed ON to OFF Goes OFF when the Teaching Address Set Bit goes OFF Timing Chart Teaching Address Set Bit n 1 bit 08 Teaching Start Address I 10 Teaching Address Setting Completed Flag n 11 bit 12 Teaching address 20 ms min 20 ms min The teaching address is set to 300 6 5 51 Word n 11 Bit 13 Teaching Completed Flag Task 1 This flag is turned ON when the Teachi...

Page 189: ...ag settings have the following meanings Signal Meaning OFF to ON Goes ON when a teaching error occurs ON to OFF Goes OFF the next time that teaching is completed normally or teaching address setting is completed normally Timing Chart Teaching Bit n 1 bit 09 Teaching Completed Flag n 11 bit 13 Teaching Error Flag n 11 bit 14 Teaching Address Set Bit n 1 bit 08 Teaching Address Set ting Completed Fl...

Page 190: ...arameters The Reference Origin Flags for the Y axes bit 00 in word n 19 operate in the same way Signal The Reference Origin Flag settings have the following meanings Signal Meaning 1 ON when the axis is within the reference origin s in position range 0 OFF when the axis isn t within the reference origin s in position range 6 5 55 Word n 16 Bit 01 Busy Flag X axis This flag is turned ON when a comm...

Page 191: ...6 Bit 02 Servo Lock ON Flag X axis This flag is turned ON when the servo lock is ON The servo lock is a status that outputs a Run command to the servodriver and forms a position loop Execute positioning functions when this flag is ON an error will occur if they are executed when this flag is OFF The Servo Lock ON Flags for the Y axes bit 02 in word n 19 operate in the same way Signal The Servo Loc...

Page 192: ...lags for the Y axes bit 03 in words n 19 operate in the same way Signal The No Origin Flag settings have the following meanings Signal Meaning 1 ON when the location of the reference origin is fixed 0 OFF when the location of the reference origin isn t fixed Timing Chart Origin Search Bit n 5 bit 01 No Origin Flag n 16 bit 03 Origin Search 6 5 58 Word n 16 Bit 04 Axis Operating Flag X axis This fl...

Page 193: ...ion range In position checks are performed regularly during MPG operation and this flag will be turned ON when the axis is within the in position range When a positioning operation is started the Positioning Completed Flag will be turned OFF at the same time that the Axis Operating Flag is turned ON The Positioning Completed Flags for the Y axes bit 05 in words n 19 operate in the same way Signal ...

Page 194: ...one Flag OFF Zone Flag ON Zone setting The Zone Flags for the Y axes bits 08 to 15 in word n 19 operate in the same way Signal The Zone Flag settings have the following meanings Signal Meaning 1 ON when axis is within the zone s range 0 OFF when axis is outside of the zone s range 6 5 63 Word n 19 Bit 15 MPG Operation Flag X axis This flag is used only if Y axis is used for an MPG Refer to Section...

Page 195: ...nable MPG Bit n 5 bit 08 Axis Operating Flag n 16 bit 04 Positioning Completed Flag n 16 bit 05 Busy Flag n 16 bit 01 MPG pulse input 20 ms min 20 ms min MPG Operation Flag n 19 bit 15 Interface Bit Specifics Section 6 5 ...

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Page 197: ...ern 180 7 4 2 Reverse mode Origin Searches 1 181 7 4 3 Reverse mode Origin Searches 2 182 7 4 4 Reverse mode Origin Searches 3 183 7 4 5 Reverse mode Origin Searches 4 184 7 4 6 One Direction mode Origin Searches 1 185 7 4 7 One Direction mode Origin Searches 2 185 7 4 8 One Direction mode Origin Searches 3 186 7 5 Overview of Absolute Encoders 186 7 6 Setting Up the Absolute Encoder 187 7 6 1 Pur...

Page 198: ...coders retain absolute data by using the backup batteries when the power to the MC Unit or Servodrivers are turned OFF When the power to the MC Unit is turned ON again and if the system is set to the servo lock state absolute data will be read from the absolute encoder to deter mine the present position No origin search is required Absolute Encoder Setup When an absolute encoder is installed for t...

Page 199: ...earch Method Set Origin at Power ON Mode The origin is automatically set to the motor s position when power is turned ON Reverse Mode The direction is reversed if a limit switch input is received during the origin search The origin will be fixed when the Z phase signal goes ON after the origin proximity switch goes from ON to OFF normally open input When there isn t an origin proximity switch a li...

Page 200: ...n proximity switch Z phase signal Speed Origin search high speed feed rate Origin search low speed feed rate Origin search start Machine origin 1 2 3 CW CCW Description There are three steps involved in this origin search 1 2 3 1 When the origin search is executed the axis is moved in the specified direc tion at the origin search high speed feed rate 2 When the origin proximity switch input is rec...

Page 201: ...itch Z phase signal Speed CW CCW See note Note When the direction is reversed by a CCW limit switch or CW limit switch during the origin search operation reverse operation will start after the movement is stopped by the counter pulse Also it does not decelerate to a stop Speed Time There is a sudden change in the speed when stopped by the counter pulse Origin Search Patterns Section 7 4 ...

Page 202: ...gin Searches 2 These origin searches are performed with an origin proximity switch and the ini tial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed CW CCW Origin Search Patterns Section 7 4 ...

Page 203: ...nput so all of these searches result in errors Limit switches Origin proximity switch Z phase signal Speed Error Origin proximity and over travel simultaneously ON Error Origin proximity and over travel simultaneously ON Error Origin proximity and over travel simultaneously ON Error Origin proximity and over travel simultaneously ON CW CCW Origin Search Patterns Section 7 4 ...

Page 204: ...se mode Origin Searches 4 These origin searches are performed without an origin proximity switch and the initial search direction set to CW Limit switches Z phase signal Speed CW CCW Origin Search Patterns Section 7 4 ...

Page 205: ...hes Origin proximity switch Z phase signal Speed Error No origin proximity signal Error Overtravel always ON CW CCW 7 4 7 One Direction mode Origin Searches 2 These origin searches are performed with an origin proximity switch and the ini tial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed CW CCW Origin Search Patterns Section 7 4 ...

Page 206: ...search is required MC Unit SEN signal Absolute data Battery Servodriver Motor absolute encoder Backup by battery The MC Unit receives data from the absolute encoder by changing the SEN sig nal level from low to high Note For details on absolute encoder interfaces refer to 7 8 Absolute Encoder Inter face Specifications The MC Unit receives absolute data by changing the SEN signal state from OFF to ...

Page 207: ...coder 2 Turn ON the Servodriver SEN signal input With the MC Unit connected to the Servodriver turn ON the MC Unit and the Servodriver The SEN signal from the MC Unit will turn ON The Absolute Encoder will receive a 5 V power supply Leave the power ON for at least 3 minutes to fully charge the backup capacitor Do not issue servo lock commands from the MC Unit during this operation MC Unit Turn ON ...

Page 208: ...aded Otherwise the Absolute Encoder initial settings will not be stored prop erly Do not execute ABS Initialization within one second after the main power supply or control power supply to the Servodriver is turned ON 7 7 ABS Soft Reset ABS Soft Reset is used to perform fine adjustment of the origin position in servo lock status after ABS Initialization has been executed Unlike ABS Initialization ...

Page 209: ...ons used for OMRON U series Servodrivers with absolute encoder specifications A 12 bit absolute encoder outputs data from phase A phase B phase Z and ABS It has the following system configuration Absolute Encoder U series Servodriver Serial data Divider circuit Phase A Phase Z Phase B SEN ABS 1 2 3 1 Absolute data is output as serial data from phase A by changing the SEN signal level from low to h...

Page 210: ...ed using the following formula where M is serial data number of motor revolutions PO is the number of initial incre mental pulses counted and R is the number of output pulses per motor shaft revolution that is set for the divider circuit PE M x R PO Example Reference position at setup Current position PE Coordinate value M value PE Present value servo read by encoder M Number of revolutions servo ...

Page 211: ...rial Data Specifications Data transmission method Asynchronous Baud rate 9 600 bps Start bit 1 bit Stop bit 1 bit Parity Even Character code ASCII 7 bits Data format 8 characters P or A or 0 to 9 x 5 digits CR Serial Data P or A 0 to 9 Start bit Data Even parity CR or During normal operation the number of revolutions 5 digits from the reference position specified at setup is output as serial data ...

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Page 213: ...ng which reads each axis current position as position data 8 1 Introduction 194 8 2 The Teaching Function 194 8 3 Setting the Teaching Address 195 8 4 Performing Teaching 196 8 5 Errors 197 8 5 1 Teaching Errors 197 8 5 2 Teaching Address Over Errors 197 ...

Page 214: ...rformed in two ways Teaching can be performed from the ladder program Execute teaching through the PC data area interface Teaching can be performed from the Teaching Box 8 2 The Teaching Function This example describes the teaching function using task 1 with axes X and Y Teaching Address When performing teaching it is necessary to specify the position data address where the current position data w...

Page 215: ...ation are shown below Refer to 6 5 Interface Bit Specifics for more details Timing Chart PC data area interface Teaching Address Set Bit n 1 bit 08 Teaching Address Set ting Completed Flag n 11 bit 12 Teaching Start Address I 10 Teaching Address I 19 Expansion data area interface Example Program n 1 08 Teaching Address Set Bit Teaching Address Setting Completed Flag n 11 12 Sets the Teaching Start...

Page 216: ...on data is stored and the teaching address is automati cally incremented to the next open position data address Turn ON the Teaching Bit for task 1 n 1 bit 09 and keep this bit ON until the Teaching Completed Flag n 11 bit 13 is turned ON The timing chart and ladder program for this operation are shown below Refer to 6 5 Interface Bit Specifics for more details Timing Chart Teaching Bit n 1 bit 09...

Page 217: ...or Flag n 11 bit 14 Refer to 6 5 Interface Bit Specifics for more details 8 5 2 Teaching Address Over Errors A teaching address over error will occur when teaching is performed with a teaching address that isn t within the position data address range set in the Memory Parameter Edit menu a submenu of the MC Parameter Edit menu If a teaching address over error occurs the current position won t be s...

Page 218: ...ess than 150 when teaching is per formed Current position Teaching address Not incremented No current position data is stored at all Acceptable range of addresses Example 4 In this example the teaching address is just one less than the start address 150 when teaching is performed Current position Teaching address Not incremented Data isn t stored in A0150 either No current position data is stored ...

Page 219: ... PTP Control 200 9 2 Positioning with Linear Interpolation 201 9 3 Positioning with Linear and Circular Interpolation 202 9 4 Indirect Addressing with Registers 203 9 5 Using the Workpiece Origin Offset 204 9 6 Changing the Interpolation Acceleration Time 205 9 7 Calculating Position Data 206 9 8 Stopping a Program with a General Input 208 9 9 Stopping the Program and Substituting Position Data 20...

Page 220: ... used N001 Positions the axes to X100 Y50 by PTP control Absolute positioning default is used because nothing is specified When positioning is completed M code 20 is output and the Unit waits for a reset M code reset standby N002 When the M code reset is received block N002 positions the axes to X250 Y150 by PTP control N003 Waits for 2 seconds N004 Positions the axes to X300 Y200 by PTP control W...

Page 221: ...nation Block N000 declares the program number and axes being used N001 Specifies incremental positioning N002 Waits until optional input 5 general input 1 goes ON When it goes ON the X axis is moved by 300 and the Y axis by 400 with linear interpolation at a speed of 50 N003 Checks the content of A1000 and ends the program if it is 1 N004 Jumps to block N002 Block N004 will jump to N002 20 times p...

Page 222: ...00 Y400 R 100 N006 G79 Explanation Block N000 declares the program number and axes being used N001 Sets the X Y plane as the plane for circular interpolation N002 Moves the axes to X200 Y100 by linear interpolation N003 Moves the axes to X300 Y200 by circular interpolation in the counter clock wise direction with a radius of 100 A positive value is specified for the radius so an arc smaller than a...

Page 223: ...2 N006 G60 E2 E2 2 N007 G75 3 N008 G70 N004 L3 N009 G79 Explanation Block N000 declares the program number and axes being used N001 Specifies Stop mode N002 through N003 Set the initial position data addresses in the registers N004 Reads the position data from the addresses specified in the registers and moves the axes to this point by linear interpolation N005 through N006 Updates the contents of...

Page 224: ...ordinates Reference coordinates From the reference origin 100 200 Sample Program N000 P006 XY N001 G53 X100 Y100 N002 G72 P800 N003 G53 X200 N004 G72 P800 N005 G53 Y200 N006 G72 P800 N007 G79 Sample Subprogram N000 P800 XY N001 G27 XY M10 N002 G01 X10 Y10 F10 N003 G01 X20 N004 G01 Y20 N005 G01 X10 N006 G01 Y10 N007 G27 XY M20 N008 G26 XY M30 N009 G73 Explanation Block N000 declares the program num...

Page 225: ...g of the interpolation acceleration time parame ter and performs linear interpolation Sample Program N000 P007 XY N001 G69 3 X500 N002 G01 X1000 Y500 F300 N003 G01 X2000 Y 1000 N004 M20 N005 G69 3 X100 N006 G01 X3000 Y1000 N007 G01 X4000 Y1500 N008 G79 Explanation Block N000 declares the program number and axes being used N001 Changes the setting of the X axis interpolation acceleration time param...

Page 226: ...ed Time 9 7 Calculating Position Data After initializing the position data this program moves the axes 10 times while incrementing the X axis position data by 20 Next the Y axis position data is incremented by 30 and the X axis positioning operation is repeated In all the process is performed 5 times as shown in the following diagram Calculating Position Data Section 9 7 ...

Page 227: ...Y axis initial position data into address A1001 N005 Moves the axes by linear interpolation to the X position indicated in A1000 and the Y position indicated in A1001 N006 Returns to the origin N007 Increments the X axis position data by 20 N008 Jumps to block N004 and repeats the above process 9 times N009 Initializes the X axis position data to its original value N010 Increments the Y axis posit...

Page 228: ...gram N000 P700 XY N001 G01 XA1000 YA1001 F20 M10 N002 G01 X0 Y0 F50 N003 G60 A1000 A1000 20 N004 G70 N001 L9 N005 G73 Explanation Blocks N005 through N008 in sample program 1 have been converted to sub program format in subprogram P700 which is called from step N004 in main pro gram P008 Main program P008 and subprogram P700 have independent loops so they will operate properly Function G73 SUBPROG...

Page 229: ...e Program and Substituting Position Data This program moves the X axis to X1000 at a speed of 100 by linear interpola tion The movement will be decelerated to a stop by function G74 OPTIONAL END if general input 2 goes ON before the positioning operation is completed The X position when the movement was stopped will be stored in address A500 and that position data will be used for later positionin...

Page 230: ... the positioning operation N008 Ends the program 9 10 Executing MC Programs from the Ladder Program This section describes ladder programs that will execute G language MC pro grams Use the following procedure to execute MC programs 1 2 3 1 Set the MC Unit to automatic mode Turn ON bit 01 of IR word n 1 2 Set the program number of the desired MC program IR word n 0 3 Read the program number from IR...

Page 231: ...02 R4 n 8 14 n 1 02 n 11 04 Execution condition Cycle Start bit Pause Bit Memory Run Com pleted Flag Auto matic Mode Flag Servo Lock ON Error Flag OUT Cycle Start bit OUT Reads the program number OUT Pause execution OUT Auxiliary Area bit OUT Sets automatic or manual mode n 1 07 Auxiliary Area Bit Auxiliary Area Bit Auxiliary Area Bit Cycle Start received completed R3 Note When executing a positio...

Page 232: ...e condition R2 Program start condition R3 MC program completed Pause Bit n 1 bit 05 Execution condition Cycle Start Bit n 1 bit 02 Memory Run Completed Flag n 11 bit 05 Memory Run Flag n 11 bit 04 Executing MC Programs from the Ladder Program Section 9 10 ...

Page 233: ... the errors that might occur during operation their probable causes and possible remedies 10 1 Error Indicators 214 10 2 System Errors Error Codes 0001 to 0017 215 10 3 Task Errors Error Codes 0020 to 0045 216 10 4 Axis Errors Error Codes 0060 to 0088 219 ...

Page 234: ...n the MC Unit itself Check details of the error with the PC Teaching Box or MC Support Software ON ON ON OFF OFF OFF EEPROM error An error has occurred in EEPROM the MC Unit or in the MC Unit s RAM Replace the MC ON ON OFF ON OFF OFF RAM error Unit or in the MC Unit s RAM Replace the MC Unit ON ON OFF OFF ON OFF CPU error Replace the MC Unit Note For error codes larger than 1000 that might occur w...

Page 235: ...a might have been destroyed by noise The PC MC Unit might have been turned OFF while data was being written to the flash memory This error can t be cleared by an error reset 0003 Task 1 program destroyed TASK 1 PROG CORR Task 1 s program has been destroyed See note Delete all task 1 programs using the MC Support Software and the error will be cleared automatically then download the programs again ...

Page 236: ... ON 10 3 Task Errors Error Codes 0020 to 0045 An error code will be output to words I 13 to I 14 of the expansion data area when a task 1 or 2 error results When a system error occurs in task 1 or 2 the error code will be output to word I 13 or I 14 respectively In this table the term program refers to the G language MC program The error message in paren theses will be displayed on the MC Support ...

Page 237: ...tting value or pulse rate in a G00 G01 G02 G03 or G31 function Correct the program or the position data Check the setting for the minimum setting unit parameter in the system parameters 0030 Divide by zero error ZERO DIVIDE ERR A division by zero occurred when a G60 function ARITHMETIC OPERATIONS was executed Correct the program or the position data Check the setting for the minimum setting unit p...

Page 238: ... long at the specified speed Correct the program position data or parameters to increase the speed or reduce the distance to be moved 0041 Position counter overflow MOVE DIST OVER Can t move to the target specified in a G01 function because it is too far Correct the program or position data to reduce the distance to be moved 0042 Position counter overflow during arc movement CIR ARC DIST OVER Can ...

Page 239: ...se input in the encoder a disconnected or broken encoder cable or placement the origin proximity switch too close to a limit switch Refer Appendix B Additional Origin Search Patterns for details on how errors occur during origin searches 0066 No origin proximity signal NO ORIG PROX SIG A limit switch went ON before the origin proximity switch during a one direction mode origin search or both limit...

Page 240: ... faulty Check the encoder cable and try again Remove any possible causes of noise If the same error occurs again either the encoder or MC Unit is faulty Replace the encoder or MC Unit 0075 ABS set prohibit error ABS SET PROHIBIT Set pin 1 of the DIP switch on the MC Unit to OFF 0076 ABS initialization invalid error ABS INI SET INVL Set to the servo free state 0077 PV counter overflow PRESPOS CNT O...

Page 241: ...n search direction as well as the mounting positions of the origin proximity switch and limit switch Refer to Reverse mode Origin Searches 12 in Appendix B for details on this error 0085 Overtravel reverse error OT REV ROTAT ERR The reverse mode origin search can t be performed because the other limit switch or the origin proximity switch came ON while the search was reversing because of a limit s...

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Page 243: ...223 SECTION 11 Maintenance and Inspection This section describes the maintenance and inspection necessary to ensure proper operation of the MC Unit Routine Inspections 224 ...

Page 244: ...ly Measure the voltage variations at the I O power supply terminal block Within I O specifications Ambient di i Ambient in panel temperature 0_C to 55_C conditions Ambient in panel humidity 10 to 90 RH no condensation Dust Dirt accumulation None System di i Each Unit s installation No looseness y condition Cable connections Wiring terminal screws Damage to external wiring and cables None Ground Ch...

Page 245: ...tput 231 23 and 24 Cycle Start Bit Pause Bit M Code Reset Bit and M code output 232 25 Cycle Start Bit Forced Block End Bit and M code output 232 26 Cycle Start Bit Forced Block End Bit Task Error Flag and Task Error Reset Bit 233 27 Cycle Start Bit Task Error Flag and Task Error Reset Bit 233 28 Automatic Manual Mode Bit Cycle Start Bit Jogging Bit and Manual Mode Flag 233 29 Origin Search Bit Bu...

Page 246: ...and the Cycle Start Bit is turned ON again 4 Cycle Start Bit and Forced Block End Bit Cycle Start Bit Forced Block End Bit Operation Even though the Cycle Start Bit is turned ON MC program execution isn t started because the Forced Block End Bit is ON Operation will begin if the Forced Block End Bit is turned OFF and the Cycle Start Bit is turned OFF and then ON again 5 Cycle Start Bit and Forced ...

Page 247: ...it is turned ON to cancel execution of block N002 and stop program execution Program execution is restarted when the Cycle Start Bit is turned ON again 8 Cycle Start Bit and Forced Block End Bit Cycle Start Bit Forced Block End Bit Operation The Forced Block End Bit is turned ON to cancel execution of block N002 and stop program execution Even though the Cycle Start Bit is turned ON again the Forc...

Page 248: ...rced Block End Bit has no effect 11 Cycle Start Bit Forced Block End Bit and Pause Bit Cycle Start Bit Forced Block End Bit Operation Pause Bit The Forced Block End Bit and Pause Bit are turned ON at the same time but the Forced Block End Bit takes prece dence so execution of block N002 is cancelled 12 Cycle Start Bit Forced Block End Bit and Pause Bit Cycle Start Bit Forced Block End Bit Operatio...

Page 249: ...Automatic Manual Mode Bit Cycle Start Bit and Pause Bit Cycle Start Bit Operation Pause Bit Automatic Manual Mode Bit After program execution is paused with the Pause Bit the Unit is switched to manual mode by turning OFF the Automatic Manual Mode Bit 15 Automatic Manual Mode Bit Cycle Start Bit and Forced Block End Bit Cycle Start Bit Operation Forced Block End Bit Automatic Manual Mode Bit Progr...

Page 250: ...ON but execution of block N001 is stopped by the Forced Block End Bit The next block is executed when the Cycle Start Bit is turned ON again 18 Cycle Start Bit and M Code Reset Bit Cycle Start Bit Operation M Code Reset Bit Program execution is started by the Cycle Start Bit The next operation G01 is executed without outputting M code 100 because the M Code Reset Bit is ON 19 Cycle Start Bit and M...

Page 251: ... The M code is cleared when the program is stopped The pro gram was already stopped so program execution isn t restarted when the M Code Reset Bit is turned OFF 21 Cycle Start Bit Forced Block End Bit M Code Reset Bit and M Code Output Forced Block End Bit Operation M Code Reset Bit Cycle Start Bit M Code 10 The program is stopped and the M code is cleared when the Forced Block End Bit goes ON 22 ...

Page 252: ...se Bit M Code Reset Bit and M Code Output Pause Bit Operation M Code Reset Bit Cycle Start Bit M Code 100 If the Pause Bit and M Code Reset Bit are turned ON at the same time the Pause Bit becomes valid Program execution is paused but the M code isn t cleared When the program is restarted the M code will be output because it was ON originally 25 Cycle Start Bit Forced Block End Bit and M Code Outp...

Page 253: ...ccurs the Task Error Reset Bit and Cycle Start Bit are turned ON at the same time clearing the error and restarting operation simultaneously 28 Automatic Manual Mode Bit Cycle Start Bit Jogging Bit and Manual Mode Flag Cycle Start Bit Operation Jogging Bit Automatic Manual Mode Bit Manual Mode Flag The Automatic Manual Mode Bit is turned OFF while the program is being executed switching the Unit t...

Page 254: ...ptional Input Operation Forced Block End Bit Cycle Start Bit Optional Input While the OPTIONAL PROGRAM STOP function G76 is being executed the block is cancelled by turning ON the Forced Block End Bit The optional input is turned OFF at the same time that the Forced Block End Bit is turned ON so in the end the input has no effect 31 Cycle Start Bit Forced Block End Bit and Optional Input Operation...

Page 255: ...am execution starts when the Cycle Start Bit is turned ON The status of the optional input is checked when the OPTIONAL PROGRAM STOP function G76 is executed and the program is stopped because the optional input is ON 34 Cycle Start Bit and Optional Input Operation Cycle Start Bit Optional Input Program execution is restarted when the Cycle Start Bit is turned ON The status of the optional input i...

Page 256: ... END function G74 The Unit stands by for restarting after program execution is stopped 37 Forced Block End Bit M Code Reset Bit and M Code Output Operation M Code Reset Bit Forced Block End Bit M Code Turning ON the Forced Block End Bit clears the M code and stops program execution The M Code Reset Bit signal is ignored 38 Forced Block End Bit M Code Reset Bit and M Code Output Operation M Code Re...

Page 257: ...gram is restarted 40 Pause Bit M Code Reset Bit and M Code Output Operation M Code Reset Bit Pause Bit M Code The program is stopped by the Pause Bit The M Code Reset Bit is ignored so the M code isn t cleared 41 Optional Input M Code Reset Bit and M Code Output Operation M Code Reset Bit Optional Input M Code The M code command in the block after the OPTIONAL END function G74 is stopped by the op...

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Page 259: ... set to Reverse mode or One Direction mode Operation will vary depending on the position of the workpiece when the origin search is executed Reverse mode Origin Searches 1 These origin searches are performed with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed CCW CW ...

Page 260: ... Search Patterns 240 Reverse mode Origin Searches 2 These origin searches are performed with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed CCW CW ...

Page 261: ...arches are performed with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin proximity signal Error No origin signal Error No origin signal Error No origin signal Error No origin proximity signal CCW CW ...

Page 262: ...med with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin signal Error No origin signal Error No origin signal Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal CCW CW ...

Page 263: ...med with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin signal Error No origin signal Error No origin signal Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal CCW CW ...

Page 264: ...med with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin signal Error No origin signal Error No origin signal Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal CCW CW ...

Page 265: ...earches are performed with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal CCW CW ...

Page 266: ...ith an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin signal Error No origin signal Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal CCW CW ...

Page 267: ...ignal Limit switches Origin proximity switch Z phase signal Speed Error Origin proximity and overtravel simultaneously ON Error Origin proximity and overtravel simultaneously ON Error Origin proximity and overtravel simultaneously ON Error Origin proximity and overtravel simultaneously ON Error Origin proximity and overtravel simultaneously ON Error Origin proximity and overtravel simultaneously O...

Page 268: ...ial search direction set to CW but no Z phase signal Limit switches Origin proximity switch Z phase signal Speed Error Origin proximity and overtravel simultaneously ON Error Origin proximity and overtravel simultaneously ON Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal CCW CW ...

Page 269: ...ial search direction set to CW but no Z phase signal Limit switches Origin proximity switch Z phase signal Speed Error Origin proximity and overtravel simultaneously ON Error Origin proximity and overtravel simultaneously ON Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal CCW CW ...

Page 270: ...imity switch Z phase signal Speed Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal CCW CW The following error can occur if the CCW limit switch is ON for a short time and the CCW limit switch signal is close to the origin proximity signal Limit switches Origin proximity switch Z phase signal Speed Error Overtravel r...

Page 271: ... to the origin proximity signal Limit switches Origin proximity switch Z phase signal Speed Error Origin proximity reverse error CCW CW Reverse mode Origin Searches 13 These origin searches are performed without an origin proximity switch and the initial search direction set to CW Limit switches Z phase signal Speed CCW CW ...

Page 272: ...n mode Origin Searches 1 These origin searches are performed with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin proximity signal Error Overtravel always ON CCW CW ...

Page 273: ...n mode Origin Searches 2 These origin searches are performed with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin proximity signal Error Overtravel always ON CCW CW ...

Page 274: ...performed with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin proximity signal Error Overtravel always ON Error No origin signal Error No origin signal Error No origin signal Error No origin proximity signal CCW CW ...

Page 275: ...performed with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin proximity signal Error Overtravel always ON Error No origin signal Error No origin signal Error No origin signal Error No origin proximity signal CCW CW ...

Page 276: ...performed with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin proximity signal Error Overtravel always ON Error No origin signal Error No origin signal Error No origin signal Error No origin proximity signal CCW CW ...

Page 277: ...performed with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin proximity signal Error Overtravel always ON Error No origin signal Error No origin signal Error No origin signal Error No origin proximity signal CCW CW ...

Page 278: ...igin searches are performed with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin proximity signal Error Overtravel always ON Error No origin proximity signal Error No origin proximity signal CCW CW ...

Page 279: ...rmed with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin proximity signal Error Overtravel always ON Error No origin proximity signal Error No origin proximity signal Error No origin signal Error No origin signal CCW CW ...

Page 280: ...No input for the Z phase Limit switches Origin proximity switch Z phase signal Speed Error Overtravel always ON Error Origin proximity and overtravel simultaneously ON Error Origin proximity and overtravel simultaneously ON Error Origin proximity and overtravel simultaneously ON Error Origin proximity and overtravel simultaneously ON Error Origin proximity and overtravel simultaneously ON CCW CW ...

Page 281: ... switch and the initial search direction set to CW but no Z phase signal Limit switches Origin proximity switch Z phase signal Speed Error Overtravel always ON Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal Error Overtravel always ON Error Origin proximity and overtravel simultaneously ON CCW CW ...

Page 282: ... with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal Error Overtravel always ON Error Origin proximity and overtravel simultaneously ON CCW CW ...

Page 283: ...rigin searches are performed with an origin proximity switch and the initial search direction set to CW Limit switches Origin proximity switch Z phase signal Speed Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal Error Overtravel always ON CCW CW ...

Page 284: ...e Direction mode Origin Searches 13 These origin searches are performed without an origin proximity switch and the initial search direction set to CW Limit switches Z phase signal Speed Error No origin proximity signal Error Overtravel always ON CCW CW ...

Page 285: ...pendix C MC Program Coding Sheet The following page can be copied for use in coding MC programs When coding programs be sure to specify all G codes and operands These will be necessary when inputting programs ...

Page 286: ...gram Number Date Page Block No G Code Operands Comments N 0 N 1 N 2 N 3 N 4 N 5 N 6 N 7 N 8 N 9 N 0 N 1 N 2 N 3 N 4 N 5 N 6 N 7 N 8 N 9 N 0 N 1 N 2 N 3 N 4 N 5 N 6 N 7 N 8 N 9 N 0 N 1 N 2 N 3 N 4 N 5 N 6 N 7 N 8 N 9 N 0 N 1 N 2 N 3 N 4 N 5 N 6 N 7 N 8 N 9 ...

Page 287: ...age Emergency stop method Immediately sets the voltage output to 0 V or stops by the counter pulse Encoder type Incremental encoder or absolute encoder Encoder resolution 1 to 65 535 ppr Encoder polarity Forward or reverse by an increase in the encoder Pulse rate 1 to 100 000 Maximum motor speed 1 to 32 767 r min Negative software limit 39 999 999 to 39 999 999 g Positive software limit Origin sea...

Page 288: ...Appendix D MC Parameter Settings 268 Coordinate Parameters Parameter Setting X axis Y axis Reference origin offset Workpiece origin offset ...

Page 289: ...n time Interpolation accel time Interpolation decel time MPG ratio 1 1 to 1 000 MPG ratio 2 MPG ratio 3 MPG ratio 4 Zone Parameters Parameter Setting Zone 1 specification Zone 1 Negative SV Positive SV Zone 2 specification Zone 2 Negative SV Positive SV Zone 3 specification Zone 3 Negative SV Positive SV Zone 4 specification Zone 4 Negative SV Positive SV Zone 5 specification Zone 5 Negative SV Po...

Page 290: ...rvo Parameters Parameter Setting Setting Range X axis Y axis g g Error counter warning 0 to 65 000 pulses In position 0 to 999 pulses Position loop gain 5 to 250 1 s Position loop FF gain 0 to 100 Backlash compensation value 0 to 999 pulses ...

Page 291: ...271 Appendix E Position Data Coding Sheet The following page can be copied to record the data stored in position data addresses ...

Page 292: ...A 22 A 23 A 24 A 25 A 26 A 27 A 28 A 29 A 30 A 31 A 32 A 33 A 34 A 35 A 36 A 37 A 38 A 39 A 40 A 41 A 42 A 43 A 44 A 45 A 46 A 47 A 48 A 49 A 50 Address Data Comments A 51 A 52 A 53 A 54 A 55 A 56 A 57 A 58 A 59 A 60 A 61 A 62 A 63 A 64 A 65 A 66 A 67 A 68 A 69 A 70 A 71 A 72 A 73 A 74 A 75 A 76 A 77 A 78 A 79 A 80 A 81 A 82 A 83 A 84 A 85 A 86 A 87 A 88 A 89 A 90 A 91 A 92 A 93 A 94 A 95 A 96 A 9...

Page 293: ... be represented on a computer A bit has the value of either zero or one corresponding to the electrical signals ON and OFF A bit represents one binary digit Some bits at particular addresses are allocated to special purposes such as holding the status of input from external devices while other bits are available for general use in programming block number Numbers used to distinguish blocks in MC p...

Page 294: ...ic number of pulses in a pulse train from the Motion Control Unit and outputs analog speed voltages to drive a servomotor accordingly The specified number of pulses in the error counter is counted down by feedback from an encoder measuring actual motor shaft movement causing voltage output to stop when the number of pulses equals zero i e when the target position has been reached feedback The retu...

Page 295: ...ord or the highest numbered words of a group of words These bits words are often called most significant bits words linear interpolation Dual axis linear positioning from the present position to a point designated as the interpolation end point based on specified points load The processes of copying data either from an external device or from a storage area to an active portion of the system such ...

Page 296: ...ut The signal sent from the PC to an external device The term output is often used abstractly or collectively to refer to outgoing signals parameters Data which determines limits and other conditions under which an operation will be carried out PC An acronym for Programmable Controller PC Setup A group of operating parameters set in the PC from a Programming Device to control PC operation positive...

Page 297: ...ary encoder is used to maintain the position of a motor while it is stopped Whenever the motor axis moves the rotary encoder sends a feedback pulse to an error counter causing a rotation voltage to be gen erated in the reverse direction so that the motor rotates back to its original posi tion software error An error that originates in a software program SSS Abbreviation for SYSMAC Support Software...

Page 298: ... words Some data areas can be accessed only by words others by either words or bits work bit A bit that can be used for data calculation or other manipulation in programming i e a work space in memory Also see work word write protect A state in which the contents of a storage device can be read but cannot be altered zone A range of positions or values which can be defined so that flags are turned ...

Page 299: ...N FUNCTIONS G17 85 components 2 CONDITIONAL JUMP G71 100 connections examples encoders 15 X axis 9 personal computer 24 Teaching Box 25 connectors attaching 8 11 DRV interface circuits 20 pin allocations 11 pin functions 12 I O interface circuits 20 pin functions 8 MPG pin functions 19 wiring 8 coordinate system 93 reference coordinate system setting 93 workpiece coordinate system setting 93 coord...

Page 300: ...ctors 8 I O transfer 33 34 timing 56 INCREMENTAL SPECIFICATION G91 106 indicators 3 214 error 214 Initial Setting Alarm Flag 162 inspection 224 precautions 224 tools 224 intelligent transfer 33 35 58 interface bits 121 details 134 Word n 1 Bit 01 Automatic Manual Mode Bit 134 Word n 1 Bit 02 Cycle Start Bit 135 Word n 1 Bit 03 Single Block Bit 137 Word n 1 Bit 04 Forced Block End Bit 138 Word n 1 ...

Page 301: ...mpletion Flag 163 interface circuits DRV connectors 20 I O connectors 20 interlocks M code 107 108 interpolation acceleration time 205 INTERRUPT INCHING G31 89 IORD 64 execution timing 67 flags 65 IOWR 59 execution timing 62 flags 60 J L Jog Direction Bit 152 Jogging Bit 151 ladder programs automatic mode 120 executing G language programs 210 teaching 196 limit switches 179 LINEAR INTERPOLATION G0...

Page 302: ...system 95 PROGRAM END G79 105 program number 74 Program Number Read Bit 142 Programmable Controller See PCs programs 208 axes 74 end 105 executing from ladder programs 210 format 74 parameters 74 pause 104 program number 74 stopping general input 208 substituting position data 209 PTP control 75 sample program 200 R reception 54 data examples 54 Reception Completed Flag 52 Reception Completion Fla...

Page 303: ...bled Flag 162 Teaching Box Protected Flag 162 Teaching Completed Flag 168 Teaching Error Flag 169 Teaching Type Bit 143 timing execution IORD 67 IOWR 62 I O transfer 56 timing charts 225 control bits 225 control flags 225 transfer time 56 transmission 52 data examples 52 Transmission Completed Flag 52 Transmission Completion Flag 159 Transmission Control Bit 52 144 Transmission Error Flag 52 trans...

Page 304: ......

Page 305: ...inal production 2 January 1999 Revised precautionary items and wording in PRECAUTIONS Pages 4 146 177 205 etc Added information on the Absolute Encoders Page 5 Added 1 6 Changing the Task Configuration Pages 12 13 etc Added information for dedicated driver cables and revised connection example diagrams Minor changes and additions of supplementary information throughout the manual 3 June 2010 Front...

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