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Omron C200HW, Operation Manual

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10-4

Section

Linear Interpolation

211

10-4 Linear Interpolation

10-4-1 Two-axis Linear Interpolation

Overview

•

Used for carrying out positioning on multiple active axes.

•

The only interpolation method available is linear interpolation.

•

The positioning sequence for the active axis designates the axes to be used in
interpolation.

Operation Example

In the following example, the program carries out an automatic interpolation
operation, then returns to the origin and stops.

X axis

Y axis

When the operation start switch is turned ON, the following positioning is auto-
matically executed in the given order, using linear interpolation, and then posi-
tioning is stopped.

(X,Y) = (5000, 1000) 

→

 (0, 2000) 

→

 (5000, 3000) 

→

 (0, 4000) 

→

 (5000, 5000) 

→

(5000, 0) 

→

 (0, 0)

The interpolation speed at this time is 500 pps.
(Set the origin of both the X and Y axes beforehand to “0” by either conducting an
origin search or executing PRESENT POSITION CHANGE).

Setting the Unit

Unit Number: Unit #0
Unit Used:

NC213

Summary of Contents for C200HW

Page 1: ...Cat No W334 E1 04 Position Control Units SYSMAC C200HW NC113 NC213 NC413 ...

Page 2: ...C200HW NC113 NC213 NC413 Position Control Units Operation Manual Revised July 2003 ...

Page 3: ...iv ...

Page 4: ...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...

Page 5: ...vi ...

Page 6: ...f Unused Axes 45 2 7 Servo Relay Unit 45 SECTION 3 Getting Started 47 3 1 Basic Operations 48 3 2 System Configuration and Wiring 49 3 3 Setting Data and Starting 51 SECTION 4 Data Areas 53 4 1 Overall Structure 54 4 2 Common Parameters 74 4 3 Axis Parameters 76 4 4 Operating Memory Area 83 4 5 Operating Data Area 89 4 6 Positioning Sequence Details 89 4 7 Setting Data With the SYSMAC NCT Support ...

Page 7: ...Operation 162 8 5 Timing Chart for Memory Operation 162 8 6 Sample Program 165 SECTION 9 Other Operations 169 9 1 Jogging 170 9 2 Teaching 171 9 3 Interrupt Feeding 173 9 4 Forced Interrupt 175 9 5 Deceleration Stop 177 9 6 Changing the Present Position 180 9 7 Override 181 9 8 Releasing Pulse Output Prohibition 182 9 9 Error Counter Reset Output and Origin Adjustment Command Output 184 9 10 Backl...

Page 8: ...ulation Standards 245 B Estimating Times and Pulses for Acceleration Deceleration 251 C Error Code List 253 D Effect of Cable Length on Pulse Output 257 E Parameter Coding Sheets 259 F Using with CS1 series PCs 263 Index 271 Revision History 277 ...

Page 9: ...eas and how to set data and sam ple programs Section 8 provides an outline of memory operation details about data areas and how to set data and sample programs Section 9 describes the following operations jogging teaching interrupt feeding forced interrupt decel eration stop changing the present position override releasing pulse output prohibition deviation counter reset output origin adjustment c...

Page 10: ...section is important for the safe and reliable application of the Programmable Con troller and the Position Control Unit You must read this section and understand the information contained before attempting to set up or operate a PC system 1 Intended Audience xiv 2 General Precautions xiv 3 Safety Precautions xiv 4 Operating Environment Precautions xv 5 Application Precautions xv ...

Page 11: ...ay result in serious electrical shock or electrocution WARNING Never touch any of the terminals while power is being supplied Doing so may result in serious electrical shock or electrocution WARNING Provide safety measures in external circuits i e not in the Programmable Controller including the following items to ensure safety in the system if an abnormality occurs due to malfunction of the PC or...

Page 12: ... Precautions Observe the following precautions when using the Position Control Unit PCU and Programmable Controller PC WARNING Failure to abide by the following precautions could lead to serious or possibly fatal injury Always heed these precautions Always ground the system to 100 Ω or less when installing the system to pro tect against electrical shock Always turn off the power supply to the PC b...

Page 13: ...ks memory units extension cables and other items with locking devices are properly locked Double check all the wiring before turning on the power supply Disconnect the functional ground terminal when performing withstand voltage tests Confirm that no adverse effect will occur in the system before performing the following operations Changing the operating mode of the PC Force setting resetting the ...

Page 14: ... is used 1 1 Features 2 1 2 System Configuration 4 1 3 Basic Operations 7 1 3 1 Position Control 7 1 3 2 Speed Control 8 1 3 3 Other Operations 8 1 4 Control System Principles 11 1 4 1 Data Flow 11 1 4 2 Control System Principles 12 1 4 3 Basic Positioning System Design 12 1 5 Exchanging Data 13 1 5 1 Explanation 14 1 6 Before Operation 15 ...

Page 15: ... Position Control Unit and then specified for position control and the second is direct operation in which the target position and target speed are set each time from the Programmable Controller When an interrupt is input during pulse output positioning is continued for only the specified number of pulses and then stopped The Position Control Unit responds to instructions from the Programmable Con...

Page 16: ... Dwell times 19 Zones 3 These data items are transferred to the PCU for use Once they have been trans ferred to the PCU they can be saved to the PCU s flash memory so there is no need for battery maintenance Note There is a limit to the service life of the flash memory A total of up to 100 000 data saving operations can be performed With C200HX HG HE series Programmable Controllers not only can da...

Page 17: ...nal interrupt 24 VDC power supply for I F Pulse output CCW limit CW limit Origin Origin Proximity Emergency stop External interrupt 24 VDC power supply for I F Stepping Motor Drivers Servomotor Drivers Or Servomotors Stepping Motors Or Servomotors External input signals Pulse output Stepping Motor Drivers Stepping Motors Servomotor Drivers The Position Control Unit belongs to the SYSMAC C200H C200...

Page 18: ...erent groups are to be mixed then use a combina tion that satisfies the following two formulas 3A B 2C 6D x 12 A B C D x 8 There are restrictions on the number of Units that can be used with particular CPU Units For details refer to Number of Usable Units described previously System Configuration Considerations The I O bits allocated to a particular Special I O Unit are determined by the unit numb...

Page 19: ...ns When Handling the Unit Before installing or disconnecting the Unit or connecting cable be sure to first turn off both the Programmable Controller and the power supply To minimize any influence from noise place I O wiring high voltage lines and power lines in separate ducts Wire clippings tend to get scattered around during wiring so leave the label in place on top of the Unit to prevent any cli...

Page 20: ...ntrol Unit in advance and then positioning is executed from the Programmable Controller by specifying those positioning sequences by num ber Executed in order Positioning sequence 99 Positioning sequence 0 Acceleration time number Initial speed number Start Target position Position Position Target speed number Deceleration time number Depending on the completion code that is set positioning sequen...

Page 21: ...depends on the completion code that is set for memory operation positioning sequences To stop the sequence use the STOP command Time Start STOP Speed 1 3 3 Other Operations The origin search operation finds the origin for the designated axis The jogging operation moves a specified axis at a designated speed and then stops it The teaching operation takes the present position for the specified posit...

Page 22: ... position to a specified position This operation compensates for the amount of mechanical play or looseness present in gears A zone is a range of positions which can be defined so that flags are turned ON whenever the present position is within the range Zone setting Zone Flag CCW CW ON OFF The STOP command decelerates positioning to a stop STOP Speed Time 1 0 Override Changing the Present Positio...

Page 23: ...erations are as follows PCU operations Position control Memory operation Independent Automatic Continuous Direct operation Interrupt feeding Speed control Other operations Origin search Jogging Teaching Override Present position change Backlash compensation Zone setting Deceleration stop ...

Page 24: ...otary encoder Tachogenerator Servomotor driver Pulse train Power amplifier Pulse train Stepping motor driver I O interface MPU Memory Pulse genera tor Magnetizing dis tribution circuit Servomotor Positioning output External input Stepping motor Error counter Power amplifier I O connector I O interface Pulse genera tor I O connector Note For the NC113 the circuitry is for just one axis ...

Page 25: ...requency of the pulse train Positioning pulses 1 2 n Positioning output Angle of rotation Angle of rotation 1 4 3 Basic Positioning System Design The following diagram and parameters illustrate a simplified positioning system M Reduction ratio P Feed screw pitch mm revolution V Feed velocity of object being positioned mm s θs Stepping angle per pulse degree pulse P Stepping motor Reduction gear Ob...

Page 26: ...sfer area Common parameters Axis parameters DM or EM area Address M data Address N data I O refresh Operation commands data transfer commands etc At power up or restart Common parameters At power up or restart Axis parameters I O refresh Data transfer and operation command information I O refresh PCU status When data transfer commands are executed Data for positioning When data is transferred Comm...

Page 27: ... having them transferred from the Programmable Controller The selection as to which of these two methods to use is made by a common parameter setting For details refer to 4 2 Common Parameter Area Note The common parameter area settings are required when the PCU is used If these settings are not made a common parameter error error codes 0010 to 0013 will be generated Depending on a common paramete...

Page 28: ... Overall Structure 4 5 Operating Data Area Set the positions speeds and acceleration de celeration times Creating the ladder program Refer to Section 7 Direct Operation Busy Flag See note 6 Saving axis parameters Refer to 5 7 Saving Data If setting axis parameters by means of a data transfer save the settings to flash memory When using memory operation Transferring data Refer to Section 5 Transfer...

Page 29: ...a saved at the PCU is used then the axis parameters will be automatically read at pow er up 4 For operations that cannot be performed when the origin is not established it will be necessary to first execute an origin search or a present position change to establish the origin 5 For the operational flow when an error or alarm is generated refer to Section 11 Troubleshooting 6 When powering up or re...

Page 30: ...Unit mm 20 2 2 Components 21 2 3 External I O Circuitry 24 2 3 1 Connector Pin Arrangement 24 2 3 2 External I O Connector Arrangement 25 2 3 3 I O Circuitry 27 2 4 Connecting External I O 30 2 4 1 Output Connection Examples 30 2 4 2 Input Connection Examples 33 2 4 3 Connecting Origin and Positioning Completed Input Signals 35 2 4 4 Wiring Precautions 36 2 5 Connections in Each Operating Mode 37 ...

Page 31: ...ions and settings Origin search Origin proximity input signal selectable absent N O or N C contact Origin input signal selectable N O or N C contact Origin compensation 9 999 999 to 9 999 999 pulses Origin search speed High speed or proximity speed can be set Origin search method May be set to stop upon origin input signal after proximity input signal has turned ON to stop upon origin input signal...

Page 32: ...nt command outputs can be selected depending on the mode Pulse output distribution period 4 ms Response time Refer to Appendix A Data Calculation Standards Self diagnostic function Flash memory check memory loss check I O bus check Error detection function Overtravel CPU error software limit over emergency stop Internal current consumption provided from Backplane 5 VDC at 300 mA max 5 VDC at 300 m...

Page 33: ...VDC 10 1 6 kΩ resistance A B A B A B A B 50 Kpps 9 7 µs min 9 7 µs min 9 8 µs min 9 8 µs min 9 7 µs min 9 7 µs min 9 7 µs min 9 7 µs min 100 Kpps 4 7 µs min 4 7 µs min 4 8 µs min 4 8 µs min 4 7 µs min 4 7 µs min 4 8 µs min 4 8 µs min 200 Kpps 2 3 µs min 2 3 µs min 2 3 µs min 2 3 µs min 2 2 µs min 2 2 µs min 2 3 µs min 2 3 µs min 500 Kpps 0 76 µs min 0 82 µs min 0 77 µs min 0 88 µs min 0 74 µs min ...

Page 34: ...onnector Connects stepping motor driver or servomotor driver 2 axis control Z U axis connector Connects stepping motor driver or servomotor driver 2 axis control Unit number setting switch Sets the unit number for the PCU LED indicators Show the PCU s operating status X Y axis connector X axis connector ...

Page 35: ... Not lit None of the above has occurred Z Orange Lit Pulses are being output to the Z axis either forward or reverse g Flashing An error has occurred such as incorrect cable type for the Z axis or faulty data Not lit None of the above has occurred U Orange Lit Pulses are being output to the U axis either forward or reverse g Flashing An error has occurred such as incorrect cable type for the U axi...

Page 36: ...e set for any other Special I O Units mounted to the same Programmable Controller Caution Be sure to turn off the power supply before making the settings The IR and DM areas are allocated according to the unit numbers that are set For details regarding allocated word addresses refer to the memory area allocation tables in Section 4 Data Areas ...

Page 37: ...nter reset output Origin adjustment command output B10 OUT Error counter reset output Origin adjustment command output A11 OUT Error counter reset output with 1 6 kΩ resistance Origin adjustment command output with 1 6KΩ resistance B11 OUT Error counter reset output with 1 6 kΩ resistance Origin adjustment command output with 1 6KΩ resistance A12 IN Positioning completed input signal B12 IN Positi...

Page 38: ...s for all outputs are connected to the 24 V output ground The commons for all inputs except for the 24 V and 5 V origin input signals and positioning completed input signals are connected to the input common The positioning completed input signal common is connected to the 24 V out put power supply through a diode The origin common is used with either the 24 V or the 5 V origin input signal 2 3 2 ...

Page 39: ...M2 nut four Cable holder two Screw two M2x6 pan head screws two The following connectors Fujitsu 360 Jack can be used 1 2 3 1 FCN 361J048 AU solder type FCN 360C048 D connector cover 2 FCN 363J048 crimp type housing FCN 363J AU S contact FCN 360C048 D connector cover 3 FCN 367J048 AU crimp type Cover Dimensions Cable holder ...

Page 40: ...note The pulse output and error counter reset circuitry of the Position Control Unit are provided with two types of terminals terminals with 1 6 kΩ 1 2 W limit resis tance and terminals with no resistance Select the terminals in accordance with the power requirements and the specifications of the motor driver to be used Caution Connect a load of 7 to 30 mA or 7 to 16 mA for terminals with 1 6 kΩ l...

Page 41: ...2 3 Section External I O Circuitry 28 Add bypass resistance for loads less than 7 mA 24 VDC power supply PCU Driver 6 mA 1 mA Bypass resistance 7 mA Circuit example ...

Page 42: ...mmon Line driver output Note Either N C or N O can be set by the axis parameters Refer to 4 3 Axis Param eters Area Connect a switch with a switching capacity of at least 5 mA to the 24 V origin input signal terminal The origin input signal s operating modes are used as follows Mode 0 Response time 0 1 ms N O contact setting Use a sensor such as a photoelectric switch with no chattering Modes 1 2 ...

Page 43: ... used 2 4 1 Output Connection Examples Pulses are not output when the output transistor in the pulse output section is OFF For direction output OFF indicates CCW Do not use a 24 VDC power supply for pulse output in common with the power supply for other I O ON OFF During pulse output Output transistor CW CCW CW CCW CW CCW Pulse Outputs Pulse and Direction Outputs Pulses Direction CW CCW Output tra...

Page 44: ...er for 5 VDC input Approx 12 mA Approx 12 mA A8 B8 A6 B6 24 VDC power supply For example R 220 Ω A2 B2 Note In this example the 1 6 kΩ resistors of the Position Control Unit are used to allow a 24 VDC power supply to be used with a motor driver rated at 5 VDC When wiring your system carefully note the current required by the motor driver in order to avoid damaging the input circuitry of the motor ...

Page 45: ...supply A2 B2 5 VDC power supply In this example a 5 VDC input motor is used for outputting pulse and direction signals Direction output Pulse input Position Control Unit 24 VDC input Pulse CW CCW output 1 6 kΩ 1 6 kΩ A1 B1 A5 B5 A7 B7 A2 B2 24 VDC power supply 7 to 30 mA 7 to 30 mA Direction input Motor driver for 5 VDC input When voltage level output is used the level is L for output ON and H for...

Page 46: ...5 6 5 6 A1 B1 A10 B10 A2 B2 A1 B1 A10 B10 A2 B2 Position Control Unit 24 VDC power supply for output ECRST ECRST ECRST 2 4 2 Input Connection Examples Caution If the switching capacity is too low it may cause damage to the switch Connect a switch with a switching capacity of at least 5 mA for each input With N C inputs be sure to connect a power supply for unused terminals and turn them on This se...

Page 47: ... C Origin proximity input signal N C or N O CW limit input signal N C or N O CCW limit input signal N C or N O C200HW NC113 213 413 Position Control Unit 24 VDC power supply External interrupt input signal Emergency stop input signal Origin proximity input signal CW limit input signal CCW limit input signal 680 Ω 4 7 kΩ 1 2W 680 Ω 680 Ω 680 Ω 680 Ω 4 7 kΩ 1 2W 4 7 kΩ 1 2W 4 7 kΩ 1 2W 4 7 kΩ 1 2W S...

Page 48: ...r Input Position Control Unit OMRON R88D UP Servomotor Driver 25 4 7 kΩ 150 Ω 680 Ω A16 B16 A14 B14 24 z z The positioning completed input signal is also used as an origin search com pleted signal in modes 2 and 3 Adjust the setting of the servomotor driver so that this signal always turns off while the servomotor is operating and on when the motor is stopped An origin search operation cannot be c...

Page 49: ... multi layer ceramic capacitor to the pulse output power supply to improve noise resistance Use shielded cable for control lines Connect the shielded cable to the frame ground at both the Position Control Unit and the driver Attach a surge absorber to all inductive loads such as relays solenoids and solenoid valves DC Diode for surge absorption AC Surge absorber RY RY DC relays AC relays Solenoid ...

Page 50: ...Unit and the driver Example 1 Mode 0 Connection This example shows the use of a stepping motor with an external sensor signal connected to the origin input signal A14 A20 A2 Signal 24 V 0 V A6 CW CCW CCW N C contact Position Control Unit Origin Input signal CCW limit input signal CW limit input signal CW output with 1 6 kΩ resistance 24 VDC Example DFU1507 stepping motor driver made by Oriental Mo...

Page 51: ...op input signal 08 to 15 0 m 5 00 to 03 0 Mode 0 04 to 07 0 Reverse mode 1 08 to 11 1 Takes origin input signal after origin proximity input signal is received 12 to 15 0 Search direction CW Note m is the beginning DM word allocated when the unit number is set Origin Search Operation The origin search operation is completed with the rising edge of the origin input signal after the rising edge of t...

Page 52: ...4 25 24 VDC 1 Z Z R88M U Servomotor Position Control Unit 24 V power supply for output Error counter reset output Origin proximity input signal CCW limit input signal CW limit input signal Emergency stop input signal N C contact 2 3 4 CW CW CCW CCW N O contact OMRON R88D UPjjjj Servomotor Driver A21 24 VDC Input common A8 N C contact 14 RUN 13 24VIN 24 V GND for output A11 5 6 ECRST ECRST Origin i...

Page 53: ...ut signal error counter reset signal output 08 to 15 0 m 5 00 to 03 1 Mode 1 04 to 07 0 Reverse mode 1 08 to 11 0 Takes origin input signal after rising and falling edge of origin proximity signal 12 to 15 0 Motor direction CW Note m is the beginning DM word allocated when the unit number is set Origin Search Operation The origin search operation stops on the rising edge of the first Z phase signa...

Page 54: ... the servomotor driver is not properly connected or set Note If the positioning monitor time is set to 0 the origin search operation will wait until the positioning completed signal turns ON but other operations such as jogging and memory operation will ignore the positioning completed signal Position Control Unit 24 V power supply for output 24 V GND for output Origin input signal Input common R8...

Page 55: ... 0 m 5 00 to 03 2 Mode 2 04 to 07 0 Reverse mode 1 08 to 11 0 Takes origin input signal after rising and falling edge of origin proximity input signal 12 to 15 0 Search direction CW Note m is the beginning DM word allocated when the unit number is set Origin Search Operation The origin search operation stops on the rising edge of the first Z phase signal after the origin proximity signal has turne...

Page 56: ...ioning completed signal turns ON but other operations such as jogging and memory operation will ignore the positioning completed signal 24 V power supply for output 24 V GND for output Origin adjustment command output Input common R88M U Servomotor Position Control Unit 24 VDC CCW output with 1 6 kΩ resistance 11 19 36 15 RUN Origin proximity input signal CCW limit input signal CW limit input sign...

Page 57: ... edge of origin proximity signal 12 to 15 0 Search direction CW Note m is the beginning DM word allocated when the unit number is set Origin Search Operation The origin search operation begins after the origin proximity signal has risen and fallen and the origin adjustment command is output to the servomotor driver after deceleration has ended The positioning completed signal is then input from th...

Page 58: ...used When there is an unused axis connect the emergency stop input signal N C contact and the CW CCW limit input signals N C N O switchable for that axis so that they are ON If the parameters are at their default settings the CW CCW limit input signals are N C contact inputs and so connect an input power supply and keep power ON If the emergency stop input signal and the CW CCW limit input signals...

Page 59: ...MTjjj XW2Z jjjJ B3 R88D Hjjj XW2Z jjjJ B4 R88D UTjjj jjj R88D WTjjjj XW2Z jjjJ A8 XW2B 20J6 1B XW2Z jjjJ B5 R88D UEPjjj jjj jjj R7D APjjj C200HW NC213 C200HW NC413 XW2Z jjjJ A7 XW2B 40J6 2B f C200H NC211 XW2Z jjjJ B1 R88D UPjjj C200HW NC413 jjj for C200H NC211 XW2Z jjjJ B2 R88D MTjjj XW2Z jjjJ B3 R88D Hjjj XW2Z jjjJ B4 R88D UTjjj jjj R88D WTjjjj XW2Z jjjJ A9 XW2B 40J6 2B XW2Z jjjJ B5 R88D UEPjjj j...

Page 60: ...em required for operating the motor is used and operations from the Program ming Console are described In general using a PCU requires the creation of ladder programs incorporating various kinds of data status information external input information and so on but here the explanations are aimed only at how to operate the motor For details regard ing data configuration and allocation refer to Sectio...

Page 61: ...ration times are related to the axis parameters area s maximum speed and actual target speed set values For details refer to Appendix B Esti mating Times and Pulses for Acceleration Deceleration Programming Console Data settings RELATIVE MOVEMENT command bit ON PC PCU RELATIVE MOVEMENT command Pulse output Stepping motor driver Stepping motor rotation The following data must be set for this exampl...

Page 62: ...ing For this operation use the configuration shown in the following diagram In this example only the motor will rotated without using the mechanical system For the purposes of this example it is assumed that the CPU is mounted to the CPU Backplane and that the unit number is set to 0 Position Control Unit CPU Unit Set to Unit 0 Power Supply Unit CPU Backplane 24 VDC power supply 24 VDC power suppl...

Page 63: ...als so short circuit them Position Control Unit CW pulse output with 1 6 kΩ resistance 24 V power supply for output 24 V GND for output Input common CCW limit output Stepping motor driver Stepping motor PK543 NAC Oriental Motor Co DFU1507 Oriental Motor Co 24 VDC power supply Emergency stop input signal CCW pulse output with 1 6 kΩ resistance CW limit output 24 VDC power supply For details on conn...

Page 64: ... are as follows Position DM 0507 and DM 0506 Speed DM 0508 Acceleration deceleration times DM 0510 Setting Position Data DM 0507 Leftmost DM 0506 Rightmost Use the Programming Console to write the following data 5 0 0 0 DM 0506 0 0 0 0 DM 0507 Enter 5000 pulses in 4 digits BCD divided into leftmost and rightmost Setting Speed Data DM 0508 Use the Programming Console to write the following data 1 0...

Page 65: ...et Unit 0 04 Wd 100 Direct operation is started by the RELATIVE MOVEMENT command i e by the turning ON of bit 10004 RELATIVE MOVEMENT For details regarding the operating memory area refer to 4 4 Operating Memory Area In this example the direct operation method is used For details regarding direct operation refer to Section 7 Direct Operation ...

Page 66: ... Allocation 56 4 1 4 Data Areas 58 4 2 Common Parameters 74 4 3 Axis Parameters 76 4 3 1 Setting the Axis Parameters 76 4 3 2 Axis Parameters Details 77 4 3 3 Operation Modes 82 4 4 Operating Memory Area 83 4 5 Operating Data Area 89 4 6 Positioning Sequence Details 89 4 7 Setting Data With the SYSMAC NCT Support Tool 93 4 8 Setting Data for Unused Axes 93 4 8 1 Settings Required for Unused Axes 9...

Page 67: ...See note 1 I O refresh Data transfer instruction execution IOWR or IORD execution Instruction interpretation Status such as posi tioning completed present position Common parameters Interpretation and execution of set data Status such as I O signals of each axis error codes etc Internal memory Data area Address 0004 0099 1000 1300 1400 1600 1620 1640 1660 4670 Axis parameters Positioning sequences...

Page 68: ...yed for transferring the data is used m 1000 100 x Unit No n 100 10 x Unit No Unit No x9 400 10 x Unit No 10 Unit No yA 10 l Beginning word address in DM or EM area specified by the operating data area in the common parameter area k Beginning word address in DM or EM area specified by transfer source word or transfer destination word in operating data area 4 1 1 Flash Memory The contents of the PC...

Page 69: ...DM 2499 for NC413 PCUs DM 1000 to DM 1099 DM 1100 to DM 1199 DM 1200 to DM 1299 DM 1300 to DM 1399 DM 1400 to DM 1499 DM 1500 to DM 1599 DM 1600 to DM 1699 DM 1700 to DM 1799 DM 1800 to DM 1899 DM 1900 to DM 1999 DM 2000 to DM 2099 DM 2100 to DM 2199 DM 2200 to DM 2299 DM 2300 to DM 2399 DM 2400 to DM 2499 DM 2500 to DM 2599 DM 1000 to DM 1099 DM 1100 to DM 1199 DM 1200 to DM 1299 DM 1300 to DM 13...

Page 70: ...Unit 3 Unit 4 Unit 5 Unit 6 Unit 7 Unit 8 Unit A Unit B Unit C Unit D Unit E C200HW NC413 n to n 1 n 2 to n 3 n 4 to n 6 n 7 to n 9 I O Output Input Word address Axis X axis Y axis X axis Y axis C200HW NC213 n 100 10 x Unit No Unit No x9 400 10 x Unit No 10 Unit No yA 10 Note 1 The C200HW NC413 occupies the space for two unit numbers i e the unit number that is set and also the following number Fo...

Page 71: ...5 00 Common Parameter Area 0 0 D 0 m 1 1 0 0 When the common parameter area settings are made as shown in this example the operating data area will be allocated to DM 0100 onwards There is no EM area for C200H HS HE Programmable Controllers so in that case the EM area cannot be designated for the operating data area For details regarding data transfer area settings refer to Operating Data Area und...

Page 72: ...ata Memory I O Settings X axis m 4 NC113 Y axis m 28 NC213 Z axis m 52 and U axis m 76 NC413 15 00 0 0 0 0 0 0 0 0 0 0 I O settings 08 04 Bit Item Settings 00 Output pulse selection 0 CW CCW output 1 Pulse Direction output 01 to 03 Reserved Set to 0 04 Limit input signal type 0 N C input 1 N O input 05 Origin proximity input signal type 0 N C input 1 N O input 06 Origin input signal type 0 N C inp...

Page 73: ... Detects origin in designated origin search direction 1 Reverse mode 1 error stop at limit input Detects origin in designated origin search direction 2 Single direction mode No reverse 08 to 11 Origin detection method 0 Takes origin input signal after origin proximity input signal turns ON and OFF 1 Takes origin input signal after origin proximity input signal turns ON 2 Takes origin input signal ...

Page 74: ...rd X axis m 11 NC113 Y axis m 35 NC213 Z axis m 59 and U axis m 83 NC413 15 00 Sign x106 x105 x104 x103 x102 x101 x100 Leftmost word 00 15 Rightmost word Sign 0 Positive CW 1 Negative CCW Setting Range 9 999 999 to 9 999 999 pulses Backlash Compensation X axis m 12 NC113 Y axis m 36 NC213 Z axis m 60 and U axis m 84 NC413 15 00 x103 x102 x101 x100 Setting Range 0 to 9 999 pulses Backlash Compensat...

Page 75: ...101 x100 Setting Range 0 to 9 999 ms Valid when the operation mode is set to 2 or 3 CCW Limit Rightmost Word X axis m 20 NC113 Y axis m 44 NC213 Z axis m 68 and U axis m 92 NC413 CCW Limit Leftmost Word X axis m 21 NC113 Y axis m 45 NC213 Z axis m 69 and U axis m 93 NC413 CW Limit Rightmost Word X axis m 22 NC113 Y axis m 46 NC213 Z axis m 70 and U axis m 94 NC413 CW Limit Leftmost Word X axis m 2...

Page 76: ...quence numbers 00 to 99 BCD NC213 NC113 n 1 n 1 n 3 08 FORCED INTERRUPT NC113 n 1 09 to 11 Reserved 12 WRITE DATA enabled only for X axis bit 13 READ DATA enabled only for X axis bit 14 SAVE DATA enabled only for X axis bit 15 Reserved Input NC413 NC213 n 8 n 4 n 11 n 7 n 14 n 17 00 to 03 Output code 0 to F hexadecimal NC213 NC113 n 4 n 2 n 7 04 Waiting for memory operation 1 Waiting 0 Not waiting...

Page 77: ... DM 1999 cannot be set Transfer destination address the PCU address I 3 00 to 15 Number of transfer words Information for Reading Data Specify the following in four digits BCD when reading data I 4 00 to 15 Transfer source address Specify the following in four digits BCD when reading data Number of words to be transferred Transfer source address the PCU address I 5 00 to 15 Transfer destination wo...

Page 78: ...25 00 to 07 Teaching address Specify the position number for teaching from 00 to 99 BCD NC213 NC113 I 10 I 10 I 15 08 to 11 Acceleration time No Specify the acceleration time number from 0 to 9 BCD when executing ABSOLUTE MOVEMENT RELATIVE MOVEMENT INTERRUPT FEEDING JOG or ORIGIN RETURN Note If this is set to 0 the acceleration time set in the axis parameters will be used 12 to 15 Deceleration tim...

Page 79: ...e Details I O Settings X axis 0004 NC113 Y axis 0028 NC213 Z axis 0052 and U axis 0076 NC413 15 00 0 0 0 0 0 0 0 0 0 0 I O settings 08 04 Bit Item Settings 00 Output pulse selection 0 CW CCW output 1 Pulse Direction output 01 to 03 Reserved Set to 0 04 Limit input signal type 0 N C input 1 N O input 05 origin proximity input signal type 0 N C input 1 N O input 06 Origin input signal type 0 N C inp...

Page 80: ...igin in designated origin search direction 2 Single direction mode No reverse 08 to 11 Origin detection method 0 Takes origin input signal after origin proximity input signal turns ON and OFF 1 Takes origin input signal after origin proximity input signal turns ON 2 Takes origin input signal without using origin proximity input signal 3 Takes origin input signal after limit input signal turns ON a...

Page 81: ...xis 0033 NC213 Z axis 0057 and U axis 0081 NC413 15 00 x103 x102 x101 x100 14 13 12 Factor Factor 00 x1 01 x10 10 x100 11 x1 000 pps Default Setting 4250 Note When setting the origin search high speed or the origin search proximity speed with the IOWR instruction be sure to set both of these items together If only one of these items is set an error error code 8701 will be generated and the setting...

Page 82: ...7 NC413 Acceleration Time Leftmost Word X axis 0016 NC113 Y axis 0040 NC213 Z axis 0064 and U axis 0088 NC413 15 00 0 0 x105 x104 x103 x102 x101 x100 00 15 Leftmost word Rightmost word Range 0 to 250 000 ms Default Setting 0100 0000 Deceleration Time Rightmost Word X axis 0017 NC113 Y axis 0041 NC213 Z axis 0065 and U axis 0089 NC413 Deceleration Time Leftmost Word X axis 0018 NC113 Y axis 0042 NC...

Page 83: ...9 NC413 Set to 0000 Default Setting 0000 Sequence 0 X axis 1000 1001 1002 NC113 Y axis 2000 2001 2002 NC213 Z axis 3000 3001 3002 and U axis 4000 4001 4002 NC413 Example X axis 15 00 Axis designation Output code 0 Completion code 1000 12 11 08 07 04 03 Dwell time No Acceleration time No Deceleration time No 1001 Initial speed No Target speed No 1002 Axis Designation Set the bits for active axes to...

Page 84: ...is sequence data No 100 Speed 0 X axis 1300 NC113 Y axis 2300 NC213 Z axis 3300 and U axis 4300 NC413 15 00 Factor x103 x102 x101 x100 14 13 12 This data sets speed 0 The permissible setting range is 0 to 1 000 000 pps in the following combination The two leftmost bits are used for setting the factor Factor 00 x1 01 x10 10 x100 11 x1 000 Speed 0 to 3 999 Default Setting 0000 Speed 1 X axis 1301 NC...

Page 85: ...r axes from position 2 through position 97 which are not listed in detail here Position 98 X axis 1596 NC113 Y axis 2596 NC213 Z axis 3596 and U axis 4596 NC413 The settings are the same as for position 0 Default Setting 0000 0000 Position 99 X axis 1598 NC113 Y axis 2598 NC213 Z axis 3598 and U axis 4598 NC413 The settings are the same as for position 0 Default Setting 0000 0000 Reserved X axis 1...

Page 86: ... continue in order for all four axes from Deceleration Time 2 through Deceleration Time 8 which are not listed in detail here Deceleration Time 9 X axis 1638 NC113 Y axis 2638 NC213 Z axis 3638 and U axis 4638 NC413 The settings are the same as for deceleration time 1 Default Setting 0000 0000 Reserved X axis 1640 NC113 Y axis 2640 NC213 Z axis 3640 and U axis 4640 NC413 Set to 0000 Default Settin...

Page 87: ...and U axis 4664 NC413 Zone 1 CW Side X axis 1666 NC113 Y axis 2666 NC213 Z axis 3666 and U axis 4666 NC413 The settings are the same as for zone 1 Default Setting 0000 0000 Zone 2 CCW Side X axis 1668 NC113 Y axis 2668 NC213 Z axis 3668 and U axis 4668 NC413 Zone 2 CW Side X axis 1670 NC113 Y axis 2670 NC213 Z axis 3670 and U axis 4670 NC413 The settings are the same as for zone 1 Default Setting ...

Page 88: ...899 C200HS C200HE ZE DM 0000 to DM 0999 DM 2000 to DM 5999 See note C200HX HG ZE For Unit No 10 DM 0000 to DM 0999 DM 2000 to DM 5999 See note EM 0000 to EM 6143 bank 0 only For Unit No 16 DM 0000 to DM 0999 See note DM 2600 to DM 5999 EM 0000 to EM 6143 bank 0 only Note The upper limit varies depending on the memory capacity Word m 2 Mounting position 15 00 Parameter designation 08 07 The mountin...

Page 89: ...ludes the settings for the operation mode the maximum speed the acceleration deceleration curve the origin search speeds the software limits and so on If the parameter designation setting in the common parameter area specifies that the axis parameters in DM m 4 to DM m 99 are to be used then those parameters will be transferred to the PCU If that parameter designation speci fies that the axis para...

Page 90: ...put 1 N O input 07 Emergency stop input Specifies the operation for when the emergency stop signal is input 0 Only stop pulse output 1 Stop pulse output and output the error counter reset signal enabled for operation modes 1 and 2 08 Origin undefined designation This setting specifies whether or not the origin will be undefined when an emergency stop signal CWW limit signal or CW limit signal is i...

Page 91: ...ch direction Error stop at limit input 2 Single direction mode Detects origin while operating in designated origin search direction Does not reverse Error stop at limit input for designated origin search direction Bit 08 to 11 Origin Detection Method This setting specifies the origin detection method Setting Explanation 0 Takes origin input signal after origin proximity input signal turns ON and O...

Page 92: ... axis m 32 NC213 Z axis m 56 and U axis m 80 NC413 15 00 x103 x102 x101 x100 14 13 12 Factor This setting specifies the origin search speed until the origin proximity input sig nal is received The permissible setting range is 1 to 500 000 in the following combination The two leftmost bits are used for setting the factor Factor 00 x1 01 x10 10 x100 11 x1 000 pps Speed 1 to 3 999 Example C100 1 000 ...

Page 93: ...tting specifies the speed for outputting the backlash compensation If 0 is set then the backlash compensation will be output at 500 pps when the initial speed is less than 500 pps or at the initial speed when the initial speed is 500 pps or more This setting can be used to shorten the positioning time in cases where it has been lengthened due to a large backlash compensation amount at a low speed ...

Page 94: ...ogging memory operation and so on the positioning completed signal will be ignored CCW Limit Rightmost Word X axis m 20 NC113 Y axis m 44 NC213 Z axis m 68 and U axis m 92 NC413 CCW Limit Leftmost Word X axis m 21 NC113 Y axis m 45 NC213 Z axis m 69 and U axis m 93 NC413 CW Limit Rightmost Word X axis m 22 NC113 Y axis m 46 NC213 Z axis m 70 and U axis m 94 NC413 CW Limit Leftmost Word X axis m 23...

Page 95: ... output PCU Position Control Unit SMD Stepping motor driver Set mode 0 when using a stepping motor driver A sensor is connected to the origin input signal connector pin numbers A14 A15 B14 B15 The response time for the origin input signal is 0 1 ms N O contact setting OS OPI X axis PCU Pulses SMD 24 VDC IC Set mode 1 when using a servomotor driver and connecting a line driver input and a error cou...

Page 96: ... in the operating memory area turning ON 4 4 Operating Memory Area The operating memory area is allocated to the Programmable Controller s IR area The IR area addresses are determined when the Position Control Unit s unit number is set The operating memory area is divided into outputs and inputs Commands related to operations are allocated to the output memory area and the com mands are sent to th...

Page 97: ...bit turns ON INDEPENDENT START references the sequence number enable bit and begins memory operation The difference between this command and START is that the completion code is treated as terminating except for when it is set to bank end 03 Direct opera tion ABSOLUTE MOVEMENT At the rising edge when this bit turns ON direct operation is started with the designated position treated as an absolute ...

Page 98: ...sent position at the begin ning of operation taken as 0 When INTERRUPT FEEDING is input the present position becomes the reference and the axis is moved for the designated amount The position speed and accel eration deceleration times are designated in the operating data area 06 ORIGIN SEARCH At the rising edge when this bit turns ON an origin search is executed The origin search speed will depend...

Page 99: ...e output in operation mode 0 Refer to 9 9 Error Counter Reset Output and Origin Adjustment Command Output 1 Signal ON 0 Signal OFF When an origin search is performed in operation modes 1 to 3 outputs are automatically set as error counter reset and origin adjustment command outputs Refer to Section 6 Defining the Origin 14 Override enable This bit enables or disables the override function When thi...

Page 100: ...ritten by means of a data transfer The Y Z and U bits are not used Word n 1 bit 12 is used to write the data for all axes i e not just the X axis 13 READ DATA At the rising edge when this bit turns ON data is read by means of a data transfer The Y Z and U bits are not used Word n 1 bit 13 is used to read the data for all axes i e not just the X axis 14 SAVE DATA At the rising edge when this bit tu...

Page 101: ...o Origin Flag OFF when the origin is established and ON when the origin is not established 07 Origin Stop Flag ON when stopped at the origin OFF at all other times 08 Zone 0 ON when within the zone 0 range and OFF when outside of that range regardless of whether or not the origin is established 09 Zone 1 Same as for zone 0 10 Zone 2 Same as for zone 0 11 Teaching completed Turns ON when teaching i...

Page 102: ...rea is divided into outputs and inputs Words l to l 5 consti tute the output common area for setting information related to transferring data The remaining words are used as an output area settings such as positions and speeds for direct operation and as an area for inputting axis I O signal sta tus sequence numbers during memory operation and error codes The operating data area exchanges data wit...

Page 103: ... data number If more than one axis designation is made for one sequence data number an Axis Designation Error will occur For example an Axis Designation Error will occur in the following cases Axis designation of XY for the X axis sequence data No 100 Axis designation of Y for the Y axis sequence data No 100 If two or more axes are selected with the axis designation setting the desig nated axes wi...

Page 104: ...cceleration Initial speed Time START Target position 1 Automatic The sequence is executed and then positioning is paused for the duration of the dwell time before the next sequence is started automatically Target speed Next sequence started Time START Dwell time 2 Continuous The sequence is executed and then positioning continues with the next sequence without stopping at the target position If a ...

Page 105: ...tput and then stopped The rest of this operation is the same as for interrupt feeding in the forward direction described above Interrupt input Time START Specified amount of movement in direction opposite to axis feeding direction Immediate reversal Target speed This setting specifies the dwell time number from 00 to 19 BCD The contents of the settings are as follows 00 Dwell time not used 01 to 1...

Page 106: ...Required for Unused Axes At power up or restart the PCU checks the parameters for all axes If illegal data is detected an error is generated for the relevant data and all operations other than data transfer or saving are disabled Also if an attempt to transfer illegal data is made an error is generated and all axes are decelerated to a stop There fore parameters must be set correctly for all axes ...

Page 107: ...d for wiring the limit input signal Bit 04 limit input signal type 0 N C input With this setting it is necessary to connect an input power supply and supply power 1 N O input With this setting wiring is not necessary since the signal will be deemed to be ON 0060 m 6 m 30 m 54 m 78 Maximum speed Make these settings so that the following condition is satisfied 0tOrigin search proximity speedtOrigin ...

Page 108: ...Chart for Reading Data 104 5 3 3 Data Reading Program Example 105 5 4 Writing Data with IOWR 107 5 4 1 Outline 107 5 4 2 Instruction Specifications 108 5 4 3 Flags Used 108 5 4 4 Precautions when Using IOWR 109 5 4 5 IOWR Program Example 109 5 5 Reading Data with IORD 110 5 5 1 Outline 110 5 5 2 READ DATA Procedure 110 5 5 3 Instruction Specifications 111 5 5 4 Flags Used 111 5 5 5 Precautions whe...

Page 109: ...a have been properly set for correct operation The transferred data is written to the Position Control Unit s memory but it will be lost if the power is turned off or if the Unit is restarted To keep the transferred data permanently in the Position Control Unit it will need to be saved there Refer to 5 7 2 Procedure for Saving Data Once saved the data is kept in the flash memory of the Position Co...

Page 110: ...meters see note Positioning sequences Speeds Positions Acceleration times Deceleration times Dwell times Zones Note When the power is turned on or when the Unit is restarted a choice is available by using Specify Parameters in the DM area common parameters refer to 4 2 Common Parameter Area between sending the axis parameters automatically from the DM area to the Position Control Unit or using the...

Page 111: ...s 2000 to 2297 For Y A i Positioning sequences For Y A i Positioning sequences 2300 to 2399 Axis Speeds Axis Speeds 2400 to 2598 Positions Positions 2600 to 2618 Acceleration times Acceleration times 2620 to 2638 Deceleration times Deceleration times 2640 to 2659 Dwell times Dwell times 2660 to 2670 Zones Zones 3000 to 3297 For Z A i Positioning sequences 3300 to 3399 Axis Speeds 3400 to 3598 Posi...

Page 112: ...r bit or IOWR instruction I O refresh PCU Data check Error Transfer Error Output to CPU Unit containing illegal data CPU Unit Error not output to CPU Unit Operating memory area IOWR instruction completed successfully I O refresh PCU Data check Error Error cleared Transfer Error Not Output to CPU Unit Transfer data containing illegal data Error flag Error code Transferred using data transfer bit or...

Page 113: ...he operating memory area is turned ON the data in the PC s DM or EM area designated in the operating data area along with the number of transfer words the transfer source word and the transfer destination address are written to consecutive addresses at the Posi tion Control Unit to to to Position Control Unit NC413 Work bit Operating memory area WRITE DATA word n 1 bit 12 Data area Sequence 0 Sequ...

Page 114: ...ve are required when using the Position Control Unit for the first time or when modifying the data in the common parameters 5 2 2 Timing Chart for Writing Data Writing data is possible even during axis operation It is not possible to write data and read data at the same time The following diagram is a timing chart for writing data Number of transfer words l Transfer source word I 1 Transfer destin...

Page 115: ...and the other settings are as follows Data Address transfer destination DM transfer source Setting Speed 0 1300 0500 1000 Speed 1 1301 0501 5500 Position Control Unit NC413 Unit No 0 Work bit Operating memory area WRITE DATA 10112 Data area Common parameters Operating data area Data transfer Speed 0 Speed 1 Speeds to be Transferred ...

Page 116: ...its Data transfer should not start or end part way through the data For example with X axis sequence 0 the data unit becomes three words in addresses 1000 to 1002 If the transfer is started or ended part way through a read transfer words error error code 8320 or read transfer source address error error code 8321 will be generated 3 Any word in the DM or EM area except for DM 1000 to DM 1999 can be...

Page 117: ...n 1 bit 13 from OFF to ON The operations in 1 and 2 above are required when using the Position Control Unit for the first time or when modifying the data in the common parameter area 5 3 2 Timing Chart for Reading Data Reading data is possible even during axis operation It is not possible to write and read data at the same time The following diagram is a timing chart for reading data Number of tra...

Page 118: ...he WRITE DATA Bit are read The conditions to be set are the same as those for the data writing example The beginning word of the DM area where the read data is to be stored is set to DM 0500 Position Control Unit NC413 Unit No 0 Work bit Operating memory area Data area Common parameters Operating data area Speed 0 Speed 1 READ DATA 10113 Data transfer ...

Page 119: ...1 5 0 0 Speed 1 Read switch Work bit Data transferring Set total number of words to be read from Position Control Unit to 2 Set the read destination beginning address for Position Control Unit data area to 1300 transfer source Set the beginning word address of the DM area where the read data is to be stored to 0500 transfer destination READ DATA Example of Program ...

Page 120: ...stination unit number and number of transfer words Data Sequence 1 Sequence 99 The Position Control Unit for which IOWR is used to write data must be mounted on the Programmable Controller s CPU Rack or an Expansion I O Rack Refer to 5 4 2 Instruction Specifications and the Programmable Controller s operation manual for details on how to set the operand for the IOWR instruction 1 2 3 1 Setting IOW...

Page 121: ...range from 1 to 128 00 15 12 11 Number of transfer words Destination unit number 5 4 3 Flags Used When data is transferred using IOWR it will be possible to use the ER Flag 25503 and the Equals Flag 25506 to check whether the transfer has been completed successfully If the Error Flag word n 8 bit 12 is ON an error code will be output to I 27 in the operating data area Check this error code to dete...

Page 122: ...example with X axis sequence 0 the data unit becomes three words consisting of addresses from 1000 to 1002 If the transfer is started or ended part way through ER Flag 25503 will be turned ON When transferring the origin search high speed and origin search proximity speed settings be sure to transfer both settings together It is not possible to transfer only one of these settings Note Depending on...

Page 123: ...gent I O Read instruction IORD can be used for reading data 5 5 1 Outline This section outlines how to read positioning sequences from a Position Control Unit Using IORD 128 words of data in consecutive addresses can be read at one time Refer to 5 4 Writing Data with IOWR for an outline The Position Control Unit executing READ DATA using IORD must be mounted on the Programmable Controller s CPU Ra...

Page 124: ...ontroller which will store the data Destination address 5 5 4 Flags Used When data is transferred using IORD it will be possible to use the ER Flag 25503 and the Equals Flag 25506 to check whether the transfer has been completed successfully If the Error Flag word n 8 bit 12 is ON an error code will be output to I 27 in the operating data area Check this error code to deter mine the cause of the e...

Page 125: ...utive addresses can be transferred at one time When using IORD be sure to transfer data in complete units and do not start or end transfer in the middle of data For example with X axis sequence 0 the data unit becomes three words consisting of addresses from 1000 to 1002 If the transfer is started or ended part way through the ER Flag 25503 will be turned ON 5 5 6 IORD Program Example In this exam...

Page 126: ...that runs under Windows 95 and can be used for setting all kinds of data used by a Position Control Unit as well as for monitoring the operating status of the Position Control Unit Refer to the SYSMAC NCT Support Tool Operation Manual for details on its operation Note Do not carry out multiple transfers from SYSMAC NCT Support Tool to the same Position Control Unit at the same time There is a prob...

Page 127: ...to the flash memory parameters and other data can be retained The following types of data can be saved in the flash memory Axis parameters Positioning sequences Speeds Acceleration and deceleration times Dwell times Zones Note The data for the number of axes for the particular Position Control Unit being used is all saved at once Parameters and other data that have been saved to flash memory are r...

Page 128: ...ill result in a multiple start error error code 8000 It is also not possible to save data while pulses are being output The following diagram is a timing chart for saving data SAVE DATA n 1 bit14 Transferring data n 8 bit 14 When the data saving operation has been completed the Transferring Data Bit word n 8 bit14 is turned from ON to OFF ...

Page 129: ...position to 0 Refer to 9 6 Changing the Present Position for information on resetting the present position 6 1 Setting the Data for an Origin Search 118 6 2 Executing Origin Search 119 6 2 1 Origin Search Operation 119 6 2 2 Operation Patterns According to Origin Detection Methods 120 6 2 3 Operation Patterns According to Operation Modes 124 6 2 4 Operation Pattern With Origin Compensation 129 6 3...

Page 130: ...ction method 0 With origin proximity input signal reversal 1 Without origin proximity input signal reversal 2 Origin proximity input signal not used 3 Limit input signal used instead of origin proximity input signal Origin search direction 0 CW 1 CCW Initial speed m 7 m 31 m 55 m 79 00 to 15 102 101 100 15141312 00 U it Origin search high speed m 8 m 32 m 57 m 81 00 to 15 x102 x101 x100 x103 Units...

Page 131: ...Executing Origin Search This section provides information about the ORIGIN SEARCH command and the operation patterns for origin searches using the various settings 6 2 1 Origin Search Operation The operation varies as follows according to whether or not an origin proximity input signal is used There is no deceleration when stopping from the origin search proximity speed with the origin input signa...

Page 132: ...eration 0 Reversal mode 1 0 Takes origin signal after origin proximity signal turns ON and OFF Note If a reversal is initiated by a limit signal a stop without deceleration will occur and acceleration will occur after reversing Origin proximity input signal Origin input signal Pulse output Origin search high speed Origin search proximity speed Start Stop Stop Start CW limit See note Start Stop 1 T...

Page 133: ...mit See note Start Stop Start Stop 3 Limit input signal used instead of origin proximity input signal An origin detection method error error code 1607 is generated and settings are not possible Origin detection method Origin search operation 1 Reversal mode 2 0 Takes origin signal after origin proximity signal turns ON and OFF Note A limit signal is input and operation is stopped without decelerat...

Page 134: ...a result Origin input signal Pulse output Start Stop Stop Start CW limit See note Start Limit Stop Error Code 6201 Origin search proximity speed 3 Limit input signal used instead of origin proximity input signal An origin detection method error error code 1607 is generated and settings are not possible Origin detection method Origin search operation 2 Single direction mode 0 Takes origin signal af...

Page 135: ...e Limit Stop Error Code 6200 Start 2 Origin proximity input signal not used Note A limit signal is input and operation is stopped without deceleration Origin input signal Pulse output Start Stop CW limit See note Limit Stop Error Code 6201 Start CW limit See note Limit Stop Error Code 6201 Start Origin search proximity speed 3 Limit input signal used instead of origin proximity input signal Note A...

Page 136: ... detection method is set to 3 Origin proximity input signal Origin input signal Pulse output Start Origin input signal error error code 6202 The Z phase signal from the servodriver is connected to an origin input signal A14 A15 A16 B14 B15 B16 An origin input signal is input and within an interval of approximately 20 ms after the stop a error counter reset signal is out put Approx 20 ms Origin inp...

Page 137: ... is long enough i e more than the decelera tion time Origin proximity input signal Pulse output Start Stop Logical position for origin proximity input signal OFF Stop Start Origin input signal Z phase signal Origin Detection Method 1 If an origin proximity input signal is input during deceleration the stop position will vary according to the length of the deceleration time Origin proximity input s...

Page 138: ...ion starts on the rising edge of the origin proximity input signal and the origin adjustment command is output on the falling edge Positioning stops on the rising edge of the positioning completed input signal from the Servomotor Driver Pulse output Time Positioning completed input signal Origin proximity input signal Busy Flag Origin adjustment command output Start Stop Note When the origin searc...

Page 139: ...e start location of the origin search is different or where the deceleration time is short refer to the previously described Mode 1 In Mode 3 if deceleration is not completed when the origin proximity input signal is turned ON and then turned OFF an origin adjustment signal will be output after deceleration is completed Origin Detection Method 1 Deceleration starts on the rising edge of the origin...

Page 140: ...t command output Start Stop Stop Start When deceleration time is long When deceleration time is short Origin Detection Method 3 Deceleration starts on the rising edge of the limit input signal After the signal turns OFF an origin adjustment command output turns ON If the deceleration is insufficient while the limit input signal is ON there will be an error Pulse output Time Origin adjustment comma...

Page 141: ...al speed there will be no acceleration or deceleration for the compensation pulse output If that speed is at least equal to the initial speed there will be acceleration and decel eration Time Time Initial speed Initial speed The override is not enabled with respect to pulse output during origin search but it is enabled with respect to the amount of pulse output set for origin compensa tion Pulse o...

Page 142: ...Signal Pulse output Time Origin proximity input signal Origin input signal ORIGIN SEARCH Start Stop Positioning Completed Origin Stop Flag No Origin Flag Busy Flag When Not Using an Origin Proximity Input Signal Pulse output Time Origin input signal ORIGIN SEARCH Start Stop Positioning Completed Origin Stop Flag No Origin Flag Busy Flag 0 0 0 0 0 ...

Page 143: ...ut Time Origin proximity input signal Origin input signal ORIGIN SEARCH Start Stop Positioning Completed Origin Stop Flag No Origin Flag Busy Flag When Not Using an Origin Proximity Input Signal Pulse output Time Origin input signal ORIGIN SEARCH Start Stop Positioning Completed Origin Stop Flag No Origin Flag Busy Flag 0 0 0 0 0 ...

Page 144: ...diagram shows an example of a deceleration stop during an origin search when there is an origin proximity input signal reversal Pulse output Time Origin proximity input signal Origin input signal ORIGIN SEARCH Start Stop Positioning Completed Busy Flag Limit signal input in search direction STOP Start Deceleration stop execution No Origin Flag Origin Stop Flag Error counter reset output ...

Page 145: ...irst release the pulse output prohibition The following diagram shows an example of an emergency stop during an origin search when there is an origin proximity input signal reversal Pulse output Time Origin proximity input signal Origin input signal ORIGIN SEARCH RELEASE PROHIBIT Emergency stop input Error Flag Positioning Completed Busy Flag Deceleration stop execution No Origin Flag Origin Stop ...

Page 146: ... 11 n 7 n 14 n 17 07 1 Stopping at origin 0 Other Busy Flag NC213 NC113 n 4 n 2 n 7 13 1 Busy Operating Data Area Name Model Operating memory area Set i Details X axis Y axis Z axis U axis ting Speed designation NC413 NC213 NC113 I 8 I 8 I 8 I 13 I 13 I 18 I 23 00 to 15 x102 x101 x100 15141312 00 x103 Factor 00 x 1 01 x 10 10 x 100 11 x1 000 Unit pps Acceleration time number Deceleration time numb...

Page 147: ...chart for executing an origin return on the X axis looks like this Pulse output Time ORIGIN RETURN word n bit 07 Initial speed Target speed Deceleration Initial speed Acceleration Start Stop at origin Origin Stop Flag word n 8 bit 07 Busy Flag word n 8 bit 13 ...

Page 148: ...7 3 1 Starting Direct Operation 141 7 3 2 Direct Operation and the Operating Data Area 141 7 3 3 Multiple Starts With Direct Operation 142 7 3 4 Multiple Start Operating Patterns 142 7 3 5 Starting Direct Operation During Memory Operation 143 7 4 Procedures for Setting Data for Direct Operation 143 7 5 Direct Operation Timing Charts 144 7 6 Sample Program 146 7 6 1 Details of Operation 146 7 6 2 S...

Page 149: ...ing data area in the Programmable Controller As a result the positions and speeds can be input from outside and processed by calculating present positions from the Position Control Unit for example and position control executed with the data as if it were new data This fact allows more flexibility and permits position control to be exercised more simply Position Control Unit Positions Speeds etc W...

Page 150: ...the Position Control Unit s unit number was set Speed CW position 1 2 The positions and speeds set in the operating data area by the MOV instruction are output to the Position Control Unit automatically at I O refresh time Data transfer is not required Transfer the designated acceleration deceleration time number in advance Start is executed by the ABSOLUTE MOVEMENT command for the X axis word n b...

Page 151: ...ls NC113 NC213 NC413 X axis Y axis Z axis U axis Initial speed m 7 m 31 m 55 m 79 00 to 15 x102 15 14 13 12 x103 Factor 00 x 1 01 x 10 10 x 100 11 x1 000 x101 x100 00 Acceleration time m 15 m 16 m 39 m 40 m 63 m 64 m 87 m 88 00 to 15 0 x105 x104 x103 x102 x101 x100 15 00 Leftmost 15 00 Rightmost 0 Setting range 0 through 250 000 ms Deceleration time m 17 m 18 m 41 m 42 m 65 m 66 m 89 m 90 00 to 15...

Page 152: ...rameter acceleration deceleration time is used 7 3 Operations With Direct Operation 7 3 1 Starting Direct Operation There are two ways of starting direct operation 1 2 3 1 Turn the ABSOLUTE MOVEMENT command from OFF to ON 2 Turn the RELATIVE MOVEMENT command from OFF to ON Positions to the location arrived at by designating the position for the operating data area as absolute Positions to the loca...

Page 153: ...Start Operating Patterns When a reversal is specified by the ABSOLUTE MOVEMENT command posi tioning will first decelerate at the deceleration time that has been set and then accelerate in the reverse direction at the acceleration time that has been set Multiple reversals may not be possible if they are generated while a reversal operation is already being performed Without Reversal With Reversal S...

Page 154: ...me as P3 to P0 Note If an attempt is made to execute something else while any of the following opera tions are in progress a multiple start error error code 8000 will be generated start independent start origin search changing the present position jogging teaching releasing the pulse output prohibition absolute movement relative movement interrupt feeding or saving data Refer to the Busy Flag and ...

Page 155: ...osition at 10 000 pulses Position designation I 7 I 6 Speed designation I 8 ABSOLUTE MOVEMENT word n bit 03 Pulse output Speed Time Positioning Completed word n 8 bit 05 Busy Flag word n 8 bit 13 Example 2 Changing absolute position to 10 000 pulses while moving to absolute position at 10 000 pulses Position designation I 7 I 6 Speed designation I 8 ABSOLUTE MOVEMENT word n bit 03 Pulse output Spe...

Page 156: ... n bit 04 Pulse output Speed Time Positioning Completed word n 8 bit 05 Busy Flag word n 8 bit 13 Example 4 Changing the relative position to 10 000 pulses while moving to relative position at 10 000 pulses Position designation I 7 I 6 Speed designation I 8 RELATIVE MOVEMENT word n bit 04 Pulse output Speed Time Positioning Completed word n 8 bit 05 Busy Flag word n 8 bit 13 ...

Page 157: ...the acceleration and deceleration times and the actual accel eration and deceleration times are related to the values set for the actual target speeds and maximum speeds for the axis parameter area For details refer to Appendix B Estimating Times and Pulses for Acceleration Deceleration 7 6 2 Setting Conditions and Details The following table shows details of settings and conditions Item Details U...

Page 158: ...3 Speed I 8 x102 x101 x100 15 14 13 12 00 x103 Factor 00 x 1 01 x 10 10 x 100 11 x1 000 Unit pps 0508 5500 Acceleration deceleration time number 15 00 07 08 Acceleration time 0 through 9 Deceleration time 0 through 9 If 0 is set the acceleration deceleration times set in the parameter data area m 15 through m 18 will be used If 1 through 9 are set acceleration deceleration time from No 1 through N...

Page 159: ...4 8 3 Operations With Memory Operation 155 8 3 1 Starting Memory Operation 155 8 3 2 Memory Operation In Accordance With Positioning Sequences 155 8 3 3 Linear Interpolation 159 8 3 4 Using Continuous Completion with Linear Interpolation 160 8 4 Procedures for Setting Data for Memory Operation 162 8 5 Timing Chart for Memory Operation 162 8 6 Sample Program 165 8 6 1 Operation 165 8 6 2 Conditions...

Page 160: ...o 1 Set by MOV instruction etc Automatically output by I O refresh Sequence No setting Transferred in advance Sequence 0 Sequence 1 Sequence 99 Position 0 Position 1 Position 99 Speed 0 Speed 1 Speed 99 Acceleration time 1 Acceleration time 2 Acceleration time 9 Deceleration time 1 Deceleration time 2 Deceleration time 9 1 2 The positioning sequences are sent in advance by data transfer to the Pos...

Page 161: ...with the positioning sequence is specified by the axis designation within the positioning sequence The positions used are those for the axes designated by the axis designation For data other than position data the data of the started axis is used as the data to be designated in the sequence data START X Positioning sequence X Position Y Designated axis Y Designated axis Z Position Z Positioning on...

Page 162: ...NC213 NC113 n 9 n 10 n 5 n 6 n 3 n 4 n 12 n 13 n 8 n 9 n 15 n 16 n 18 n 19 00 to 15 00 to 15 Present position rightmost Present position leftmost Note The Error Flag bit 12 is input to the active axis or the operating axis depending on the type of error that has been generated In the following example the Y axis has been specified by the axis designation when starting from the X axis PCU Model C20...

Page 163: ...ifferent Example START X START Y Positioning sequence X Positioning sequence Y Axis designation Y Axis designation Z Position Y Position Z Multiple start on Y axis Subsequent commands will be ignored if the axis for which start has been executed for memory operation is the same as the axis for commands other than memory operation such as origin search but a multiple start error will not occur Exam...

Page 164: ...in detection method Origin search direction m 5 m 29 m 53 m 77 00 to 03 04 to 07 08 to 11 12 to 15 15 00 Operation mode 0 to 3 Modes 0 to 3 Origin search operation 0 Reversal mode 1 1 Reversal mode 2 2 Single direction mode Origin detection method 0 With origin proximity input signal reversal 1 Without origin proximity input signal reversal 2 Origin proximity input signal not used 3 Limit input si...

Page 165: ... is disabled CW limit equal to or less than CCW limit and if the designation is made while the origin is estab lished No Origin Flag OFF positioning will be carried out by a relative amount even with absolute position data Present position is 0 at the time of designation 8 3 Operations With Memory Operation The following positioning can be carried out according to the positioning sequence settings...

Page 166: ...RT With automatic completion the position with the same number as this position ing sequence is executed and positioning is paused for the duration of the dwell time Then the position with the same number as the next 1 positioning sequence is executed Sequence 0 is executed after sequence 99 Speed Sequence n Sequence n 1 Time Sequence number Sequence number enable Automatic completion Dwell time S...

Page 167: ...te Note If INDEPENDENT START is executed a terminating com pletion and not a continuous completion will result Speed Sequence n Sequence n 1 Time Sequence number Sequence number enable Continuous completion START See note Note If a dwell time has been set the position is executed and then there is a pause for the duration of the dwell time before the next positioning sequence n 1 is executed Dwell...

Page 168: ...ce started is the one designated by the previous sequence number enable Speed Sequence n Sequence n Time Sequence number Sequence number enable START or INDEPENDENT START Bank end With speed control completion pulse output is supported at the target speed in this positioning sequence The present position can be calculated even during continuous output The direction of the pulse output is set by th...

Page 169: ...umber Sequence number enable START or INDEPENDENT START Movement by specified amount in opposite direction from axis feed direction Interrupt input Present position is reset when origin is not fixed 8 3 3 Linear Interpolation Two or more axes can be designated for linear interpolation work Use the axis designation in the positioning sequence to designate the axes for linear inter polation operatio...

Page 170: ...ate point Example Sequence No n Axis X Z Completion code Continuous Sequence No n 1 Axis X Y Z Completion code Continuous Sequence No n 2 Axis X Y Z Completion code Continuous Continuous operation is possible Possible temporary stop When using a stepping motor for continuous linear interpolation use the auto matic completion code completion code 1 Interpolation is started with the tar get speed an...

Page 171: ...cuting linear interpolation with the completion code set to continuous completion code 2 all axes with interpolation will temporarily stop at the intermediate points When reversing the operation direction of an axis the same period of time will be taken for other axes with interpolation Acceleration Deceleration will not occur for a temporary stop at intermediate points When this operation is exec...

Page 172: ...d parameters 2 Powering up again or re starting The data in the common parameter area set in 1 above is enabled 3 Transferring the data Refer to Section 5 Transferring and Saving Data Transfer the data set for the common parameters and for the axes to the Position Control Unit 4 Executing START Set the sequence number for beginning operation word n 1 bits 00 to 07 Turn ON the Sequence Number Enabl...

Page 173: ...NT START is used for stopping at each positioning sequence An INDEPENDENT START operation is treated as a terminating positioning sequence stopping after a single start regardless of the completion code A bank end operation completion code however will still generate a bank end operation In the following timing chart the completion codes for the positioning sequences are as follows using the X axi...

Page 174: ...a sequence number with its completion code set to terminating or bank end is executed pulse output stops when positioning is completed and then waits for START In the following timing chart the completion codes for the positioning sequences are as follows using the X axis as an example Sequence 0 Sequence 3 Continuous Sequence 1 Terminating Sequence 2 Automatic Sequence 4 Bank end Sequence number ...

Page 175: ...s refer to Appendix B Estimating Times and Pulses for Acceleration Deceleration Data Settings Sequence 10 Sequence 11 Position number 10 11 Axis designation X axis X axis Output code 0 0 Completion code Continuous Bank end Dwell time number 00 00 Acceleration time number 05 05 Deceleration time number 06 06 Initial speed number 20 20 Target speed number 21 22 8 6 2 Conditions and Details of Settin...

Page 176: ... Value set Address Speed data 20 x103 x102 x101 x100 15 14 13 00 12 1000 1000 1320 Speed data 21 x10 x10 x10 x10 Factor 00 x 1 01 x 10 10 x 100 11 x 1000 Setting range 0 to 1 000 000 pps 3000 3000 1321 Speed data 22 Setting range 0 to 1 000 000 pps 4000 4400 1322 Positions Data Data configuration Setting pulse Value set Address Position 10 x106 x105 x104 x103 x102 x101 x100 15 00 Leftmost 15 00 Ri...

Page 177: ...8 6 Section Sample Program 167 8 6 4 Program Example Start switch Work bit Busy Flag Setting for sequence 10 Sequence number enable START ...

Page 178: ...ry Area Allocation and Operating Data Area Settings 174 9 3 5 Timing Chart 175 9 4 Forced Interrupt 175 9 4 1 Timing Chart 176 9 5 Deceleration Stop 177 9 5 1 Outline of Operation 177 9 5 2 Operating Memory Area Allocation 177 9 5 3 Deceleration Stop During Positioning 177 9 5 4 Timing Chart 180 9 6 Changing the Present Position 180 9 6 1 Outline of Operation 180 9 6 2 Operating Memory Area Alloca...

Page 179: ...NC213 NC113 n n n 2 10 1 CCW direction 0 CW direction Busy Flag NC413 NC213 NC113 n 8 n 4 n 2 n 11 n 7 n 14 n 17 13 1 Busy If the software limit has been disabled CW limit equal to or less than CCW limit by the axis parameters even if JOG is executed with the origin established the result will be the same as if the origin were not established The present position becomes 0 when the JOG command is ...

Page 180: ...ore executing TEACH first establish the origin If the origin is not first estab lished a present position unknown error error code 5040 will be generated When TEACH is executed values will be written in the position data area in the internal memory of the Unit Since this data will be erased when the power is turned off or when the Unit is restarted perform data saving operation to pre serve the da...

Page 181: ...eted At start Busy Flag NC113 n 2 13 1 Busy Operating Data Area Name Model Operating memory area Bit Details X axis Z axis Y axis U axis Teaching address NC413 NC213 NC113 I 10 I 10 I 10 I 15 I 15 I 20 I 25 00 to 07 15 00 07 Teaching address Designate a position from 00 to 99 BCD 9 2 4 Timing Chart The following timing chart shows an example of teaching on the X axis taking the present position as...

Page 182: ...memory operation the positioning sequence completion code is set to interrupt feeding 5 or 6 and then this sequence number is started and the inter rupt input signal is awaited 1 2 3 1 Set the positioning sequence completion code to 5 interrupt feeding in direction of travel or 6 interrupt feeding in opposite direction and write it to the Position Control Unit 2 In the positioning sequence set the...

Page 183: ... 2 n 4 n 6 05 Start of interrupt feeding Direction designation NC213 NC113 n n n 2 11 1 CCW 0 CW Positioning Completed NC413 NC213 n 8 n 4 n 11 n 17 n 14 n 17 05 Positioning Completed Busy Flag NC213 NC113 n 4 n 2 n 17 13 1 Busy Operating Data Area Name Model Operating data area Bit Details X axis Y axis Z axis U axis Position NC413 NC213 NC113 I 6 I 7 I 6 I 7 I 6 I 7 I 11 I 12 I 11 I 12 I 16 I 17...

Page 184: ...command which is only enabled during memory operation It is used for taking emergency evasive action from the current opera tion under memory operation When a sequence number with the forced interrupt operation set is specified and the FORCED INTERRUPT Bit is turned ON the pulse output of the memory operation currently being executed is stopped without deceleration and posi tioning is executed fro...

Page 185: ...iming Chart In the following timing chart the completion codes for the various positioning sequence are as shown below using the X axis as an example Sequence 10 and Sequence 20 Continuous Sequence 11 and Sequence 21 Bank end The example shows how to execute a forced interrupt for sequence 20 while sequences 10 to 11 are being executed Sequence number n 1 bits 00 to 07 Sequence number enable word ...

Page 186: ...leration stop execution NC413 NC213 NC113 n 8 n 4 n 2 n 11 n 17 n 14 n 17 15 STOP completed When operation starts Busy Flag NC113 n 2 13 1 Busy 9 5 3 Deceleration Stop During Positioning When a deceleration stop has occurred before the target position has been reached the positioning can be resumed by executing START START STOP Pulse output Speed Sequence 0 Sequence 0 Sequence 1 Time If the comple...

Page 187: ...e disabled and their Deceleration Stop Execution Bits remain unchanged For example when executing linear interpolation for X axis data with the X and Y axes deceleration stop can only be executed by the Deceleration Stop Bit of the X axis When deceleration stop is executed during interpolation operation both the X and Y axes stop from deceleration When positioning is restarted the target position ...

Page 188: ...arting Y axis X axis Re start STOP Interpolation start begins Target position Completion of start For details regarding operation when the target position has been passed for an axis with an absolute position refer to Deceleration Stop During Positioning with Absolute Positions on page 177 When the X Axis and Y Axis Positions are Both Incremental When positioning is stopped by a deceleration stop ...

Page 189: ...mory area and then the origin is established If it is changed to 0 then that position will become the origin 9 6 2 Operating Memory Area Allocation and Operating Data Area Settings Operating Memory Area Name Model Operating memory area Bit Details X axis Y axis Z axis U axis PRESENT POSITION CHANGE NC413 NC213 NC113 n n n n 2 n 2 n 4 n 6 08 Beginning of present position change No Origin Flag NC413...

Page 190: ... Target speed Designated speed x Override 100 Override is not enabled for pulse output during origin search It is enabled how ever for the pulse output for the amount of compensation when origin com pensation is used Note A 0 override cannot be specified If 0 is specified an override error error code 8500 is generated when override is enabled 9 7 2 Operating Memory Area Allocation and Operating Da...

Page 191: ...ASE PROHIBIT Bit For the CW and CCW limit input signals pulses can be output in the reverse direction even if the limit input signal remains ON by turning ON the RELEASE PROHIBIT Bit Pulse outputs will be enabled on the rising edge of the RELEASE PROHIBIT Bit In addition for any of these inputs the user can specify with a parameter setting whether or not the existing origin determination is to be ...

Page 192: ...ter has been set so that the origin determination will be released when the input turns ON Pulse output Speed Time Busy Flag word n 8 bit 13 Emergency stop input signal PCU input A20 B20 ABSOLUTE MOVEMENT word n bit 03 RELEASE PROHIBIT word n bit 12 Positioning Completed word n 8 bit 05 Deceleration stop execution word n 8 bit 15 Error Flag word n 8 bit 12 No Origin Flag word n 8 bit 06 Error code...

Page 193: ...his bit is turned ON the error counter reset signal is output The following processing is executed 1 Pulse output is stopped 2 The origin determination is released 3 The error counter reset outputs A10 A11 B10 B11 are output OFF While this bit is ON if such operations as direct operation memory operation origin search or jogging are executed an error counter reset or origin adjustment command outp...

Page 194: ...is Error counter reset output or origin adjustment command output 5 v 9 9 3 Timing Chart In the following timing chart operation modes 0 to 2 are used with the X axis taken as an example Example 1 Used as general outputs in mode 0 Error counter reset output or origin adjustment command output word n bit 13 Error counter reset output or origin adjustment command output PCU output signal A10 A11 on ...

Page 195: ... axis Sequence number word n 1 bit 00 to 07 Sequence number enable word n bit 00 START word n bit 01 Error counter reset output word n bit 13 Waiting for memory operation word n 8 bit 04 Sequence number word I 26 bit 00 to 07 Sequence 0 completion code Continuous Sequence 1 Example 4 Origin adjustment command output turned ON in operating mode 3 only while pulses stopped Pulse output Speed Time Bu...

Page 196: ...m pensated for up to the amount of the output of pulses set for the backlash com pensation either when positioning in the negative direction or when the position ing direction pulse output direction is reversed With this Unit the backlash compensation value and compensation speed can be designated by parameters The backlash compensation operation is used after the origin has been estab lished If t...

Page 197: ...ut pulse outputs for all other interpolation operations are stopped Example Linear interpolation using the X and Y axes Speed Time Y axis X axis Duration of stoppage Y axis Period of movement by backlash compensation X axis Time If the backlash compensation setting is different for each axis in an interpolation operation during the period that interpolation is being executed for both axes simultan...

Page 198: ...92 10 2 2 Repeat Operation 196 10 2 3 Cancelling Positioning 200 10 3 Direct Operation 206 10 3 1 Positioning with Positions in the DM Area 206 10 3 2 Inching 209 10 4 Linear Interpolation 211 10 4 1 Two axis Linear Interpolation 211 10 5 Origin Search 216 10 5 1 Origin Search Using Limit Input 216 10 6 Override 218 10 6 1 Changing Speed During Continuous Output 218 10 7 Transferring and Saving Da...

Page 199: ...200HS Series Backplane C200H C200HS C200H BCjjj V2 C200HX HG HE Z E C200HW BCjjj Motor driver The following are required Servomotor driver and cabling between the motor and driver Stepping motor driver and cabling between the motor and driver Control cable between the PCU and driver 24 VDC power supply Direct current Tools SYSMAC C200H series tools such as CQM1 PRO01 E Personal computer Required w...

Page 200: ...of the power supply used as the common input through the N C contact switch Note When using the NC213 NC413 make the above connections as a minimum even for unused axes If this wiring is not done an error will be generated for applicable axes but other axes will operate normally Also be sure to use separate power supplies for the 24 VDC output power sup ply and the common input power supply Backpl...

Page 201: ...nsferring and saving data Copying data 221 10 2 Memory Operation 10 2 1 Checking Positioning Operations Overview The operation of each positioning sequence can be tested using INDEPEN DENT START under memory operation Positioning is executed one positioning sequence at a time with INDEPEN DENT START according to the contents of each sequence When using INDEPENDENT START positioning is stopped afte...

Page 202: ... setting 1000 000D Sets the operating data area to DM 0500 onwards 1014 Acceleration deceleration curve trapezoid 1001 0500 0500 o a ds 1015 0010 Acceleration time from 0 to i d 10 1002 0001 Not mounted to Slave DM 1004 onwards used for parameter transfer 1016 0000 maximum speed 10 ms 1003 Reserved 1017 0010 Deceleration time from i d 0 10 1004 I O setting 1018 0000 maximum speed to 0 10 ms 1005 O...

Page 203: ...ion time 0 Initial speed 3 Target speed 0 Note Addresses other than the above should be set to their factory values Address Setting Contents of setting 1300 0200 Speed 0 200 pps 1301 0300 Speed 1 300 pps 1302 0500 Speed 2 500 pps 1303 0000 Speed 3 0 pps Note Addresses other than the above should be set to their factory values Address Setting Contents of setting 1400 1200 Position 0 CW incremental ...

Page 204: ...e sequence number Sequence number enable Enables the sequence number Starts under operation checking Starts under normal operation Executed only when starting the first time Starts under operation checking Starts under normal operation Executed when starting from the second time onwards INDEPENDENT START START Takes the status of the operation start switch Busy Flag ...

Page 205: ...ts Operation starts Speed pps X axis 1 2 3 1 When the operation start switch is turned ON at the origin the program out puts 1 000 pulses CW on the X axis and stops Independent First set the origin to 0 either by performing an origin search or by execut ing PRESENT POSITION CHANGE 2 When the operation start switch turns ON positioning is executed using the continuous completion code and the progra...

Page 206: ...tioning monitor time 1006 0500 Maximum speed 500 pps 1020 CCW software limit 1007 Initial speed 1021 1008 0500 Origin search high speed 1022 CW software limit 1009 0100 Origin search proximity speed 1023 1010 Origin compensation value 1024 Reserved 1011 g p 1025 1012 Backlash compensation value 1026 1013 Backlash compensation speed 1027 Note Set the items marked in the table with asterisks to thei...

Page 207: ...et speed 1 1009 1000 Sequence 3 X axis designation Completion code Terminating Dwell time 0 1010 0022 Dwell time 0 Acceleration time 2 Deceleration time 2 1011 0402 Deceleration time 2 Initial speed 4 Target speed 2 1012 1002 Sequence 4 X axis designation Completion code continuous Dwell time 0 1013 0011 Dwell time 0 Acceleration time 1 Deceleration time 1 1014 0403 Deceleration time 1 Initial spe...

Page 208: ...ddresses other than the above should be set to their factory values Address Setting Contents of settings 1602 0005 Acceleration 1 5 ms 1603 0000 1604 0020 Acceleration 2 20 ms 1605 0000 1622 0005 Deceleration 1 5 ms 1623 0000 1624 0020 Deceleration 2 20 ms 1625 0000 Note Addresses other than the above should be set to their factory values Dwell times are not used in these programs so this data are...

Page 209: ... time Executed when starting from the second time onwards No Origin Flag Busy Flag 10 2 3 Cancelling Positioning Overview A forced interrupt can be used during memory operation to cancel the current positioning and perform a circumvention in case of an emergency This operation forcibly cancels the current positioning operation and executes positioning from the designated sequence number The pulses...

Page 210: ...tops Independent First set the origin to 0 either by performing an origin search operation or by executing PRESENT POSITION CHANGE 2 When the operation start switch turns ON positioning is executed using the continuous completion code The program outputs 3 500 pulses CW on the X axis and stops 3 When the operation start switch is turned ON the procedure in 2 above is repeated 4 When the FORCED INT...

Page 211: ...CW software limit 1007 Initial speed 1021 1008 0500 Origin search high speed 1022 CW software limit 1009 0100 Origin search proximity speed 1023 1010 Origin compensation value 1024 Reserved 1011 g p 1025 1012 Backlash compensation value 1026 1013 Backlash compensation speed 1027 Note Set the items marked in the table with asterisks to their factory settings Set the operation mode of those items ma...

Page 212: ...gnation Completion code bank end Dwell time 0 1010 0022 Dwell time 0 Acceleration time 2 Deceleration time 2 1011 0402 Deceleration time 2 Initial speed 4 Target speed 2 1012 1002 Sequence 4 X axis designation Completion code continuous Dwell time 0 1013 0011 Dwell time 0 Acceleration time 1 Deceleration time 1 1014 0403 Deceleration time 1 Initial speed 4 Target speed 3 1015 1003 Sequence 5 X axi...

Page 213: ...te Addresses other than the above should be set to their factory values Address Setting Contents of settings 1602 0005 Acceleration 1 5 ms 1603 0000 1604 0020 Acceleration 2 20 ms 1605 0000 1622 0005 Deceleration 1 5 ms 1623 0000 1624 0020 Deceleration 2 20 ms 1625 0000 Note Addresses other than the above should be set to their factory values Dwell times are not used in these programs so this data...

Page 214: ...nterrupt switch Sets 1 for the sequence number Forced interrupt start Executed at time of forced interruption Sequence number enable Busy Flag Busy Flag Takes the rising edge of the operation start switch Only executed when starting the first time Executed when starting from the second time onwards Takes the rising edge of the forced interrupt switch ...

Page 215: ... Operation Example The following example shows positioning by ABSOLUTE MOVEMENT com mand using positions on the DM Operation starts Speed pps X axis Operation starts Operation starts Operation starts 1 2 3 1 When the operation start switch is turned ON at the origin positioning is executed to1500 in the CW direction on the X axis 2 Subsequently as the switch turns ON each time positioning is execu...

Page 216: ... the motor and driver Designation of the Operating Data Area The operating data area is allocated to DM 0500 through DM 0533 by the data memory settings No prior settings are required for the operating data area because the data is be set in the program Data Settings The values for DM 1004 onwards are transferred when the power is turned on or at restart This data area is not used with direct oper...

Page 217: ...mber Not used 0014 1100 Acceleration deceleration time number 1 Teaching number Not used 0005 3000 CW direction 3 000 pulses 0015 0000 CW direction 0 pulses 0006 0000 0016 0000 0007 0400 Target speed 400 pps 0017 0400 Target speed 400 pps 0008 0000 Override not used 0018 0000 Override not used 0009 1100 Acceleration deceleration time number 1 Teaching number Not used 0019 2200 Acceleration deceler...

Page 218: ...M Setting Contents of setting DM Setting Contents of setting 1000 000D Sets the operating data area to DM 0500 onwards 1014 Acceleration deceleration curve trapezoid 1001 0500 0500 o a ds 1015 0000 Acceleration time from 0 to i d 0 1002 0001 Not mounted to a Slave DM 1004 onwards used for parameter transfer 1016 0000 maximum speed 0 ms 1003 Reserved 1017 0000 Deceleration time from i d 0 0 1004 I ...

Page 219: ... be left entirely at the factory settings This data area is not used with direct operation It should be left entirely at the factory settings Dwell times are not used in these programs so this data area needs to be set completely to the factory settings Zones are not used in these programs so this data area needs to be set com pletely to the factory settings Program D 0000 Number of inching pulses...

Page 220: ...program carries out an automatic interpolation operation then returns to the origin and stops X axis Y axis When the operation start switch is turned ON the following positioning is auto matically executed in the given order using linear interpolation and then posi tioning is stopped X Y 5000 1000 0 2000 5000 3000 0 4000 5000 5000 5000 0 0 0 The interpolation speed at this time is 500 pps Set the ...

Page 221: ...klash compensation speed 1037 Backlash compensation speed 1014 Acceleration deceleration curve trapezoid 1038 Acceleration deceleration curve trapezoid 1015 0010 Acceleration time from 0 to i d 10 1039 0010 Acceleration time from 0 to i d 10 1016 0000 maximum speed 10 ms 1040 0000 maximum speed 10 ms 1017 0010 Deceleration time from i d 0 10 1041 0010 Deceleration time from i d 0 10 1018 0000 maxi...

Page 222: ...pletion code automatic Dwell time 0 1010 0000 Dwell time 0 Acceleration time 0 Deceleration time 0 1011 0100 Deceleration time 0 Initial speed 1 Target speed 0 1012 3001 Sequence 4 X Y axis designation Completion code automatic Dwell time 0 1013 0000 Dwell time 0 Acceleration time 0 Deceleration time 0 1014 0100 Deceleration time 0 Initial speed 1 Target speed 0 1015 3001 Sequence 5 X Y axis desig...

Page 223: ...2402 2000 Position 1 CW absolute 2000 pulses 2403 0000 p 2404 3000 Position 2 CW absolute 3000 pulses 2405 0000 p 2406 4000 Position 3 CW absolute 4000 pulses 2407 0000 p 2408 5000 Position 4 CW absolute 5000 pulses 2409 0000 p 2410 0000 Position 5 CW absolute 0000 pulses 2411 0000 p 2412 0000 Position 6 CW absolute 0000 pulses 2413 0000 p Note Addresses other than the above should be set to their...

Page 224: ...witch Takes the rising edge of the operation start switch Busy Flag Sets 0 for the sequence number Sequence number enable Enables the sequence number Start No Origin Flag Only executed when starting the first time Executed when starting from the second time onwards ...

Page 225: ...arch proximity speed of 100 pps 3 When the first origin input signal is turned on after the CCW limit input signal is turned ON the pulse output is stopped and the origin is established Setting the Unit Unit Number Unit 0 Unit Used NC113 Data Memory Settings DM Setting Contents of setting DM Setting Contents of setting 1000 000D Sets the operating data area to DM 0500 onwards 1014 Acceleration dec...

Page 226: ...igin search It should be left entirely at the factory settings This data area is not used for origin search It should be left entirely at the factory settings This data area is not used for origin search It should be left entirely at the factory settings This data area is not used for origin search It should be left entirely at the factory settings Dwell times are not used for origin search so thi...

Page 227: ...tinu ous operation Operation starts Speed pps Time Speed change 1 Speed change 2 Speed change 3 Operation stops 1 2 3 1 When the operation start switch is turned ON continuous output is executed at a speed of 300 pps CW on the X axis 2 When speed change switch 1 is turned ON the continuous output deceler ates to a speed of 150 pps 3 When speed change switch 2 is turned ON the continuous output acc...

Page 228: ...e operation mode of those items marked in the table with a hash mark to accord with the motor and driver Designation of the Operating Data Area The operating data area is allocated to DM 0500 through DM 0533 by the data memory settings No prior settings are required for the operating data area because the data is set in the program Data Settings The values for DM 1004 onwards are transferred when ...

Page 229: ...n start switch JOG starts Takes the rising edge of the speed change switch Override 50 Override processing Speed 300 pps Deceleration time parameter Acceleration time parameter JOG direction JOG instruction Speed change switch 2 Speed change switch 3 Override 167 Override 100 Override enable 03005 Busy Flag ...

Page 230: ...ng C200HW NC113 DM area DM 3000 onwards Parameters data Write save Unit 2 Parameters data not transferred PC DM area DM 3000 onwards READ DATA 1 2 3 1 Mount the NC213 Unit 0 to the Programmable Controller s CPU Rack Make sure that the data and parameters for both the X and Y axes needed for the operation of the NC213 Unit 0 are all transferred 2 When the operation start switch is turned ON the par...

Page 231: ...202 0000 Not mounted to Slave No parameters transferred Designation of the Operating Data Area The operating data area is set during programming and therefore no setting is necessary beforehand Data Settings READ DATA Axis Parameters Positioning Sequences Speeds Positions Acceleration and Deceleration Times Dwell Times Zones Transfer the data needed for the operation beforehand to the Position Con...

Page 232: ...witch Reading of axis parameters Error determination for data reading Reading of data Timing determination for data reading completion Error Flag Error Flag Data Transferring Error Flag Error Flag Setting of operating data area for reading axis parameters Timing determination for data reading completion Error determination for data reading 03101 03100 ...

Page 233: ...10 7 Section Transferring and Saving Data 224 Setting of operating data area for reading data READ DATA ...

Page 234: ... of data Error Flag Error Flag Transferring data Error Flag Error Flag Saving of data Error determination for data writing Timing determination for data writing completion Timing determination for data writing completion Error determination for data writing Timing determination for data saving completion Error determination for data saving Error Flag Error Flag Transferring data 03100 03101 03102 ...

Page 235: ...10 7 Section Transferring and Saving Data 226 Setting of operating data area for writing data WRITE DATA SAVE DATA Setting of operating data area for writing axis parameters ...

Page 236: ...r during operation 11 1 Introduction 228 11 2 LED Error Indicators 230 11 3 Reading Error Codes 231 11 4 Error Code Lists 232 11 4 1 Data Check at Startup 232 11 4 2 Command Execution Check 235 11 5 CPU Error Indicators 243 11 5 1 Special I O Unit Error List 243 11 5 2 Useful Flags and Control Bits 244 ...

Page 237: ...he all axis data transfer and data save operations An error check is performed when a command is executed or a data irregularity is detected during operation An error check is also performed when a software limit emergency stop or limit signal is detected Refer to the tables in 11 4 Error Code Lists for details on the Unit operation when an error has occurred If an emergency stop or limit signal e...

Page 238: ...a Check at Startup Did an error occur Common parame ters check Did an error occur Flash memory check Y Y N Did an error occur Axis parameters check Check the wiring Position Control Unit and PC settings and correct if necessary Y N N Instruction execution error Did an error occur START command START command Correct the wiring and data N Y See 11 4 2 Instruction Execution Check ...

Page 239: ...lid unit number has been set Change the unit number settings to eliminate any duplication or invalid settings I O Bus error The PCU or I O Connecting Cable isn t connected correctly Check to be sure that the PCU is correctly mounted to the Backplane Check the I O Connecting Cables to each Rack CPU Bus Unit error Refreshing with the PC couldn t be performed correctly The Position Control Unit is mo...

Page 240: ... again for all axes save the parameters and either turn the power off and on again or restart the Unit f l l F F F F F Operating data area specification error The specification of the common parameters operating data area is incorrect After correcting the common parameters data either turn the power off and on again or restart the Unit f l F F F F F F Operating data area address specification erro...

Page 241: ...returned to their default values After correcting the common parameters data turn the power off Mounting position specification error 0012 The Position Control Unit s mounting position isn t set to 00 or 01 parameters data turn the power off and on or restart the Unit Parameter designation error 0013 The parameter designation isn t set to 00 or 01 Initial speed Initial speed BCD error 1000 There i...

Page 242: ...r 3 Origin search operation error 1605 The axis parameter s origin search operation setting isn t 0 1 or 2 Origin search direction error 1606 The axis parameter s origin search direction setting isn t 0 or 1 Origin detection method error 1607 Even though the axis parameter s origin search operation is set for other than single direction mode the origin detection method setting isn t 0 1 or 2 Backl...

Page 243: ...11 4 Section Error Code Lists 234 Note Only the SYSMAC NCT Units can recognize error codes 0001 0002 0010 0011 0012 and 0013 ...

Page 244: ...ge 0 to 250 s Acceleration Deceleration curve error 1330 The axis parameter s acceleration decel eration curve setting isn t 0 or 1 Positioning monitor time error 1332 There is a BCD error in the axis parameter s positioning monitor time Speed data Speed BCD error 1500 to 1599 These codes indicate that speed settings 00 to 99 have a BCD error or exceed the maximum speed The last two digits of the ...

Page 245: ... s CCW data decelerated to a stop Zone 1 CW error 1910 There is a BCD error in zone 1 s CW data Zone 1 CCW error 1911 There is a BCD error in zone 1 s CCW data Zone 2 CW error 1920 There is a BCD error in zone 2 s CW data Zone 2 CCW error 1921 There is a BCD error in zone 2 s CCW data Position data Target position BCD error 2000 to 2099 These codes indicate a BCD error in position settings 00 to 9...

Page 246: ...r PRESENT POSITION CHANGE Limit stop Stopped at CW limit 5060 A CW direction movement command was executed while the CW limit input signal was on After executing RELEASE PROHIBIT move in the CCW direction Stopped at CCW limit 5061 A CCW direction movement command was executed while the CCW limit input signal was on After executing RELEASE PROHIBIT move in the CW direction Software limits JOG Manua...

Page 247: ...ls being input in both directions Perform the origin search again after checking the wiring and signal types N C or N O of the limit signals in both directions The origin search won t be executed but other operating axes won t be affected Simultaneous origin proximity and limit signals 6204 The origin proximity input and limit signal in the origin search direction were input simultaneously during ...

Page 248: ... movement command Execute the command again after correcting the iti d The current START command won t be executed b t th ti Absolute movement speed error 7001 The speed designation of the ABSOLUTE MOVEMENT command is 0 or there is a BCD error g position or speed designation but other operating axes won t be affected Relative movement command Relative movement position error 7100 There is a BCD er...

Page 249: ... the command again The current START command won t be executed but other operating axes won t be affected A data save operation was executed while one of the following commands was in progress START INDEPENDENT START ORIGIN SEARCH ORIGIN RETURN PRESENT POSITION CHANGE JOG TEACH RELEASE PROHIBIT ABSOLUTE MOVEMENT RELATIVE MOVEMENT or INTERRUPT FEEDING Before executing a data save operation make sur...

Page 250: ...xecute the command again after correcting the teaching address The current START command won t be executed but other operating b Data transfer Write transfer number of words error 8310 The number of words to transfer was set to 0 had a BCD error or exceeded the maximum Execute the command again after changing the i t tti p g axes won t be affected Write transfer source word error 8311 There was a ...

Page 251: ...unt was out of range or wasn t BCD Execute the instruction again after correcting the data The current data transfer won t be executed but other operating axes won t be affected IOWR format error 8701 One of the following errors occurred when the IOWR instruction was executed The Position Control Unit s address was out of range or wasn t BCD The data transfer amount was out of range or wasn t BCD ...

Page 252: ...number settings to eliminate duplications The unit numbers can be listed with the I O Table Read operation Special I O Unit error Refreshing between the CPU Unit and Special I O Unit did not proceed normally In this case only the faulty Unit won t operate The Special I O Unit Error Flag SR 25415 will be ON Mounted on the Remote I O Slave Rack and the mounting position parameter of the Unit bits 08...

Page 253: ...N when an error occurred in Unit C 12 SR 28213 ON when an error occurred in Unit D 13 SR 28214 ON when an error occurred in Unit E 14 SR 28215 ON when an error occurred in Unit F 15 Note Used in C200HX HG CPU5j Z E 6j Z E CPU Units only Flag address Function SR 25415 ON when an error occurred in a Special I O Unit To restart a Special I O Unit toggle OFF ON OFF the corresponding Restart Bit shown ...

Page 254: ...000 000 Set value Note The actual speed is obtained within an error range of 0 02 Note Round Function for rounding the value Round 16 000 000 Set value Divider ratio pps Pulses per second Pulse output actual speed 16 MHz Pulse output LSI divider 0 02 This difference occurs because a 16 MHz source clock is divided by the pulse output LSI divider An error of 0 02 also occurs because the source clock...

Page 255: ...starting Interpolation starting from X axis 4 axis control Jogging 8 ms 7 5 ms 9 ms 11 ms 8 5 ms 10 5 ms 17 ms Memory operation 9 ms 8 ms 10 ms 14 ms 10 ms 9 ms 11 ms 24 ms 12 ms Direct operation 9 ms 8 5 ms 9 5 ms 12 ms 9 ms 11 ms 19 ms Data Transfer and Data Saving Time When data is transferred using either the READ DATA and WRITE DATA commands word n 1 bits 12 and 13 or the IORD and IOWR instru...

Page 256: ... interrupted SAVE DATA Data Transferring Flag Data saving time Effect on the Programmable Controller Scan When a single Position Control Unit is mounted the PC s cycle time increases as follows Operation NC113 NC213 NC413 Mounting 2 6 ms 2 9 ms 4 5 ms Data writing 2 9 ms 3 2 ms 5 5 ms Data reading 2 9 ms 3 2 ms 5 5 ms Minimum Operation Time The minimum operation time for the Position Control Unit ...

Page 257: ...ocessing Time The response time is as shown below with respect to external inputs such as limit sensors and interrupt inputs The Position Control Unit continues the current operation during the response time for each external input Example Emergency Stop Input Emergency stop input Pulse output Time Operation NC113 NC213 NC413 Emergency stop input 0 59 ms 0 59 ms 0 59 ms CW CCW limit input 7 7 ms 7...

Page 258: ...n the speed is changed until the change is reflected in the pulse output is as follows Speed designation Pulse output Before change After change Time Operation NC113 NC213 NC413 Speed change response 6 ms 6 ms 6 ms Target Position Change Processing Time in Direct Operation The target position can be changed during direct operation by changing the position data in the operating data area and restar...

Page 259: ... of them can all be found by means of the formulas shown below Speed pps Time ms PD PU VM VH VL 0 TU TD TAU TAD VM Maximum speed setting TU Acceleration time from initial speed VL to target speed VH TD Deceleration time from target speed VH to initial speed VL TAU Acceleration time setting TAD Deceleration time setting Using the above abbreviations the number of pulses for the acceleration and dec...

Page 260: ...ps Acceleration time setting TAU 400 ms Deceleration time setting TAD 550 ms Acceleration time TU 35000 5000 Acceleration pulses PU VH VL x TU 2 5827 pulses 30000 5000 x 333 x 10 3 2 x 400 x 5 6 x 10 3 333 ms Approx 5800 pulses VH VL x TD 2 8015 pulses 30000 5000 x 458 x 10 3 2 Approx 8000 pulses Deceleration time TD Deceleration pulses PD VH VL VM VL TAU 30000 5000 10 3 x 400 35000 5000 x 550 x 5...

Page 261: ...ress 1300 to 1399 2300 to 2399 3300 to 3399 4300 to 4399 1600 Origin compensation BCD error m 10 m 11 m 34 m 35 m 58 m 59 m 82 m 83 Address 0010 0011 0034 0035 0058 0059 0082 0083 1601 Origin search high speed error m 8 m 32 m 56 m 80 address 0008 0032 0056 0080 1602 Origin search proximity speed error m 9 m 33 m 57m 81 address 0009 0033 0057 0081 1603 Origin search speed inconsistent m 8 m 32 m 5...

Page 262: ...ty input signal 6201 No origin input signal Origin input signal 6202 Origin input signal error Origin input signal during deceleration 6203 Limit inputs in both directions CW CCW limit input signal 6204 Simultaneous origin proximity and limit signals Origin proximity input signal CW CCW limit input signal 6205 Limit input already being input CW CCW limit input signal 6206 Origin proximity reverse ...

Page 263: ...rror I 5 8400 Error counter reset origin adjustment output error 8500 Override error I 9 I 14 I 19 I 24 8600 Positioning timer timeout Servomotor driver positioning completed input signal m 19 m 43 m 67 m 91 address 0019 0043 0067 0091 8700 IORD format error 8701 IOWR format error 9300 Flash memory error ...

Page 264: ...tortion pulse width and so on CW pulse output Load current 15 mA Pulse signal cable 0 2 mm2 twisted pair cable length L recommended 2 0 m max 5 VDC power supply for pulse output Power supply cable AWG22 or equivalent 1 m Point A sample waveform vertical axis 1V div horizontal axis 500 ns div temperature room temperature L 0 1 m L 1 0 m L 2 0 m Position Control Unit Pulse output OFF Pulse output ON...

Page 265: ... below DM Function Designation of operating data area Beginning word of operating data area Unit mounting position parameter designation Reserved Bit Function 00 01 08 to 15 Unit mounting position CPU Rack Expansion I O Rack Remote I O Slave Rack 00 to 07 Parameter designation Parameters saved to PCU Parameters stored in m 4 to m 99 Unit Mounting Position Parameter Designation ...

Page 266: ...tting Operation mode selection Maximum speed Initial speed Origin search high speed Origin search proximity speed Origin compensation Backlash compensation Backlash compensation speed Acceleration deceleration curve X axis Y axis Z axis U axis Acceleration time Deceleration time Function Positioning monitor time CCW limit CW limit Reserved ...

Page 267: ...t 1 N O contact 05 Origin proximity input signal type 0 N C contact 1 N O contact 06 Origin input signal type 0 N C contact 1 N O contact 07 Emergency stop input signal 0 Pulse output stop 1 Pulse output stop and error counter reset signal output modes 1 and 2 08 Origin undefined designation 0 Retain prior status 1 Forcibly change to origin undefined status 09 to 15 Reserved Set to 0 I O Setting ...

Page 268: ... 07 Origin search operation 0 Reverse mode 1 reverse at limit input Detects origin in designated origin search direction 1 Reverse mode 1 Error stop at limit input Detects origin in designated origin search direction 2 Single direction mode No reverse 08 to 11 Origin detection method 0 Takes origin input signal after origin proximity input signal turns ON and OFF 1 Takes origin input signal after ...

Page 269: ... designating the operating data area using the common parameters and the data transfer area from the operating data area the following restrictions apply Operating Data Area I to I 33 max Only the following areas can be set using the common parameters m m 1 D00000 to D00999 D02600 to D05999 E0_00000 to E0_06143 m D20000 unit number 100 I Beginning word of operating data area Area Address in CS1 CP...

Page 270: ...tion word Word I 5 bits 00 to15 4 digits BCD General purpose DM D00000 to D00999 000D Hex 0000 to 0999 0000 to 0999 p p DM area D02600 to D05999 2600 to 5999 2600 to 5999 EM area bank 0 E0_00000 to E0_06143 000E Hex 0000 to 6143 0000 to 6143 Note Only the CPU Unit memory addresses in the above table can be designated Data Configuration The following data configuration diagrams are for the C200HW N...

Page 271: ...a C200H Expansion I O Rack a CS1 Expansion Rack or a SYSMAC BUS Remote I O Slave Rack In a basic system up to 16 C200HW NC113 213 PCUs or up to 8 C200HW NC413 PCUs can be mounted There are no restrictions on the mounting order 3 Connect external I O for the axes 4 Connect the Programming Device for the PC 5 Turn ON power for the PC 6 Create an I O table Software Settings 1 2 3 1 Make the common pa...

Page 272: ...with the parameters of the IOWR instruction is transferred Using SYSMAC NCT Operating Commands The following operating commands are used for both direct operation and memory operation They are executed by turning ON the respective command bit in the operating memory area NC113 n to n 4 NC213 n to n 9 NC413 n 19 For origin search turn the ORIGIN SEARCH Bit X axis word n bit 06 from OFF to ON To sta...

Page 273: ...a starting from D00506 contain ing position speed and acceleration deceleration time settings for the axes Adds 5 to the pointer D00020 Indicates end of positioning data This flag turns ON when contents of the pointer D00020 are 0020 Initializes i e sets to 0000 the contents of the pointer D00020 when the Equals Flag turns ON First Cycle Flag 200213 word n 2 bit 13 200206 word n 2 bit 06 A20011 Au...

Page 274: ...itioning data 2 Positioning data 4 Designation of beginning word X rightmost leftmost acceleration deceleration number D X D X 1 D X 2 D X 3 D X 4 D X 5 D X 6 D X 7 D X 8 D X 9 to D X 15 D X 16 D X 17 D X 18 D X 19 I D00500 to I 5 D00505 I 6 D00506 I 7 D00507 I 8 D00508 I 9 D00509 I 10 D00510 0 0 0 D 0 5 0 0 Note If the START Bit or INDEPENDENT START Bit is turned from OFF to ON immediately after ...

Page 275: ...ed to the Position Control Unit designated as unit number 2 Data Address transfer destination DM transfer source Setting Speed 0 1300 D00500 1000 Speed 1 1301 D00501 5500 Write switch a c b Equals Flag b c b turns ON when transfer has been completed normally C S W Beginning word address for the transfer destination in the Position Control Unit Beginning word address for the transfer source in the ...

Page 276: ...ing data 98 codes error codes 231 253 control bits RELATIVE MOVEMENT 48 commands ORIGIN RETURN 134 ORIGIN SEARCH 119 examples in mode 0 37 38 examples in mode 1 39 40 examples in mode 2 41 42 examples in mode 3 43 44 RELATIVE MOVEMENT 51 common parameter area example settings 51 common parameters 58 coding sheet 259 completion code 91 completion codes for memory operation 155 components 21 23 conn...

Page 277: ...6 77 error codes 231 error codes 253 error counter reset wiring 33 error counter reset output explanation 184 error counters 11 error flags 231 error indicators 230 CPU error indicators 243 external interrupt processing time 248 F features 2 flags busy 88 data transferring 89 deceleration stop execution 89 error 88 error flags 231 for memory operation 152 no origin 88 origin stop 88 positioning co...

Page 278: ...cription of operation modes 82 setting 60 67 78 operation modes and operation patterns 124 operation patterns 124 129 origin adjustment command output explanation 184 origin compensation and operation patterns 129 setting 80 origin compensation value 129 setting 61 68 origin detection method setting 67 78 origin proximity signal type 66 77 origin return 134 origin search basic explanation 8 data s...

Page 279: ... completed 35 output pulses connecting 32 positioning completed 35 44 Z phase 40 42 solenoids 36 specifications 18 20 speed calculations 245 speed control completion in memory operation 158 speeds 0 through 99 setting 71 startup errors data check at startup 232 description 228 startup procedures 190 stepping motor drivers 2 11 stepping motors 11 12 angle of rotation 12 basic system configuration 4...

Page 280: ...for stepping motors 50 error counter reset 33 I O circuit diagrams 27 precautions 36 46 writing data example program 103 109 time required 247 with IOWR 107 with Write Data bit 100 zones basic explanation 9 zones 1 through 2 setting 74 ...

Page 281: ...e of Operating Data Area cor rected Page 169 Information on interrupt feeding corrected in 9 3 1 Outline of Operation Page 174 First two paragraphs of Deceleration Stop with Linear Interpolation corrected Page 178 The speed designation data configuration corrected for the Operating Data Area table Software limit information removed from 9 8 Releasing Pulse Output Prohibition Page 183 The second pa...

Page 282: ...caution added Page xv Information in warning changed Pages 41 43 151 154 156 157 and 159 Note added Page 46 Models added Page 88 Information added for bit 05 Page 89 Information added for bit 15 Page 182 Introduction of 9 8 Releasing Pulse Output Prohibition changed Page 183 Illustration changed Pages 251 and 252 Appendix changed ...

Page 283: ...eadquarters OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 OMRON ELECTRONICS LLC 1 East Commerce Drive Schaumburg IL 60173 U S A Tel 1 847 843 7900 Fax 1 847 843 8568 OMRON ASIA PACIFIC PTE LTD 83 Clemenceau Avenue 11 01 UE Square Singapore 239920 Tel 65 6835 3011 Fax 65 6835 2711 ...

Page 284: ...Cat No W334 E1 04 Note Specifications subject to change without notice Printed in Japan Authorized Distributor ...

Page 285: ...Cat No W334 E1 04 C200HW NC113 NC213 NC413 Position Control Units OPERATION MANUAL ...

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