Omron CJ1W-C113 - REV 02-2008 Operation Manual Download Page 11

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TABLE OF CONTENTS

SECTION 6
Defining the Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

6-1

Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

148

6-2

Origin Search Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

149

6-3

Data Settings Required for Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

150

6-4

Origin Search Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

153

6-5

Origin Search Timing Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

169

6-6

Present Position Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

174

6-7

Origin Return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

175

6-8

Z-phase Margin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

177

SECTION 7
Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

7-1

Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

180

7-2

Direct Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

181

7-3

Setting Data for Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

181

7-4

Operations with Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

183

7-5

Direct Operation Timing Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

186

7-6

Acceleration/Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

188

7-7

Sample Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

191

SECTION 8
Memory Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

8-1

Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

198

8-2

Memory Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

202

8-3

Setting Data for Memory Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

202

8-4

Positioning Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

204

8-5

Completion Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

211

8-6

Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

217

8-7

Transferring Positioning Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

220

8-8

Timing Chart for Memory Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

223

8-9

Acceleration/Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

226

8-10 Sample Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

229

SECTION 9
Other Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

9-1

Jogging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

235

9-2

Teaching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

237

9-3

Interrupt Feeding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

239

9-4

Forced Interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

242

9-5

Deceleration Stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

244

9-6

Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

249

9-7

Error Counter Reset Output and Origin Adjustment Command Output . . . . . . . .

252

9-8

Backlash Compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

256

9-9

Software Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

258

9-10 Stop Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

261

9-11 Easy Backup Function (Ver. 2.0 or later). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

262

Summary of Contents for CJ1W-C113 - REV 02-2008

Page 1: ...Position Control Units Cat No W397 E1 07 SYSMAC CJ1W NC113 213 413 133 233 433 OPERATION MANUAL ...

Page 2: ...CJ1W NC113 213 413 133 233 433 Position Control Units Operation Manual Revised February 2008 ...

Page 3: ...iv ...

Page 4: ...n some OMRON products often means word and is abbreviated Wd in documentation in this sense The abbreviation PLC means Programmable Controller PC is used how ever in some Programming Device displays to mean Programmable Control ler 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 in...

Page 5: ...confirmed in Unit Manufacturing Information of CX Programmer version 4 0 or higher using the following procedure 1 2 3 1 In the IO Table Window right click the Position Control Unit and select Unit Manufacturing information 2 The following Unit Manufacturing information Dialog Box will be displayed Example Unit version 2 3 will be displayed in the Unit Manufacturing information Dialog Box Use the ...

Page 6: ...Unit Version Pre Ver 2 0 Ver 2 0 Ver 2 3 Internal system software version 1 0 2 0 2 3 CJ series Position Control Units CJ1W NC113 133 213 233 413 433 Functions Changing the acceleration for a multiple start during relative movement or absolute movement in direct operation Not supported Supported Supported Changing accelera tion deceleration time dur ing jog operation Not supported Supported Suppor...

Page 7: ...type Unit version Internal system software version Details Version code for distinguishing functions sup ported for CS CJ series Units Version code for internal system software Checking method The Unit version code is displayed to the right of the lot number on the nameplate attached to the Position Control Unit The Unit version code can also be checked from CX Programmer Ver 4 0 in Unit Manu fact...

Page 8: ...rrupt signal input Previous version Present version Ver 2 0 or later The only speed changes allowed during jog ging were those made with the speed com mand If acceleration deceleration times changed the changes were not effective until the next JOG command The deceleration time set when the JOG operation was started was used for accelerations decelerations for speed changes as well as for JOG stop...

Page 9: ... speed when a return is performed at the ori gin proximity Previous version Present version Ver 2 3 or later The stopping point was always 0 The value of the stopping point can be set Applications in which the stopping point is not 0 do not require presetting the present position Previous version Present version Ver 2 3 or later Axes could not be operated from the CX Posi tion The following operat...

Page 10: ... 23 3 3 Installation 24 3 4 External I O Circuitry 27 3 5 Wiring 37 3 6 Connection Examples for Different Types of Motor Driver 47 3 7 Connection of Unused Axes 61 3 8 Servo Relay Unit 63 SECTION 4 Data Areas 65 4 1 Overall Structure 66 4 2 Data Areas 68 4 3 Common Parameter Area 71 4 4 Axis Parameter Area 75 4 5 Operating Memory Area 95 4 6 Operating Data Area 98 4 7 Memory Operation Data 101 4 8...

Page 11: ...n 188 7 7 Sample Program 191 SECTION 8 Memory Operation 197 8 1 Outline 198 8 2 Memory Operation Procedure 202 8 3 Setting Data for Memory Operation 202 8 4 Positioning Sequences 204 8 5 Completion Codes 211 8 6 Linear Interpolation 217 8 7 Transferring Positioning Sequences 220 8 8 Timing Chart for Memory Operation 223 8 9 Acceleration Deceleration 226 8 10 Sample Program 229 SECTION 9 Other Oper...

Page 12: ... 11 3 LED Error Indicators 319 11 4 Reading Error Codes 321 11 5 Error Code Lists 322 11 6 Releasing Pulse Output Prohibition and Resetting After Errors 338 11 7 Error Display at the CPU 341 11 8 Reading Error Information with CX Position 341 SECTION 12 Maintenance and Inspection 343 12 1 Inspection 344 12 2 Routine Inspections 344 12 3 Handling Precautions 345 12 4 Procedure for Replacing a PCU 3...

Page 13: ...xiv ...

Page 14: ...ons Section 7 provides an overview of direct operation describes the parameter and data settings required to perform direct operation and gives sample programs Section 8 provides an overview of memory operation describes the parameter and data settings required to perform memory operation and gives sample programs Section 9 describes the following operations Jogging teaching interrupt feeding forc...

Page 15: ...xvi ...

Page 16: ...HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILI...

Page 17: ...y that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or governmen...

Page 18: ...confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions a...

Page 19: ...xx ...

Page 20: ...read this section and understand the information contained before attempting to set up or operate a Position Control Unit 1 Intended Audience xxii 2 General Precautions xxii 3 Safety Precautions xxii 4 Operating Environment Precautions xxiv 5 Application Precautions xxv 6 Conformance to EC Directives xxvii 6 1 Applicable Directives xxvii 6 1 1 Concepts xxvii 6 1 2 Conformance to EC Directives xxvi...

Page 21: ...al before attempting to use the Unit and keep this manual close at hand for reference during operation WARNING It is extreme important that Position Control Units and related devices be used for the specified purpose and under the specified conditions especially in applications that can directly or indirectly affect human life You must consult with your OMRON representative before applying Positio...

Page 22: ...determined using the teaching function set the position designation setting in the positioning sequence to absolute position ing If it is set to relative positioning positioning will be performed to a position other than the one obtained with the teaching function Caution Execute online edit only after confirming that no adverse effects will be caused by extending the cycle time Otherwise the inpu...

Page 23: ...t to shock or vibration Caution Take appropriate and sufficient countermeasures when installing systems in the following locations Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies Caution The operating environment of the PLC System can have a l...

Page 24: ...r interruptions or other causes Interlock circuits limit circuits and similar safety measures in external cir cuits i e not in the Programmable Controller must be provided by the customer Install external breakers and take other safety measures against short cir cuiting in external wiring Insufficient safety measures against short cir cuiting may result in burning Install the PLC Unit as far as po...

Page 25: ...n resis tance or withstand voltage tests Not disconnecting the functional ground terminal may result in burning Confirm that no adverse effect will occur in the system before attempting any of the following Not doing so may result in an unexpected operation Changing the operating mode of the PLC including the operating mode at power up Force setting force resetting any bit in memory Changing the p...

Page 26: ...Us comply with EC Directives To ensure that the machine or device in which a PCU is used complies with EC Directives the PCU must be installed as follows 1 2 3 1 The PCU must be installed within a control panel 2 Reinforced insulation or double insulation must be used for the DC power supplies used for the communications and I O power supplies 3 PCUs complying with EC Directives also conform to th...

Page 27: ...xxviii Conformance to EC Directives 6 ...

Page 28: ... CJ1W NC413 System Configuration Example 4 1 3 Basic Operations 5 1 3 1 Position Control 5 1 3 2 Speed Control 7 1 3 3 Other Operations 7 1 4 List of Functions 8 1 5 Specifications 10 1 5 1 Basic Specifications 10 1 5 2 Performance Specifications 11 1 6 Comparison with Existing Models 13 1 7 Control System Principles 14 1 7 1 Data Flow 14 1 7 2 Control System Principles 15 1 7 3 Basic Positioning ...

Page 29: ...tput is available for any number of control axes Choose the most appropriate model according to the number of controlled axes and the desired output type Motor Driver Selectable by Axis A stepping motor driver and a pulse train input type Servo Drive can be con nected to the PCU It is possible to set different operating modes for different axes allowing the combined use of different types of motor...

Page 30: ...ion and transfer of parameters and data for PCUs as well as operation monitoring are possible from the same environment as the software used for CPU Unit ladder pro gramming CX Programmer Simple Programming Using Function Blocks See note Function blocks can be used to simplify operation of the PCU in programming complicated diagrams There are function blocks for origin searches ABSO LUTE MOVEMENT ...

Page 31: ...al block and stepping motor driver is not provid ed 0 1 23 4 5 6 7 8 9 0 1 23 4 5 6 7 8 9 Use for setting data and monitoring Editing parameters and data Monitoring status File management CX Position CX Programmer Computer Power Supply Unit CJ series CPU Unit CJ1W NC413 Position Control Unit Connection to RS 232C port Connection to peripheral port Dedicated terminal block See note Dedicated termin...

Page 32: ...peration proceeds for a specified amount after an interrupt input is also possible Direct Operation With direct operation positions and speeds are set directly from the CPU Unit ladder program and positioning is executed according to operating com mands It is also possible to change the speed and send commands to move Position control Memory operation Independent Automatic Continuous Direct operat...

Page 33: ...ng sequences can be executed using inde pendent positioning automatic positioning or continuous positioning In the following illustrations 0 1 2 and 3 indicate positioning sequence numbers Interrupt Feeding When an interrupt input signal is received positioning is continued for the specified amount of pulses and then stopped Speed Start Speed changed Time New target position Target position before...

Page 34: ...axis at a designated speed and then stops it Teaching The teaching operation takes the present position for the specified positioning sequence Override When the override is enabled during positioning the target speed is changed to the override speed Changing the Present Position The PRESENT POSITION PRESET command changes the present position to a specified position Backlash Compensation This oper...

Page 35: ...ion decelera tion times and carries out absolute or relative positioning 180 Interrupt feeding Designates position speed and acceleration decelera tion times and after the interrupt signal turns ON moves a specified amount before stopping 239 Memory operation Absolute relative move ment Continuously performs absolute or relative positioning according to positioning sequences previously set in the ...

Page 36: ... play in the mechanical system 256 Software limit In order to prevent damage to external devices due to unexpected positioning caused by malfunction in addi tion to CW and CCW limit input signals positioning is also monitored using the software 258 Zones Notifies the CPU whether or not the position is within a set region This function is used when interlocking or per forming simultaneous control w...

Page 37: ...e range 4 75 to 5 25 V DC for the PCU itself 21 6 to 26 4 V DC external power sup ply 22 8 to 25 2 V DC external power supply 4 75 to 5 25 V DC external power supply line driver output only Internal current con sumption 250 mA max at 5 V DC 250 mA max at 5 V DC 360 mA max at 5 V DC Current consump tion of external power supply NC113 30 mA max at 24 V DC NC133 10 mA max at 24 V DC NC133 60 mA max a...

Page 38: ...lectable absent N O or N C contact Origin input signal selectable N O or N C contact Origin compensation 1 073 741 823 to 1 073 741 823 pulses Origin search speed High speed or proximity speed can be set Origin detection method May be set to stop upon origin input signal after proximity input signal has turned ON to stop upon origin input sig nal after proximity input signal has turned OFF to stop...

Page 39: ...ying the override coefficient Possi ble to set to a value from 1 to 999 by an increment of 1 Data saving 1 Saving to flash memory Can be written 100 000 times 2 Reading from PLC area by data reading instruction 3 Reading by Support Software and saving to personal computer hard disk or floppy disk External I O Inputs Prepare the following inputs for each axis CW and CCW limit input signals origin p...

Page 40: ...3 741 823 to 1 073 741 823 pulses 9 999 999 to 9 999 999 pulses Speed designation range 1 to 500 000 pps set in pps units 1 to 500 000 pps set in units of the smallest multiplication factor specified CPU Unit scan timeover for END refresh 0 5 ms max per PCU 2 6 to 4 5 ms per PCU CPU Unit scan timeover due to IOWR IORD instruction 1 ms max per instruction 2 4 to 62 ms per instruction Time between s...

Page 41: ...ncoder Tachogenerator 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 Servo Drive CPU Unit ...

Page 42: ...pitch mm revolution V Feed velocity of object being positioned mm s θs Stepping angle per pulse degree pulse The travel distance per pulse sent to the motor driver is called the pulse rate and is calculated according to the following equation Pulse rate P pulses per revolution x M P 360 θs x M P x θs 360 x M Using the pulse rate the number of pulses required to move the object a dis tance L is giv...

Page 43: ...16 Control System Principles Section 1 7 ...

Page 44: ...17 SECTION 2 Basic Procedures This section gives an overview of the procedures required to use the Position Control Unit ...

Page 45: ...unit number of the PCU Connect the PCU to the external input device s Connect the motor and the motor driver Connect the motor driver and the PCU Turn ON power to the CPU Unit Create I O tables for the PLC Set the common parameters for the PCU in the DM Area of the CPU Unit When operating according to the axis parameters in the CPU Unit s DM Area Set the axis parameters for the PCU in the CPU Unit...

Page 46: ... SECTION 11 Troubleshooting Operation SECTION 10 Program Exam ples Maintenance SECTION 12 Maintenance and Inspection Continued from previous page Establish the origin of the motor axis for operation Directly set the target position and speed from the CPU Unit and start the motor Record a positioning sequence including positions and speeds and operate the motor in accordance with this sequence Is t...

Page 47: ...20 Basic Procedures Section 2 ...

Page 48: ... for CJ1W NC413 NC433 26 3 4 External I O Circuitry 27 3 4 1 Connector Pin Arrangement 27 3 4 2 External I O Connector Arrangement 30 3 4 3 I O Circuitry 33 3 4 4 I O Electrical Specifications 36 3 5 Wiring 37 3 5 1 Output Connection Examples 37 3 5 2 Connecting Input Signals 43 3 5 3 Connecting Origin and Positioning Completed Input Signals 44 3 5 4 Wiring Precautions 46 3 6 Connection Examples f...

Page 49: ...ulty data Not lit None of the above has occurred Y Orange Lit Pulses are being output to the Y axis either forward or reverse Flashing An error has occurred such as incorrect cable type for the Y axis or faulty data Not lit None of the above has occurred Z Orange Lit Pulses are being output to the Z axis either forward or reverse Flashing An error has occurred such as incorrect cable type for the ...

Page 50: ...D20000 to D20099 Unit 0 D20100 to D20199 Unit 1 D20200 to D20299 Unit 2 D20300 to D20399 Unit 3 D29300 to D29399 Unit 93 D29400 to D29499 Unit 94 D29500 to D29599 Unit 95 Unit 0 D20000 to D20199 Unit 1 D20100 to D20299 Unit 2 D20300 to D20399 Unit 3 D20400 to D20499 Unit 93 D29300 to D29499 Unit 94 D29400 to D29599 Unit 95 Setting not possible m to m 3 m 4 to m 31 m 32 to m 59 m 60 to m 87 m 88 to...

Page 51: ...he Unit and not by the position in which the Unit is mounted The PCU can be connected to CPU Racks or Expansion Racks up to 10 PCUs per Rack Up to 40 PCUs can be connected per CPU Unit 3 3 2 Mounting the Unit Follow the procedure outlined below to mount the Position Control Unit 1 2 3 1 Join the PCU to the Rack ensuring that the connectors engage properly 2 Secure the PCU by sliding the yellow sli...

Page 52: ...Wire clippings tend to get scattered around during wiring so leave the label in place on top of the PCU to prevent any clippings from getting inside the PCU Once the wiring has been completed be sure to remove the label to provide ventilation 3 3 4 Dimensions CJ1W NC113 NC133 NC213 NC233 NC413 NC433 Note The above diagram is for the CJ1W NC413 NC413 0 1 23 4 5 6 7 8 9 0 1 23 4 5 6 7 8 9 RUN ERC ER...

Page 53: ... PCUs The following example shows how to use the Space Units when three CJ1W NC413 NC433 PCUs are mounted to the same Rack Note A maximum of 10 Units can be connected in the CPU Rack or any Expansion Rack including Space Units The CPU Unit and CX Programmer however will not detect the Space Unit as a Unit on the Rack An error will thus not occur for any Rack that exceeds the maximum of 10 Units be...

Page 54: ...sions Unit mm Space Unit Precautions The CPU Unit and CX Programmer will not detect the Space Unit as a Unit on a Rack Always be careful not to have more than 10 Units in any Rack 3 4 External I O Circuitry 3 4 1 Connector Pin Arrangement SP001 65 90 20 2 7 2 7 B1 A1 B20 A20 B1 A1 B20 A20 B1 A1 B20 A20 X Y axis Z U axis X Y axis X axis CJ1W NC413 433 CJ1W NC213 233 CJ1W NC113 133 ...

Page 55: ... counter reset output origin adjustment command output B9 OUT Error counter reset output origin adjustment command output A10 OUT Error counter reset output with 1 6 kΩ resis tance Origin adjustment command output with 1 6 kΩ resistance B10 OUT Error counter reset output with 1 6 kΩ resis tance Origin adjustment command output with 1 6 kΩ resistance A11 IN Positioning completed input signal B11 IN...

Page 56: ...ector pin arrangement for X and Z axes Connector pin arrangement for Y and U axes Pin No I O Designation Pin No I O Designation A1 IN Power supply 24 V DC for output signals B1 IN Power supply 24 V DC for output signals A2 IN GND 24 V DC for output signals B2 IN GND 24 V DC for output signals A3 IN GND 5 V DC for pulse output B3 IN GND 5 V DC for pulse output A4 IN Power supply 5 V DC for pulse ou...

Page 57: ...to the 24 V output power supply via a diode 15 Use the origin common as a pair with the 24 V origin input signal or the 5 V origin input signal 3 4 2 External I O Connector Arrangement The connectors that are included with this PCU are solder type connec tors Use wires with cross sectional areas of 0 2 mm2 or less Be careful not to short circuit neighboring terminals when soldering Cover the solde...

Page 58: ... FCN 361J040 AU solder type FCN 360C040 J2 connector cover 2 FCN 363J040 crimp type housing FCN 363J AU S contact FCN 360C040 J2 connector cover 3 FCN 367J040 AU crimp type Cover Dimensions M2x8 pan head screws three M2 6x25 pan head screws two M2 6x6 pan head screws two Case Connector M2 nut three Case M2 6 nut two Cable holder 17 9 8 7 10 3 ...

Page 59: ...ng is com pleted be sure to remove the label to allow proper heat dissipation NC413 0 1 23 4 5 6 7 8 9 0 1 23 4 5 6 7 8 9 RUN ERC ERH Z U X Y MACH No 101 100 NC413 0 1 23 4 5 6 7 8 9 0 1 23 4 5 6 7 8 9 RUN ERC ERH Z U X Y MACH No 101 100 Connector Connector PCU PCU After wiring is completed Remove the label Connector screw ...

Page 60: ...ts and the specifications of the motor driver to be used Constant voltage circuit Output power supply 24 VDC Output GND 24 VDC CW pulse pulse output with 1 6 kΩ resistance CW pulse output CCW pulse direction output with 1 6 kΩ resistance CCW pulse direction output Error counter reset output with 1 6 kΩ resistance Origin adjustment command output with 1 6 kΩ resistance 1 6 kΩ 1 2W 1 6 kΩ 1 2W Note ...

Page 61: ...s on the CJ1W NC133 NC233 NC433 Note Error counter reset output is open collector output Caution Connect a load of 20 mA max to the output section If a current greater than this is used it will cause damage to the PCU s internal components Open collector output Open collector output with 1 6 kΩ series resistance Output 7 to 30 mA Output transistor Output 7 to 16 mA 24 VDC power supply PCU Driver 6...

Page 62: ...ternal circuitry Do not connect the 5 V DC origin input signal input to any output circuit except the line driver Output power supply 24 VDC 4 7 kΩ 5 6 kΩ Positioning completed input signal Input common 4 7 kΩ 5 6 kΩ External interrupt input N O contact 4 7 kΩ 5 6 kΩ Emergency stop N C contact see note 2 4 7 kΩ 5 6 kΩ Origin proximity input N O N C contact see note 2 4 7 kΩ 5 6 kΩ CW limit input N...

Page 63: ... A12 Signal is a line driver output signal corresponding to Am26LS31 N O contact 0 1 ms max N C contact 1 ms max Y U Axis B14 B12 Item Specification CJ1W NC1 3 2 3 CJ1W NC4 3 Open collec tor output Maximum switching capacity 30 mA at 4 75 to 26 4 V DC NPN open collector 16 mA Terminals with 1 6 kΩ limit resistance 30 mA at 4 75 to 25 2 V DC NPN open collector 16 mA Terminals with 1 6 kΩ limit resi...

Page 64: ... maximum length of the wiring between the PCU and the motor driver is 2 m for open collector output models and 5 m for line driver output models 3 5 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 OFF ON A B 10 90 Pulse frequency Open or close current Loaded power source voltage 7 mA 5 V DC 5 30...

Page 65: ...rs of the PCU are used to allow a 24 V DC power supply to be used with a motor driver rated at 5 V DC ON OFF During pulse output Output transistor CW CCW CW CCW CW CCW Pulse Outputs Pulse and Direction Outputs Pulses Direction CW CCW Output ON Output OFF Position Control Unit open collector outputs on the CJ1W NC113 213 413 24 VDC input CW pulse output CCW pulse output 1 6 kΩ 1 6 kΩ A1 B1 Motor dr...

Page 66: ...ver is used for output ting CW and CCW pulses Position Control Unit open collector outputs on the CJ1W NC113 213 413 24 VDC input CW pulse output CCW pulse output 1 6 kΩ 1 6 kΩ A1 B1 Motor driver for 5 VDC input A7 B7 A5 B5 24 VDC power supply A2 B2 5 VDC power supply Position Control Unit line driver outputs on the CJ1W NC133 NC233 NC433 CCW pulse or direction output 5 VDC input CW pulse or pulse...

Page 67: ...signals When voltage level output is used the level is L for output ON and H for out put OFF Direction output Pulse input 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 Position Control Unit open collector outputs on the CJ1W NC113 213 413 ...

Page 68: ... with the correct polarity Wiring with the polarity reversed will result in damage to internal elements Motor driver line receiver input specifications Position Control Unit line driver outputs on the CJ1W NC133 NC233 NC433 5 VDC input CW pulse or pulse CW CCW output CCW pulse or direction output 5 VDC power supply Note When connecting a line receiver connect the signal ground SG of the motor driv...

Page 69: ...t Position Control Unit Position Control Unit Position Control Unit 24 VDC power supply for output 24 VDC power supply for output 24 VDC power supply for output 24 VDC power supply for output 24 VDC power supply 24 VDC power supply 24 VDC power supply 24 VDC power supply A1 B1 A9 B9 A2 B2 A1 B1 A9 B9 A2 B2 7 30 ECRST 24VIN 1 4 ECRST 24VIN OMRON R88D WT Servo Drive OMRON R88D WT Servo Drive OMRON R...

Page 70: ...and N C inputs Either can be used depend ing on the axis parameter settings For details regarding axis parameters refer to 4 4 Axis Parameter Area Depending on the setting of the origin search operation pattern the point at which the origin proximity signal or the CW CCW limit signal changes from ON to OFF is used as the timing for origin signal detection In this case use a sensor with no chatteri...

Page 71: ...signal terminal Name Connection type External interrupt input signal N O Emergency stop input signal N 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 24 VDC power supply External interrupt input signal Emergency stop input signal Origin proximity input signal CW limit input signal CCW limit input signal 4 7 kΩ 5 6 kΩ 4 7 kΩ 5 6 kΩ 4 7 ...

Page 72: ...Origin Input Signal 5 V Line Driver Input Note The values in parentheses apply for the CJ1W NC413 and CJ1W NC433 Positioning Completed Input Signal 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 Servo Drive so that this signal always turns off while the servomotor is operating and on when the motor is stopped Exa...

Page 73: ...ring the system Be sure to use the sizes and materials indicated in the specifications when connecting power lines and cables Power lines e g AC power supply motor power line and control lines e g pulse output lines external I O signal lines must be wired separately Never put these lines into the same duct or make them into a single bundle Attach a multi layer ceramic capacitor of a thickness of l...

Page 74: ... frequency noise Connect to a ground of 100 Ω or less and use the thickest possible wire greater than 1 25 mm2 Twisted pair cable is recommended for power lines 3 6 Connection Examples for Different Types of Motor Driver This section provides examples of wiring the X and Y axes If the Y and U axes are also to be used check the connector pin numbers in 3 4 External I O Circuitry and wire them in th...

Page 75: ...DFU1514W stepping motor driver made by Oriental Motor Co N O contact OMRON E2R A01 Proximity Sensor NPN output model CW Origin proxim ity input signal 24 VDC CCW output with 1 6 kΩ resistance 24 V power supply for output Input common A8 A1 A17 A13 A20 A19 A18 Emergency stop input signal PK564AW stepping motor FG 24 V GND for output N C contact FG Shield Signal 24 V 0 V N C contact Word Bits Settin...

Page 76: ...ompleted with the rising edge of the origin input signal after the rising edge of the origin proximity input signal 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 Word Bits Setting Contents ORIGIN SEARCH Origin proximity input signal Origin input signal Pulse output Busy Flag Time ...

Page 77: ...or Position Control Unit open collector outputs on the CJ1W NC 13 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 N O contact OMRON R88D GT 24 VDC Input common 24 V GND for output Origin input signal Shell N C contact N C contact CW output with 1 6 kΩ resistance CCW output wit...

Page 78: ... to OFF and after deceleration has ended Word Bits Setting Contents m 4 00 0 CW CCW output 01 to 03 0 04 0 Limit input N C contact 05 1 Origin proximity N O contact 06 1 Origin input signal N O contact 07 1 Pulse output stopped by emergency stop input 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 risin...

Page 79: ...n Control Unit line driver outputs on the CJ1W NC 33 5 V GND for pulse output 5 V power supply for pulse output 24 V power supply for output 24 V GND for output Error counter reset output Origin input signal Example OMRON R88D GT Shield 5 VDC 24 VDC N O contact A6 A8 A5 A7 A1 A2 4 6 3 5 CW CCW CW CCW 30 24 23 ECRST Z FG RUN 24VIN Z 7 29 A9 A14 A12 FG A3 A4 Servo Drive ...

Page 80: ...t be completed if the positioning completed input signal from the Servo Drive is not properly connected or set W series Servo Drive CJ1W NC113 NC213 NC413 Position Control Unit open collector outputs on the CJ1W NC 13 24 V power supply for output 24 V GND for output Origin input signal Input common R88M W Servomotor CCW output with 1 6 kΩ resistance 19 47 40 20 7 RUN ECRST Z Z Error counter reset ...

Page 81: ...ctor outputs on the CJ1W NC 13 24 V power supply for output 24 V GND for output Origin input signal Input common R88M G Servomotor CCW output with 1 6 kΩ resistance Error counter reset output Origin proximity input signal CCW limit input signal CW limit input signal Emergency stop input signal CW output with 1 6 kΩ resistance Positioning completed input signal OMRON R88D GT Shell N O contact N C c...

Page 82: ...7 29 A9 A11 A14 A12 FG A3 A4 CW output CW output CCW output CCW output Shell Position Control Unit line driver outputs on the CJ1W NC 33 5 V GND for pulse output 5 V power supply for pulse output 24 V power supply for output 24 V GND for output Error counter reset output Origin input signal Example OMRON R88D GT Shield 5 VDC 24 VDC N O contact Positioning completed input signal R88M G Servomotor S...

Page 83: ...Z 1 2 A9 A14 13 10 0GND INP A11 A12 A1 A2 FG FG Position Control Unit open collector outputs on the CJ1W NC 13 24 V power supply for output 24 V GND for output Origin input signal R88M G Servomotor CCW output with 1 6 kΩ resistance Error counter reset output CW output with 1 6 kΩ resistance Positioning completed input signal OMRON R7D BP Shell 24 VDC Shield N O contact Servo Drive ...

Page 84: ...P 1 2 A9 A11 A14 A12 FG A3 A4 CW output CW output CCW output CCW output Shell Position Control Unit line driver outputs on the CJ1W NC 33 5 V GND for pulse output 5 V power supply for pulse output 24 V power supply for output 24 V GND for output Error counter reset output Origin input signal Example OMRON R7D BP Shield 5 VDC 24 VDC N O contact Positioning completed input signal R88M G Servomotor S...

Page 85: ...turns OFF with the positioning com pleted input signal Word Bits Setting Contents m 4 00 0 CW CCW output 01 to 03 0 04 0 Limit input N C contact 05 1 Origin proximity N O contact 06 1 Origin input signal N O contact 07 1 Pulse output stopped by emergency stop input signal error counter reset signal output 08 to 15 0 m 5 00 to 03 2 Mode 2 04 to 07 0 Reverse mode 1 08 to 11 0 Takes origin input sign...

Page 86: ...the CJ1W NC 13 Example OMRON R7D AP Shield A6 A8 A1 A2 2 4 1 3 CW CCW CW CCW 6 33 5 32 ECRST ZCOM FG ECRST RUN 24VIN Z 13 14 A10 A13 A12 A11 INP 8 0GND 10 FG 24 V power supply for output 24 V GND for output Origin input signal CCW output with 1 6 kΩ resistance Error counter reset output CW output with 1 6 kΩ resistance Positioning completed input signal 24 VDC N O contact Shell Servo Drive ...

Page 87: ...t output Example OMRON R7D AP 24 V origin input signal Shield Positioning completed input signal 5 V GND for pulse output 5 V power supply for pulse output 24 V power supply for output 24 V GND for output CW output CW output CCW output CCW output 5 VDC N O contact A1 A2 6 33 5 32 ECRST ZCOM FG ECRST RUN 24VIN Z 13 14 A10 A13 A12 A11 INP 8 0GND 10 FG A6 A8 A5 A7 2 4 1 3 CW CCW CW CCW A3 A4 24 VDC S...

Page 88: ...Common Parameter Area The following table shows the relation for each Unit between the number of unused axes and the settings Making this setting eliminates the need to perform wiring for the Y axis If other parameters are used in their default settings the CW CCW limit input signal will be set to a N C contact input Therefore current will flow for the sig nal when the power supply for the inputs ...

Page 89: ...efault 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 for an unused axis are not ON a sensor input error error codes 6000 6100 or 6101 will be generated for the axis and the ERC indicator as well as the LED indicator for the axis will light or flash The used ...

Page 90: ...ble connected to Servo Relay Unit Servo Drive CJ1W NC113 XW2Z J A14 XW2B 20J6 1B XW2Z J B1 R88D UP XW2Z J B4 R88D UT R88D WT XW2Z J B25 R88D GT XW2Z J B29 R7D BP XW2Z J A16 XW2B 20J6 1B XW2Z J B5 R7D AP XW2Z J B17 R7D ZP CJ1W NC213 CJ1W NC413 XW2Z J A15 XW2B 40J6 2B XW2Z J B1 R88D UP XW2Z J B4 R88D UT R88D WT XW2Z J B25 R88D GT XW2Z J B29 R7D BP XW2Z J A17 XW2B 40J6 2B XW2Z J B5 R7D AP XW2Z J B17 ...

Page 91: ...o Drive Connecting Cables are required To enable RS 422 communications with the R7D AP an XW2Z J C1 Connecting Cable is required for RS 422 connection to Serial Communications Boards or Units PCU Cable connected to PCU Servo Relay Unit Cable connected to Servo Relay Unit Servo Drive CJ1W NC133 XW2Z J A18 XW2B 20J6 1B XW2Z J B1 R88D UP XW2Z J B4 R88D UT R88D WT XW2Z J B25 R88D GT XW2Z J B29 R7D BP ...

Page 92: ...ails 72 4 4 Axis Parameter Area 75 4 4 1 Outline 75 4 4 2 Details 78 4 4 3 Operation Modes 81 4 5 Operating Memory Area 95 4 6 Operating Data Area 98 4 6 1 Outline 98 4 7 Memory Operation Data 101 4 8 Zone Data Area 104 4 8 1 Zone Function 104 4 8 2 Zone Data Settings 105 4 9 Examples of Parameter Settings 105 4 9 1 Setting Positioning Using Two Axes 105 4 9 2 Setting Positioning Using One Axis 10...

Page 93: ...t DM or EM Area User specified DM or EM words specified in common parameters DM Area words allocated to Special I O Units Operating data area output input Common parameter area Axis parameter area User specified DM or EM words for data transfer Data transfer area CX Position I O refresh Power up or restart See note 1 Data transfer Operating commands Commands Settings Operating data Command executi...

Page 94: ...trolling PCU operation such as for direct operation memory operation jogging and origin search are allocated to this area Information see note relating to the status of the PCU such as busy flags error flags and exter nal input are input to this area CPU Unit s Special I O Unit Area Operating commands are sent from the CPU Unit to the PCU and sta tus data is sent from the PCU to the CPU Unit with ...

Page 95: ...e selection 1 word m 6 0006 m 34 0022 m 62 003E m 90 005A Maximum speed 2 words m 8 0008 m 36 0024 m 64 0040 m 92 005C Initial speed 2 words m 10 000A m 38 0026 m 66 0042 m 94 005E Origin search high speed 2 words m 12 000C m 40 0028 m 68 0044 m 96 0060 Origin search proximity speed 2 words m 14 000E m 42 002A m 70 0046 m 98 0062 Origin compensation 2 words m 16 0010 m 44 002C m 72 0048 m 100 0064...

Page 96: ...0 Direction designation 11 TEACH 12 RELEASE PROHIBIT ERROR RESET 13 Error counter reset output origin adjustment command output 14 Override Enable 15 STOP n 1 n 1 n 3 n 1 n 3 n 5 n 7 00 to 07 Not used 08 FORCED INTERRUPT 09 to 11 Not used 12 WRITE DATA 13 READ DATA 14 SAVE DATA 15 Not used n 2 n 4 n 7 n 8 n 11 n 14 n 17 00 to 03 Not used 04 Waiting For Memory Operation Flag 05 Positioning Complete...

Page 97: ... 3 I 3 Write destination address 1 word I 4 I 4 I 4 Number of read words 1 word I 5 I 5 I 5 Read source address 1 word I 6 I 6 I 6 Read destination area 1 word I 7 I 7 I 7 Read destination word 1 word I 8 I 8 I 20 I 8 I 20 I 32 I 44 Position 2 words I 10 I 10 I 22 I 10 I 22 I 34 I 46 Speed 2 words I 12 I 12 I 24 I 12 I 24 I 36 I 48 Acceleration time 2 words I 14 I 14 I 26 I 14 I 26 I 38 I 50 Decel...

Page 98: ... 312C 412C Speed numbers 0 to 99 2 words 11F4 21F4 31F4 41F4 Position numbers 0 to 99 2 words 12BE 22BE 32BE 42BE Acceleration time numbers 1 to 9 2 words 12D2 22D2 32D2 42D2 Deceleration time numbers 1 to 9 2 words 12E5 22E5 32E5 42E5 Dwell time numbers 1 to 19 1 word PCU internal address Name Data size X axis Y axis Z axis U axis 12F8 22F8 32F8 42F8 Zone 0 CCW 2 words 12FA 22FA 32FA 42FA Zone 0 ...

Page 99: ...M Area will be allocated according to the unit number set for the PCU The fol lowing words will be allocated consecutively to common parameters and axis parameters NC1 3 m 32 to m 55 NC2 3 m 60 to m 99 NC4 3 m 116 to m 187 0D User specified DM Area Words Words within the DM Area starting from the beginning word specified in word m 1 will be allocated 0E User specified EM Area Words Words within th...

Page 100: ...r The PCU will not detect an error if operating data areas overlap and this may result in malfunction For details on the EM Area banks and how to use them as PLC file memory refer to the SYSMAC CS CJ Series Programmable Controllers Programming Manual W394 Beginning Word of Operating Data Area Word m 1 If user specified DM Area words 0D or user specified EM Area words 0E are designated as the locat...

Page 101: ...00 to 07 use this setting to designate the axes to be set from the DM Area On PCUs with unit version 2 3 or later setting is not required for axes speci fied as unused in the unused axis setting The meanings of the individual axis settings are as follows 0 The axis parameter settings in the DM Area words allocated to Special I O Units will be used 1 The default axis parameter settings will be used...

Page 102: ...used will be selected from the following accord ing to the common parameter settings The axis parameters saved in the PCU s non volatile flash memory when 00 is set for the parameter designation word m 2 bits 00 to 07 in the common parameters The axis parameters set in the DM Area words allocated to Special I O Units for axes for which the axis specification word m 2 bits 08 to 11 is set to 0 when...

Page 103: ... m 88 0058 I O settings Specifies the following items related to I O Output pulse selection CW CCW output pulse direction output Contact types N O N C for limit input signal origin proximity input signal and origin input signal Error counter reset output control when emergency stop signal is input Origin undefined designa tion when emergency stop signal or limit signal is input 78 m 5 0005 m 33 00...

Page 104: ... 49 0031 m 76 004C m 77 004D m 104 0068 m 105 0069 Origin search acceleration time rightmost word leftmost word Specifies the time taken to go from initial speed to maxi mum speed during origin search 91 m 22 0016 m 23 0017 m 50 0032 m 51 0033 m 78 004E m 79 004F m 106 006A m 107 006B Origin search deceleration time rightmost word leftmost word Specifies the time taken to go from maximum speed to ...

Page 105: ...00 Output pulse selection Specifies the pulse method for outputs 0 CW CCW output 1 pulse direction output 01 CW CCW pulse output direction selection supported for unit version 2 3 or later The direction of the CW CCW pulse output can be switched This is useful for applications using the same wiring but reversed coordinate systems The following operations are performed using the combinations of out...

Page 106: ...ergency 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 input 0 Stop pulse out...

Page 107: ... internal address Name Enable timing NC1 3 NC2 3 NC4 3 X axis Y axis Z axis U axis m 5 0005 m 33 0021 m 61 003D m 89 0059 Operation mode selection With operation com mand 15 00 Origin search direction Origin detection method Origin search operation Operation mode 12 11 08 07 04 03 Setting Explanation 0 Mode 0 Uses stepping motor and uses external sensor signal as origin input signal In this mode t...

Page 108: ...search proximity speed until the origin input signal In reverse mode 2 when the direction is reversed at the origin proximity input signal operation continues by accelerating toward the origin search high speed Use this mode to reduce shock to mechanical systems Setting Explanation 0 Takes origin input signal after origin proximity input signal turns ON and OFF 1 Takes origin input signal after or...

Page 109: ... error counter reset output without using a positioning completed signal The response time for the origin line driver input is 0 1 ms N O contact setting Mode 2 Set mode 2 when using a Servo Drive and connecting a line driver input and a error counter reset output just as in mode 1 but when also using a positioning completed signal OS OPI X axis PCU Pulses SMD 24 VDC IC A20 A13 A12 A17 IC X axis P...

Page 110: ... the following range 00000001 to 0007A120 Hex 1 to 500 000 pps The default setting is 0007A120 500 000 Explanation This setting specifies the maximum speed in pps units that can be output by the PCU for each axis The maximum speed is set in the range 1 to 500 000 pps using two words the leftmost word and the rightmost word as 32 bit unsigned data If a speed that exceeds this setting is designated ...

Page 111: ...high speed setting is shown below Bit Configuration The bit configuration for the word addresses in the above table is shown below Settings The origin search high speed can be set to any value in the following range 00000001 to 0007A120 Hex 1 to 500 000 pps The default setting is 000061A8 25 000 Word PCU internal address Name Enable timing NC1 3 NC2 3 NC4 3 X axis Y axis Z axis U axis m 8 0008 m 3...

Page 112: ... rightmost word as 32 bit unsigned data For details on origin search operation refer to SEC TION 6 Defining the Origin Note Be sure to set the origin search proximity speed so that it is lower than the ori gin search high speed If the origin search proximity speed is set equal to or higher than the origin search high speed an origin search speed error error code 1603 will be generated Origin Compe...

Page 113: ...nsation Word Address and Enable Timing The word address and enable timing for the backlash compensation is shown below Bit Configuration The bit configuration for the word addresses in the above table is shown below Settings The backlash compensation can be set to any value in the following range 0000 to 270F Hex 0 to 9 999 pulses The default setting is 0000 0 Explanation This setting specifies th...

Page 114: ...to 9 8 Backlash Compensation Acceleration Deceleration Curve and Acceleration Deceleration Time Designation Word Address and Enable Timing The word address and enable timing for the acceleration deceleration curve and acceleration deceleration time designation settings are shown below Bit Configuration The bit configuration for the word addresses in the above table is shown below Settings 0000 000...

Page 115: ... acceleration and deceler ation times 0 The acceleration and deceleration times are set as the time between the initial speed and the maximum speed parameters for each axis These parameters along with the acceleration time and deceleration time data determine the slope of acceleration deceleration that is used for axis op eration The slope is then used to determine the acceleration decelera tion t...

Page 116: ...mum speed Axis operation Data used for acceleration deceleration time in setting area Origin search Origin search acceleration time and origin search deceleration time axis parameters Direct operation absolute rela tive movements interrupt feed ing jogging and origin returns Acceleration time and deceleration time operating data area Memory operation Acceleration times and deceleration times num b...

Page 117: ...e however only as long as the maximum acceleration deceleration rate is not exceeded The S curve used for the PCU is the tertiary curve that joins the initial speed and the target speed If an S curve is used the maximum acceleration decel eration will be 1 5 times that of the trapezoidal curve with the same accelera tion deceleration time Speed pps Maximum speed Target speed Initial speed Accelera...

Page 118: ... page 88 Origin Search Deceleration Time Word Address and Enable Timing The word addresses and enable timing for the origin search deceleration time setting are shown below Bit Configuration The bit configuration for the word addresses in the above table is shown below Word PCU internal address Name Enable timing NC1 3 NC2 3 NC4 3 X axis Y axis Z axis U axis m 20 0014 m 48 0030 m 76 004C m 104 006...

Page 119: ...gs The origin search positioning monitor time can be set to any time in the follow ing range 0000 to 270F Hex 0 to 9 999 ms The default setting is 270F 9 999 Explanation In operation mode 2 or 3 using the motor driver s positioning completed sig nal after positioning operation has been completed i e after pulse output has been completed the positioning completed signal will be monitored for the ti...

Page 120: ...present position will taken to be 0 when operation starts For details on software limit operation refer to 9 9 Software Limit Pulse Designation Word Address and Enable Timing The word addresses and enable timing for the initial pulse designation are shown below Word PCU internal address Name Enable timing NC1 3 NC2 3 NC4 3 X axis Y axis Z axis U axis m 25 0019 m 53 0035 m 81 0051 m 109 006D CCW so...

Page 121: ...frequency of the driver that runs the servomotor or the stepping motor If it is set to a value greater than the maximum input response fre quency then this will cause position errors due to the driver miscounting pulses Example The pulse output when performing jog operation with a parameter setting for maximum speed of 500 kpps default setting acceleration time set to 0 s deceleration time set to ...

Page 122: ...e Number Enable In memory operation this setting specifies whether the sequence number designated in the operating data area is enabled or disabled for beginning operation SECTION 8 Memory Operation 01 START At the rising edge when this bit turns ON memory operation starts 02 INDEPEN DENT START At the rising edge when this bit turns ON memory operation starts The com pletion code is treated as ter...

Page 123: ...put turns ON 9 7 Error Counter Reset Output and Origin Adjustment Command Output 14 Override enable This bit enables or disables the override function 9 6 Override 15 STOP At the rising edge when this bit turns ON positioning is decelerated to a stop 9 5 Decelera tion Stop NC4 3 NC2 3 NC1 3 n 1 n 1 n 1 n 3 n 3 n 5 n 7 00 to 07 Not used 08 FORCED INTERRUPT In memory operation at the rising edge whe...

Page 124: ...n 07 Origin Stop Flag ON when stopped at the origin 08 Zone 0 Moni tor Flag ON when within the zone 0 range 4 8 Zone Data Area 09 Zone 1 Moni tor Flag ON when within the zone 1 range 10 Zone 2 Moni tor Flag ON when within the zone 2 range 11 Teaching completed see note 3 Turns ON when teaching is com pleted 9 2 Teaching 12 Error Flag see note 3 Turns ON when an error occurs SECTION 11 Troubleshoot...

Page 125: ...a is deter mined in the way shown below DM Area Words Allocated to Special I O Units If 0000 DM Area words allocated to Special I O Units is set for the common parameter used for the operating data area designation word m the begin ning word l of the operating data area will be as follows NC1 3 l m 32 D20000 100 unit number 32 NC2 3 l m 60 D20000 100 unit number 60 NC4 3 l m 116 D20000 100 unit nu...

Page 126: ...0 0 D m 1 1 F 4 0 1F40 Hex 8000 I D8000 m 0 2 0 E m 2 3 A 9 8 3A98 Hex 15000 I E2_15000 I O Words Name Operation Reference Output CPU Unit to PCU I Operating data for data transfer Number of write words Specifies the number of words written from the CPU Unit to the PCU SECTION 5 Transferring and Saving Data I 1 Write source area Specifies the area containing the data to be written from the CPU Uni...

Page 127: ... NC1 3 I 12 I 12 I 12 I 24 I 24 I 36 I 48 Accelera tion time rightmost Accelera tion time leftmost Specifies the acceleration deceleration times for direct operation JOG and ORI GIN RETURN NC4 3 NC2 3 NC1 3 I 13 I 13 I 13 I 25 I 25 I 37 I 49 NC4 3 NC2 3 NC1 3 I 14 I 14 I 14 I 26 I 26 I 38 I 50 Decelera tion time rightmost Decelera tion time leftmost NC4 3 NC2 3 NC1 3 I 15 I 15 I 15 I 27 I 27 I 39 ...

Page 128: ...ration and the correlation between the different types of data refer to SECTION 8 Memory Operation The address allocation of the memory operation data is shown in the following tables The addresses shown in the table are the PCU s internal addresses When writing data specify the destination address as appropriate For details on performing data transfer refer to SECTION 5 Transferring and Saving Da...

Page 129: ... 42B8 42B9 Position 98 62 Hex The settings are the same as for position 0 12BA 12BB 22BA 22BB 32BA 32BB 42BA 42BB Position 99 63 Hex The settings are the same as for position 0 12BC 12BD 22BC 22BD 32BC 32BD 42BC 42BD Not used Not used Leave set to 0000 0000 0000 15 00 Axis designation Output code Position designation Completion code 1000 12 11 08 07 04 03 Dwell time No Acceleration time No Deceler...

Page 130: ...eceleration time 8 8 Hex The settings are the same as for deceleration time 1 12E2 12E3 22E2 22E3 32E2 32E3 42E2 42E3 Deceleration time 9 9 Hex The settings are the same as for deceleration time 1 12E4 22E4 32E4 42E4 Not used Not used Leave set to 0000 0000 12E5 22E5 32E5 42E5 Dwell time 1 01 Hex 1 word 0000 12E6 22E6 32E6 42E6 Dwell time 2 02 Hex The settings are the same as for dwell time 1 to t...

Page 131: ...nterlocks with peripheral devices or simultaneous control in response to the present position of the machine There are 3 Zone Monitor Flags for each axis The zones that are monitored using these flags can be set separately i e zones 0 1 and 2 To use the zone function it is necessary to set both a CW side value and a CCW side value for each zone used as shown in the following diagram These values a...

Page 132: ...uration Explanation Default setting NC1 3 NC2 3 NC4 3 X axis Y axis Z axis U axis 12F8 12F9 22F8 22F9 32F8 32F9 42F8 42F9 Zone 0 CCW side rightmost word Zone 0 CCW side leftmost word 2 words 0000 0000 12FA 12FB 22FA 22FB 32FA 32FB 42FA 42FB Zone 0 CW side rightmost word Zone 0 CW side leftmost word 2 words 12FC 12FD 22FC 22FD 32FC 32FD 42FC 42FD Zone 1 CCW side rightmost word Zone 1 CCW side leftm...

Page 133: ...rogrammer Make the following settings for the X axis Make the same settings for the Y axis With the following settings jog operation and direct operation can be per formed from the CPU Unit When performing an origin search make the settings and adjustments according to each system m D20000 100 x unit number D20000 100 x 0 D20000 Default Settings and Set Values Parameters for which individual bits ...

Page 134: ...nals use N C contacts i e default setting Axis Param eters m 4 X axis I O settings 0060H m 5 Operation mode selec tion 0000H 0002H A Servo Drive is used m 6 to m 7 Maximum speed 500000 m 8 to m 9 Initial speed 0 m 10 to m 11 Origin search high speed 25000 m 12 to m 13 Origin search proximity speed 2500 m 14 to m 15 Compensation data 0 m 16 Backlash data 0 m 17 to m 18 Backlash compensation speed 0...

Page 135: ...n performing an origin search make the settings and adjustments according to each system m D20000 100 x unit number D20000 100 x 0 D20000 Default Settings and Set Values Parameters for which individual bits have specific applications are expressed in hexadecimal e g 0000H Category Word Name Default setting Set value Remarks Common Parameters m Operating data area des ignation 0000H The operating d...

Page 136: ...ut signals are not used Axis Parame ters m 4 X axis I O settings 0060H m 5 Operation mode selec tion 0000H 0002H A Servo Drive is used m 6 to m 7 Maximum speed 500000 m 8 to m 9 Initial speed 0 m 10 to m 11 Origin search high speed 25000 m 12 to m 13 Origin search proximity speed 2500 m 14 to m 15 Compensation data 0 m 16 Backlash data 0 m 17 to m 18 Backlash compensation speed 0 m 19 Acceleration...

Page 137: ...o 0 every time the axis is started Take into consideration that the software limits will not operate and the present position will be lost m D20000 100 x unit number D20000 100 x 0 D20000 Default Settings and Set Values Parameters for which individual bits have specific applications are expressed in hexadecimal e g 0000H Category Word Name Default setting Set value Remarks Common Parameters m Oper...

Page 138: ... compensation speed 0 m 19 Acceleration decelera tion curve acceleration deceleration time desig nation 0 m 20 to m 21 Origin search accelera tion time 100 m 22 to m 23 Origin search decelera tion time 100 m 24 Positioning monitor time 9999 m 25 to m 26 CCW software limit 1073741823 0 The operating range is not set The software limits are disabled m 27 to m 28 CW software limit 1073741823 1000000 ...

Page 139: ...112 Examples of Parameter Settings Section 4 9 ...

Page 140: ...e Data Program 125 5 3 Reading Data with the READ DATA Bit 127 5 3 1 Outline 127 5 3 2 Data Settings Required for Reading Data 128 5 3 3 Timing Chart for Reading Data 129 5 3 4 Data Reading Program Example 130 5 4 Writing Data with IOWR 132 5 4 1 Outline 132 5 4 2 IOWR INTELLIGENT I O WRITE 133 5 4 3 Error Code Treatment for IOWR 134 5 4 4 Flags 134 5 4 5 Precautions when Using IOWR 135 5 4 6 IOWR...

Page 141: ...ith the WRITE DATA Bit and 5 3 Reading Data with the READ DATA Bit Large amounts of data can be changed and data can be read by turning ON a data transfer bit using for example OUT in the ladder program 2 Writing and reading data to and from the PCU using the IOWR and IORD instructions Refer to 5 4 Writing Data with IOWR and 5 5 Reading Data with IORD During CPU Unit operation small amounts of dat...

Page 142: ...ower is turned OFF or the PCU is restarted the contents of the memory will revert to whatever was saved previously Note 1 Data saved to flash memory is automatically read to the internal memory at power up or restart The axis parameters that are read to the internal memory can be set to either the axis parameters saved in flash memory or to the axis parameter settings in the CPU Unit s DM Area 2 D...

Page 143: ...ned ON or when the PCU is restarted a choice is avail able by using the axis parameter designation setting in the DM Area common parameters refer to 4 3 Common Parameter Area between sending the axis parameters automatically from the DM Area to the PCU or using the axis parameters saved in the PCU 5 1 4 Data Addresses Each data item has its own address in the PCU and this address is used to identi...

Page 144: ...tioning sequences For X Axis Positioning sequences 112C to 11F3 Speeds Speeds Speeds 11F4 to 12BB Positions Positions Positions 12BC to 12CF Acceleration times Acceleration times Acceleration times 12D0 to 12E3 Deceleration times Deceleration times Deceleration times 12E4 to 12F7 Dwell times Dwell times Dwell times 12F8 to 1303 Zones Zones Zones 2000 to 212B For Y Axis Positioning sequences For Y ...

Page 145: ...IORD instructions transfer all data indiscriminately at execution For this reason if the IOWR or IORD instructions are executed consecutively within the same cycle an error occurring at data transfer execution may not be output to the operating mem ory area in the way shown below DM Area Position 0 Position 1 Position 2 Position 3 CPU Unit Receive buffer internal memory PCU If each item of data is...

Page 146: ...trans ferred using different combinations of the 3 methods CPU Unit Transfer data Error flag Error code Operating memory area Transferred using data transfer 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 ...

Page 147: ... instruction does not exist OK in the above table indicates that the functions will be executed The sec ond function will be executed after execution of the first function has been completed However if reading and writing in whichever order are performed for the same data depending on the timing of the PCU s internal processing the values that are read may either be the values before writing or af...

Page 148: ...stored If attempted it will result in a multiple start error error code 8000 3 When transferring data using WRITE DATA the data must be transferred in data units Data transfer should not start or end part way through the da ta For example with X axis sequence 0 the data unit becomes three words consisting of addresses from 1000 to 1002 If transfer is started or ended part way through a write trans...

Page 149: ... is the beginning word of the common parameter area and is determined when the unit number is specified The I in the EM or DM Area is the beginning word of the operating data area specified by the common parameters and is also the beginning word of the operating data that determines data transfer With data writing 772 words of data in consecutive addresses can be sent at once CIO Area Common param...

Page 150: ... data to be written to the PCU in the area in the DM or EM Area spec ified by words I to I 2 5 Execute WRITE DATA Turn the WRITE DATA Bit word n 1 bit 12 from OFF to ON The operations in 1 and 2 above are required when using the PCU for the first time or when modifying the common parameter settings 5 2 3 Data Settings Required for Writing Data Beginning Words of Memory Areas The beginning words of...

Page 151: ...0 to 15 15 00 Specifies the number of words to be written to the PCU Setting range 0001 to 0304 Hex 1 to 772 words EM bank designation DM EM designation 15 08 07 00 Specifies the area where the parameters and data written to the PCU are set DM EM designation 0D Designates DM Area 0E Designates EM Area EM bank designation Specifies the EM Area bank number if the EM Area is designated in bits 00 to ...

Page 152: ...it 5 2 5 Example of a Write Data Program A sample program is given below for writing the following speed data to the PCU The PCU to be used will be a NC413 designated unit number 0 Allocation of Areas The common parameter area is from D20000 to D20002 The operating memory area is from CIO 2000 to CIO 2019 The beginning word of the operating data area is D00400 Speeds to be Transferred The beginnin...

Page 153: ...riting Data with the WRITE DATA Bit Section 5 2 CPU Unit CIO Area Operating memory Area Common parameter area Operating data area WRITE DATA 200012 Data transfer PCU unit number 0 Data area Speed 0 Speed 1 C ...

Page 154: ... error error code 8320 or read transfer source address error error code 8321 will be generated 5 3 1 Outline When the READ DATA Bit word n 1 bit13 in the operating memory area is turned ON consecutive addresses data is read from the CPU to the DM or EM Area according to the number of read words the read source address the read destination area and the read destination word designated in the operat...

Page 155: ...e PCU for the first time or when modifying the data in the common parameter area 5 3 2 Data Settings Required for Reading Data Beginning Words of Memory Areas The beginning words of the operating memory area the operating data area and common parameter area used for a PCU are determined or set accord ing to the following Beginning word of the operating memory area n CIO 2000 10 unit number Beginni...

Page 156: ... area I 6 00 to 15 Read desti nation word I 7 00 to 15 15 00 Specifies the number of words to be read to the CPU Unit Setting range 0001 to 0304 Hex 1 to 772 words 15 00 Specifies the beginning address of the area in the PCU from which parameters and data are read For details of the PCU s internal addresses refer to SECTION 4 Data Areas EM bank designation DM EM designation 15 08 07 00 Specifies t...

Page 157: ...with the 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 D00500 CPU Unit CIO Area Operating memory area Common parameters Operating data area READ DATA 200113 Data transfer PCU NC413 unit number 0 Data area Speed 0 Speed 1 ...

Page 158: ...to 4 Set the read destination beginning address for PCU data area to 112C transfer source Set the area where the read data is to be stored to 000D DM Area Set the beginning word address of the DM Area where the read data is to be stored to 01F4 500 transfer destination READ DATA Contents of DM Area after read is completed D00500 0 3 E 8 D00501 0 0 0 0 D00502 1 5 7 C D00503 0 0 0 0 Speed 0 Speed 1 ...

Page 159: ...a in the PCU where the data is to be stored S Beginning word address of the area in the CPU Unit in which the data has been set W Unit number of the PCU which is the transfer destination and the total number of words to be read 2 Set the data Set the data in the area designated by S 3 Write the data Execute IOWR to to to PCU NC413 Data area Sequence 0 0 Hex Other data Speeds Positions Acceleration...

Page 160: ... C W IOWR C S W IOWR C S W Specifies the address Hex in the PCU to which data will be written PCU address Hex Specifies the first word in the CPU Unit from which data is to be trans ferred The following areas can be specified as the source start word Refer to the CPU Unit manuals for details on each address First source word Specify the destination unit number to which data will be transferred and...

Page 161: ...0 in the operating memory area Check this error code to determine the cause of the error and correct it Flag ON Condition OFF Condition ER The number of transfer words set in W is outside the range 0001 to 0080 Hex The unit number set in W is outside the range 0000 to 005F Hex A Special I O Unit that is not com patible with the IOWR instruction has been specified A Special I O Unit for which a set...

Page 162: ... X axis sequence 0 the data unit consists of three words addresses 1000 to 1002 Hex If the transfer is started or ended part way through an IOWR format error error code 8701 will be generated When transferring the origin search high speed or the origin search proximity speed be sure to send both of these items together If only one of these items is transferred an IOWR format error error code 8701 ...

Page 163: ...he ladder program it may take 2 or more cycles for transfer to be completed See the following example This is different from method 1 where data transfer is completed within one cycle If the IOWR instruction is used only once in the ladder program it is possible to transfer the data to the PCU and send the instruction to start operation within one cycle in the same way as method 1 Data name Number...

Page 164: ...thin the respective ranges and write the data to the data area the Equals Flag which is the IOWR 112C D00500 00640002 R1 R2 R3 Set the address 112C Hex for the X axis speed Set the beginning word of the transfer source where the speed data is set DIFU R1 work bit Set the destination unit number 2 and the number of transfer words 100 64 Hex OUT R3 work bit OUT R2 work bit IOWR 11F4 D00600 00640002 ...

Page 165: ...OWR instructions transfer errors may not be reflected in the CPU Unit For details refer to 5 1 Transferring and Saving Data 5 4 6 IOWR Program Example A sample program is provided below for writing the indicated speed data to the PCU The beginning word address of the transfer data is to be D00500 and the other settings are as indicated The data will be transferred to the PCU designated as unit num...

Page 166: ...2 3 1 Set IORD C Beginning address of the PCU data area W Unit number of the PCU reading the data and the total number of words to be read D Beginning word address of the area in the CPU Unit where the read data will be stored 2 Read the data Execute IORD 5 5 3 IORD INTELLIGENT I O READ An explanation of how to use the IORD instruction is given here DIFU R1 IOWR 112C D00500 00040002 R3 R2 R1 R2 R3...

Page 167: ...000 to 32767 EM Area E00000 to 32767 EM Area with bank designation En_00000 to 32767 n 0 to C Indirect DM EM address binary D00000 to 32767 E00000 to 32767 En_00000 to 32767 n 0 to C Indirect DM EM address BCD D00000 to 32767 E00000 to 32767 En_00000 to 32767 n 0 to C Specifies the address in the PCU address to be read in hexadecimal PCU address Hex Specifies the destination unit number from which...

Page 168: ...r has been made or an error is being generated has been specified Anything else The transfer has been completed without error The address set in C or the area specified with this address and the number of transfer words set ting corresponds to only some and not all of the words used to store an item of data For exam ple the Equals Flag would turn ON if the destination address set for a speed which...

Page 169: ...ce 0 the data unit consists of three words addresses 1000 to 1002 If the transfer is started or ended part way through an IORD format error error code 8700 will be generated Using IORD a maximum of 128 words of data in consecutive addresses can be transferred at one time 5 5 7 IORD Program Example In this example speeds 0 and 1 written in 5 4 Writing Data with IOWR are read The conditions to be se...

Page 170: ...en data is saved Saving data can take as long as 30 seconds 3 Only save data when all axes are stopped and no other commands are be ing executed Otherwise the data will not be saved and a multiple start er ror error code 8000 will result 5 6 1 Flash Memory The contents of the PCU s internal memory are lost when the power supply is turned OFF or when the PCU is restarted By saving the contents of t...

Page 171: ... than data transfer or data saved can be received After transferring the data save the data and turn the power OFF and then ON again or restart the PCU 5 6 2 Data Saving Procedure Data can be saved using either the SAVE DATA Bit in the operating memory area or using CX Position For details of saving data using CX Position refer to the CX Position Operation Manual W433 Beginning Words of Memory Are...

Page 172: ...t can be used for setting all kinds of data used by a PCU as well as for monitoring the operating status of the PCU Creating and Transferring Data Refer to the CX Position Operation Manual W433 for details on its operation While CX Position is used to download data or to save data to flash memory the Data Transferring Flag will be ON Note Do not carry out transfer operations from more than one CX ...

Page 173: ...146 Transferring Data with CX Position Section 5 7 ...

Page 174: ...ting Memory Area 152 6 3 4 Allocation of Operating Data Areas Supported for Unit Version 2 3 or Later 153 6 4 Origin Search Operation 153 6 4 1 Operation Pattern Settings for Origin Search 153 6 4 2 Details of Parameters 153 6 4 3 Operation Mode Settings 157 6 4 4 Origin Search Operation and Origin Detection Direction Settings 162 6 4 5 Operation Pattern With Origin Compensation 167 6 5 Origin Sea...

Page 175: ...tor can be operated without determining the origin although origin return cannot be used Operation will however proceed in the way described below Name Description ORIGIN SEARCH Using this method the motor controlling movement is actually operated and the origin is determined using limit input signals an origin proximity input signal and an origin input signal A photoelectric sensor or the Z phase...

Page 176: ...rted for unit version 2 3 or later Note The origin search acceleration time set with the parameters is the time taken to reach the maximum speed also set with the parameters Similarly the ori gin search deceleration time set with the parameters is the time taken to go Function Operation JOG speed feeding Before pulses are output the present position is taken to be 0 ORIGIN RETURN Cannot be used If...

Page 177: ...d common parameter area used for a Position Control Unit PCU are deter mined or set according to the following Beginning word of the operating memory area n CIO 2000 10 unit number Beginning word of the common parameter area m D20000 100 unit number Beginning word of the operating data area l is specified in m and m 1 Set the beginning words of the operating data area and designate the axis parame...

Page 178: ... m 95 00 to 15 leftmost Origin search proximity speed n 12 m 40 m 68 m 96 00 to 15 rightmost n 13 m 41 m 69 m 97 00 to 15 leftmost 08 03 Limit input signal type 0 N C input 1 N O input Origin proximity input signal type 0 N C input 1 N O input Origin input signal type 0 N C input 1 N O input 15 00 Operation mode 0 to 3 Modes 0 to 3 Origin search operation 0 Reverse mode 1 1 Reverse mode 2 2 Single...

Page 179: ...rigin search acceleration time m 20 m 48 m 76 m 104 00 to 15 rightmost m 21 m 49 m 77 m 105 00 to 15 leftmost Origin search deceleration time m 22 m 50 m 78 m 106 00 to 15 rightmost m 23 m 51 m 79 m 107 00 to 15 leftmost Name Word in axis parameter area Bit Details NC1 3 NC2 3 NC4 3 X axis Y axis Z axis U axis 15 00 Leftmost 15 00 Rightmost Set range C0000001 to 3FFFFFFF Hex 1 073 741 823 to 1 073...

Page 180: ...or detecting the origin 4 Origin search direction Set the direction for origin search 5 Origin compensation data If fine adjustment is required after the origin has been determined e g if there is inaccuracy in the position at which the proximity sensor turns ON or if the motor has been changed set the amount of compensation the origin compensation value required Note There are drivers for steppin...

Page 181: ...02 will be generated and operation will decel erate to a stop 1 Turns ON for 20 ms when origin is detected The origin input signal during deceleration is not detected Operation is stopped and the origin is determined when the ori gin input signal is received after the origin search proximity speed has been reached 2 After the origin has been detected origin search operation will not be ter minated...

Page 182: ... mode There are two patterns possible for origin search operation the origin search direction and the opposite direction Direction reversed when input is received from the limit signal in the origin search direction Operation is stopped and an error is generated when input is received from the limit signal in the origin search direction Origin search is performed in one direction only Reverse mode...

Page 183: ...be no acceleration Origin Search Direction This setting determines the direction when detecting the origin input signal During origin search the origin input signal in the direction of the origin search direction is always being detected 0 CW direction 1 CCW direction Setting Origin detection method Origin input signal detection Notes 0 With origin proxim ity input signal reversal Origin input sig...

Page 184: ...response time is 0 1 ms N O contact setting In this mode an origin input signal error error code 6202 will be generated if an origin input signal is input during the deceleration from origin search high speed to origin search proximity speed which is initiated by the input of an ori gin proximity input signal or a limit input signal if the origin detection method is set to 3 Mode 1 The Z phase sig...

Page 185: ...y input signal dog is long enough i e more than the deceleration time 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 Mode 2 This mode is similar to mode 1 except that the positioning completed input signal INP is also used The positioning completed input signal from the Servo Dr...

Page 186: ...e Servo Drive s positioning completed input signal is used The positioning completed input signal waits for the positioning monitor time axis parameter If the monitor time is set to 0 the signal waits until the positioning completed input signal turns ON Therefore if a problem exists in the positioning completed input sig nal wiring or if the servo gain is set to a large value the busy state conti...

Page 187: ...put after deceleration is completed Origin Detection Method 1 Deceleration starts on the rising edge of the origin proximity input signal and an origin adjustment command is output when deceleration is completed If there is a Z phase signal during deceleration the stop position will vary according to the deceleration time Origin adjustment command output Z phase signal Positioning completed Stops ...

Page 188: ...insufficient while the limit input signal is ON there will be an error Pulse output Time Time Pulse output Origin adjustment command output Z phase signal Origin proximity input signal Origin adjustment command output Start Stop Stop Start When deceleration time is long When deceleration time is short Pulse output Time Origin adjustment command output Start Limit input signal Positioning completed...

Page 189: ...h operation 0 Reverse mode 1 0 Takes origin signal after origin proximity signal turns ON and OFF 1 Takes origin signal after origin proximity signal turns ON 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 proxim...

Page 190: ...on is reversed the reverse will be sudden without deceleration or acceleration Origin input signal Pulse output Origin search proximity speed Start Stop CW limit See note Start Stop Start Stop 0 Origin detection method Origin search operation 1 Reverse 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 191: ...le Origin detection method Origin search operation 1 Reverse mode 2 Note A limit signal is input and operation is stopped without deceleration Origin proximity input signal Origin input signal Pulse output Start Stop Stop Start CW limit See note Start Limit Stop Error code 6200 Note A limit signal is input and a stop without deceleration will occur as a result Origin input signal Pulse output Star...

Page 192: ...W limit See note Limit Stop Error code 6200 Start CW limit See note Limit Stop Error code 6200 Start Note A limit signal is input and operation is stopped without deceleration Origin proximity input signal Origin input signal Pulse output Start Stop CW limit See note Limit Stop Error code 6200 Start CW limit See note Limit Stop Error code 6200 Start Note A limit signal is input and operation is st...

Page 193: ...arch operation 2 Single direction mode Note A limit signal is input and operation is stopped without deceleration CCW limit input Origin input signal Pulse output Start Stop Start CW limit See note Limit Stop Error code 6200 Start Stop Note A limit signal is input and operation is stopped without deceleration Origin proximity input signal Origin input signal Pulse output Start Stop Stop Start CW l...

Page 194: ...espect to pulse output during origin search but it is enabled with respect to the amount of pulse output set for origin com pensation In this case the origin search proximity speed corresponds to an override set ting of 100 Therefore if the override is set to 200 pulse output for the ori 1 Takes origin signal after origin proximity signal turns ON Origin detection method Origin search operation 3 ...

Page 195: ...e If the speed during movement for compensation is greater than the initial speed as a result of the override there will be acceleration and deceleration with respect to the pulse output Pulse output Time Approx 0 5 s Override Override enable Acceleration Deceleration Movement for origin compensation Twice the origin search proximity speed 200 0 ...

Page 196: ...harts 6 5 1 Without Origin Compensation When Using an Origin Proximity Input Signal Pulse output Origin proximity input signal Origin input signal ORIGIN SEARCH Positioning Completed Flag Origin Stop Flag No Origin Flag Busy Flag Time Start Stop 10 ms max 1 0 1 0 1 0 1 0 ...

Page 197: ...put Signal Pulse output Time Origin input signal ORIGIN SEARCH Positioning Completed Flag Origin Stop Flag No Origin Flag Busy Flag 0 10 ms max 1 0 1 0 1 0 1 0 Start Stop Pulse output Time Origin proximity input signal Origin input signal ORIGIN SEARCH Start Stop Positioning Completed Flag Origin Stop Flag No Origin Flag Busy Flag 10 ms max 1 0 1 0 1 0 1 0 ...

Page 198: ...Charts Section 6 5 When Not Using an Origin Proximity Input Signal Pulse output Time Origin input signal ORIGIN SEARCH Positioning Completed Flag Origin Stop Flag No Origin Flag Busy Flag 0 10 ms max 1 0 1 0 1 0 1 0 Start Stop ...

Page 199: ...m shows an example of a decelera tion 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 Flag Busy Flag Limit signal input in search direction STOP Start Deceleration Stop Execution Flag No Origin Flag Origin Stop Flag Error counter reset output ...

Page 200: ... pulse output prohibition The following diagram shows an example of an emergency stop during an ori gin search when there is an origin proximity input signal reversal Pulse output Time Origin proximity input signal Origin input signal ORIGIN SEARCH RELEASE PROHIBIT ERROR RESET Emergency stop input Error Flag Positioning Completed Flag Busy Flag Deceleration Stop Execution Flag No Origin Flag Origi...

Page 201: ... mined or set according to the following Beginning word of the operating memory area n CIO 2000 10 unit number Beginning word of the common parameter area m D20000 100 unit number Beginning word of the operating data area l is specified in m and m 1 Set the beginning words of the operating data area and designate the axis parameters used with the common parameters as shown below 6 6 3 Operating Me...

Page 202: ... will be generated 6 7 1 Operating Memory Area Allocation and Operating Data Area Settings Operating Memory Area Name Model Operating data area Bit Details X axis Y axis Z axis U axis Position NC4 3 NC2 3 NC1 3 I 8 I 9 I 8 I 9 I 8 I 9 I 20 I 21 I 20 I 21 I 32 I 33 I 44 I 45 00 to 15 rightmost 00 to 15 leftmost 15 00 Leftmost 15 00 Rightmost Setting range C0000001 to 3FFFFFFF Hex 1 073 741 823 to 1...

Page 203: ...Details X axis Y axis Z axis U axis Speed NC4 3 NC2 3 NC1 3 I 10 I 11 I 10 I 11 I 10 I 11 I 22 I 23 I 22 I 23 I 34 I 35 I 46 I 47 00 to 15 rightmost 00 to 15 leftmost Deceleration time NC4 3 NC2 3 NC1 3 I 12 I 13 I 12 I 13 I 12 I 13 I 24 I 25 I 24 I 25 I 36 I 37 I 48 I 49 00 to 15 rightmost 00 to 15 leftmost Deceleration time NC4 3 NC2 3 NC1 3 I 14 I 15 I 14 I 15 I 14 I 15 I 26 I 27 I 26 I 27 I 38...

Page 204: ... to OFF until the Z phase was detected If this value is close to 0 or close to one motor rotation there is a possibility of origin displacement during origin search A simple way of reducing the probability of this is to adjust the motor s mounting angle and the origin proximity sensor s mounting position so that this value is approximately half a rotation Origin Search Operation 6 8 2 Calculating ...

Page 205: ...178 Z phase Margin Section 6 8 Calculation of Z phase Margin Motor rotation Origin proximity signal Z phase Origin search operation Time Return using JOG at low speed ...

Page 206: ...ting Direct Operation 183 7 4 2 Direct Operation and the Operating Data Area 183 7 4 3 Multiple Starts with Direct Operation 183 7 4 4 Multiple Start Operating Patterns 184 7 4 5 Starting Direct Operation During Memory Operation 186 7 5 Direct Operation Timing Charts 186 7 6 Acceleration Deceleration 188 7 6 1 Calculation of Basic Acceleration Deceleration Times 188 7 6 2 Calculating Accel Decel T...

Page 207: ...origin has not been established With the RELATIVE MOVEMENT command position control is based on the amount of relative movement from the present position Relative See note 1 Operating data area Position rightmost word Position leftmost word Speed rightmost word Output at I O refresh time Output at I O refresh time Absolute movement word n bit 03 See note 2 Relative movement word n bit 04 Input at ...

Page 208: ... in I 8 and I 9 Set the speed in I 10 and I 11 Set the acceleration time in I 12 and I 13 Set the deceleration time in I 14 and I 15 4 Execute absolute movement or relative movement Turn the ABSOLUTE MOVEMENT command bit word n bit 03 or the RELATIVE MOVEMENT command bit word n bit 04 from OFF to ON The operations in 1 and 2 above are required when using a PCU for the first time or when modifying ...

Page 209: ...OLUTE MOVE MENT NC4 3 NC2 3 NC1 3 n n n n 2 n 2 n 4 n 6 03 RELATIVE MOVE MENT 04 INTERRUPT FEED ING 05 Positioning Com pleted Flag NC4 3 NC2 3 NC1 3 n 8 n 4 n 2 n 11 n 7 n 14 n 17 05 Busy Flag 13 1 Busy Item Model Operating data area Bit Details X axis Y axis Z axis U axis Position NC4 3 NC2 3 NC1 3 I 8 I 9 I 8 I 9 I 8 I 9 I 20 I 21 I 20 I 21 I 32 I 33 I 44 I 45 00 to 15 rightmost 00 to 15 leftmos...

Page 210: ...ing Data Area Positioning operations using direct operation are determined by data set in the operating data area Note Keep the ABSOLUTE MOVEMENT command or RELATIVE MOVEMENT command ON until the Busy Flag for the designated axis turns ON 7 4 3 Multiple Starts with Direct Operation During direct operation relative or absolute movements can be carried out by setting new positions speeds acceleratio...

Page 211: ...ecified 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 Operation Patterns for Relative Movement If the value of the RELATIVE MOVEMENT...

Page 212: ...ed during pulse output the pulse output will stop immediately Pulse output will stop if 0 is specified for a relative positioning operation with the origin not established Pulse output will stop if 0 is specified for either an absolute or relative positioning operation when the software limit function is disabled The present position at this time i e when pulse output stops will be equal to the nu...

Page 213: ...MOVEMENT command execution The X axis is used as an example Timing Charts Example 1 Moving to absolute position at 10 000 pulses Absolute Movement Memory Operation Relative Movement Memory Operation Movements from P0 to P1 to P2 to P3 to P0 are all executed with absolute position data While moving from P2 to P3 stop with a deceleration stop and move to P4 in a direct operation Movements from P0 to...

Page 214: ... 000 pulses Position I 8 I 9 Speed I 10 I 11 ABSOLUTE MOVEMENT word n bit 03 Pulse output Speed Time Positioning Completed Flag word n 8 bit 05 Busy Flag word n 8 bit 13 2710 Hex 10000 3E8 Hex 1000 FFFFD8F0 Hex 10000 3E8 Hex 1000 Position I 8 I 9 Speed I 10 I 11 RELATIVE MOVEMENT word n bit 04 Pulse output Speed Time Positioning Completed Flag word n 8 bit 05 Busy Flag word n 8 bit 13 2710 Hex 100...

Page 215: ...time required to go from the maximum speed to the initial speed If the acceleration deceleration time designation parameter in the axis parameter area is set to 1 the acceleration and deceleration times will be the times required to go from the present speed to the target speed The following is an explanation of the acceleration and deceleration times when speed commands are executed for direct op...

Page 216: ...is made during direct operation can be calculated in the way shown below Case 1 Speed for the Next Positioning Operation is Faster Actual acceleration time T1 V1 V0 VMAX V0 Ta Actual acceleration time T2 V2 V1 VMAX V0 Ta Actual deceleration time T3 V2 V0 VMAX V0 Td The following axis parameter settings are used Maximum speed VMAX pps Initial speed V0 pps The following operating data area settings ...

Page 217: ...ration time T2 V1 V2 VMAX V0 Td 7 6 3 Calculating Accel Decel Times for Speed Changes during Operation If the speed or the override setting is changed during direct operation the motor will be accelerated or decelerated to the new speed The actual accel eration and deceleration times for this kind of operation can be calculated in the way shown below Case 1 Next Speed is Faster Actual acceleration...

Page 218: ...2 V1 V2 VMAX V0 Td 7 7 Sample Program This section provides a sample program for operating the axes The PCU used is a NC113 The default settings in the PCU are used for the axis parameters If the values have been modified by data transfer for example the results achieved will vary from those given below 7 7 1 Details of Operation The X axis is moved by relative movement at a speed of 15 000 pps to...

Page 219: ...ing Data Area Set by the Program Speed Position 135 000 pulses Time Acceleration time 3 ms Deceleration time 3 ms Item Details Unit number of PCU Set to unit 3 Common parameter area D20300 through D20302 Operating memory area CIO 2030 through CIO 2034 The above areas are allocated automatically by setting the unit number Operating data area designation Axis parameter designation 0 D20300 0 0 D 0 D...

Page 220: ...0513 0064 0000 Deceleration time 00514 00515 0064 0000 Name Configuration DM Contents 15 00 Leftmost l 13 15 00 Rightmost l 12 Setting range 0 to 3D090 Hex 0 to 250 000 ms 15 00 Leftmost l 15 15 00 Rightmost l 14 Setting range 0 to 3D090 Hex 0 to 250 000 ms ...

Page 221: ...times deceleration times position command values speed command values and other settings can be easily made Function blocks can be freely named simplifying program management Refer to the following documentation for details on function blocks Using Function Blocks for the First Time Function Block Introduction Guide R133 Using Function Blocks for Each Associated Device OMRON FB Library Start up Gu...

Page 222: ... DINT Deceleration DINT Select BOOL ENO BOOL Done BOOL Command Aborted BOOL Error WORD ErrorID _NCx011_MoveAbsolute_DINT CPU NCx 0 Unit number 0 Servo motor Axis 1 Servo motor 1 Axis 1 Bit B Bit C Bit D Start trigger Bit A Unit No 0 Axis No 1 Start Bit A Position command 2000 2000 pulses Speed command 20000 20000 pps Acceleration time 100 100 ms Deceleration time 200 200 ms Model selection 2 Bit A...

Page 223: ...196 Sample Program Section 7 7 ...

Page 224: ...Target Speed Numbers 211 8 5 Completion Codes 211 8 5 1 Starting Memory Operation 211 8 5 2 Memory Operation In Accordance With Positioning Sequences 211 8 6 Linear Interpolation 217 8 6 1 Overview 217 8 6 2 Using Continuous Completion with Linear Interpolation 218 8 7 Transferring Positioning Sequences 220 8 7 1 PCU s Internal Addresses 221 8 7 2 Transferring 100 Positioning Sequences from CPU Un...

Page 225: ...rating mem ory area the Sequence Number Enable Bit is switched ON Start is executed when the start or independent start allocated to the operat ing memory area CIO Area is turned ON PCU Operating memory area 2 Sequence enabled start or indepen dent start switched from OFF to ON Start sequence No 1 Set by MOV instruction etc Automatically output by I O refresh Sequence No setting Transferred in adv...

Page 226: ...s to be positioned 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 axis that started operation is used as the data to be designated in the sequence data If several axes are designated by the axis designation interpolated o...

Page 227: ...s Z axis U axis NC4 3 NC2 3 NC1 3 n 8 n 4 n 2 n 11 n 7 n 14 n 17 04 Waiting For Memory Operation Flag 05 Positioning Completed Flag 11 Teaching Completed Flag 12 Error Flag See note 14 Data Transferring Flag X axis only Model Word Bit Name X axis Y axis Z axis U axis NC4 3 NC2 3 NC1 3 n 59 n 35 n 23 n 63 n 39 n 67 n 71 00 to 15 Output code Model Word Bit Name X axis Y axis Z axis U axis NC4 3 NC2 ...

Page 228: ...ag in the operating memory area will be reset during memory operation for the following It will not be reset at startup or when the origin is established At the end of operation for a sequence with the completion code set to ter minating At the end of an operation for a sequence with the completion code set to automatic or continuous started as an independent operation When positioning did not end...

Page 229: ... modifying the data in the common parameter area The procedure given in step 4 is also used to start sequence number 0 8 3 Setting Data for Memory Operation A simple explanation of the axis parameter area and operating memory area settings that are used when executing memory operation is given below For setting methods and other details refer to 4 4 Axis Parameter Area and 4 5 Operating Memory Are...

Page 230: ...o 15 Rightmost 00 to 15 Leftmost Deceleration time m 22 m 23 m 50 m 51 m 78 m 79 m 106 m 107 00 to 15 Rightmost 00 to 15 Leftmost 08 03 Limit input signal type 0 N C input 1 N O input Origin proximity input signal type 0 N C input 1 N O input Origin proximity input signal type 0 N C input 1 N O input 15 00 Operation mode 0 to 3 Modes 0 to 3 Origin search operation 0 Reverse mode 1 1 Reverse mode 2...

Page 231: ...nd they set data required for positioning such as the target speed number acceleration deceleration number and so on Note With previous PCUs data such as the target speed acceleration deceleration time and so on was set for positioning actions which were the basic unit of positioning With this PCU however position data is set independently These PCUs are designed so that the position number used i...

Page 232: ...specified by the axis designation will be used The position set for the axis specified by the axis designation will be used The initial pulse designation for the axis specified by the axis designation will be used Operation for Two Axes or More The data dwell time acceleration time deceleration time initial speed target speed for the starting axis is used Out of the acceleration deceleration curve...

Page 233: ... 1 X axis operation started from the X axis Example 2 Y and Z axis operation started from the X axis Starting axis X axis X axis Axis from which positioning sequences are used X axis starting axis X axis starting axis Axis or axes specified in positioning sequence X axis Y axis Z axis Axis parameters used Acceleration decel eration curve desig nation X axis axis desig nation Y axis determined by p...

Page 234: ...tioning 1 Relative positioning For example if the axis designation is set to 0111 and the position designa tion is set to 0001 relative positioning will be performed for the X axis and absolute positioning will be performed for the Y and Z axes Caution When positioning to a position determined using the teaching function set the position designation setting in the positioning sequence to absolute ...

Page 235: ...me 3 Bank end Positioning is stopped after comple tion When START is next executed positioning starts again with the des ignated sequence when the Sequence Number Enable Bit turns ON 4 Speed control Pulse output is maintained at the speed set for the sequence The present position is calculated even during continuous output The direc tion of the pulse output is deter mined by the sign set for the p...

Page 236: ...irection Pulse output is maintained at the speed set for the sequence The direction of the pulse output is deter mined by the sign set for the posi tion data Following an interrupt input the axis is moved from the input position by a specified amount in the same direction as the pulse output and then stopped 6 Interrupt feeding reverse direction Following an interrupt input the axis is moved from ...

Page 237: ...tion deceleration time set in the axis parameter area is used The next sequence is executed when the dwell time elapses following the completion of pulse output Speed Sequence n Completion code automatic Time Positioning Completed Flag Busy Flag Waiting for memory operation Sequence n 1 Completion code automatic Speed Sequence n Completion code automatic Time Positioning Completed Flag Busy Flag W...

Page 238: ...quence Number Enable Bit When Executed by START Executes the same number position as the positioning sequence according to the completion code in the positioning sequence When Executed by INDEPENDENT START Does not comply with the completion code in the positioning sequence but always works as a terminating completion A bank end completion comple tion code 3 however still works as a bank end opera...

Page 239: ... number as the next 1 position ing sequence is executed Speed Sequence n Terminating completion Waiting for memory operation Sequence n 1 Time Sequence number Sequence Number Enable START or INDEPENDENT START CPU Unit to PCU Speed Sequence n Sequence n 1 Time Sequence number Sequence Number Enable Automatic completion Dwell time START See note Note If INDEPENDENT START is executed a terminating co...

Page 240: ...ime numbers 1 to 19 has been set operation will be the same as that for automatic completion not continuous completion Example With sequence n continuous and sequence n 1 bank end there will be an immediate reversal when reversing from sequence n to sequence n 1 with no acceleration or deceleration Speed Sequence n Sequence n 1 Time Sequence number Sequence Number Enable Continuous completion STAR...

Page 241: ...n the position with the same number as this position ing sequence is executed and then positioning is stopped The next position ing sequence started is the one designated by the previous sequence number enable Speed Control Completion Code 4 With speed control completion pulse output is supported at the target speed in this positioning sequence The present position can be calculated even dur ing c...

Page 242: ...ent position can be calculated even during continuous output The direction of the pulse output is set by the sign for the position data of the same number When an interrupt signal is input positioning is carried out according to the position data that is set The positioning direction depends on the completion code The next sequence Speed Sequence n Time Sequence number Sequence Number Enable START...

Page 243: ...e Number Enable START or INDEPENDENT START External interrupt input signal Movement by specified amount Present position is reset to 0 when origin is not fixed CPU Unit to PCU Completion Code 6 Time Speed Sequence n Time Sequence number Sequence Number Enable START or INDEPENDENT START Movement by specified amount in opposite direction from axis feed direction Interrupt input CPU Unit to PCU ...

Page 244: ...eater than its maximum speed setting the interpolation speed is automatically lowered so that the speed for that axis or axes is equal to the maximum speed setting With this PCU the interpolation speed can be set up to 1 000 pps so as to allow each axis to move simultaneously at its maximum speed 500 pps whilst operating according to linear interpolation If a value exceeding 1 000 pps is set a spe...

Page 245: ...ry stop at the intermediate point Example When Using a Stepping Motor When using a stepping motor for continuous linear interpolation use the auto matic completion code completion code 1 Interpolation is started with the target speed and acceleration deceleration time of the active axis so the pulses may suddenly become high or stop suddenly if the continuous comple tion code completion code 2 is ...

Page 246: ...ly 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 executed therefore set the completion code to automatic completion code 1 The following example shows the linear interpolation of the X...

Page 247: ... PCU using either of the following methods First save the memory operation data to the PCU s flash memory using CX Position and then write this data from the flash memory at startup Save the data to the DM or EM Area of the CPU Unit and then using the data transfer function transfer this data to the PCU where it is written to the buffer A simple example of the procedure for transferring positionin...

Page 248: ...s 12D0 to 12E3 Deceleration times Deceleration times Deceleration times 12E4 to 12F7 Dwell times Dwell times Dwell times 12F8 to 1303 Zones Zones Zones 2000 to 212B Y axis data Positioning sequences Y axis data Positioning sequences 212C to 21F3 Speeds Speeds 21F4 to 22BB Positions Positions 22BC to 22CF Acceleration times Acceleration times 22D0 to 22E3 Deceleration times Deceleration times 22E4 ...

Page 249: ...112 Sets the total number of write words In this case sets to 12C Hex 100 positioning sequences 3 words 300 words Sets the area in the CPU Unit used to set the positioning sequences EM Area bank 0 Set the beginning word of the area in the DM or EM Area used to set the positioning sequences In this case sets to 0000 Sets the beginning address of the area in the PCU to which the positioning sequence...

Page 250: ... is turned ON after a sequence number has been designated and the Sequence Number Enable Bit turned ON In the following timing chart the completion codes for the positioning sequences are as follows using X axis operation for a 4 axis PCU as an example Sequence 10 Sequence 20 Continuous Sequence 11 Sequence 21 Bank end 8 8 3 Timing Chart for INDEPENDENT START INDEPENDENT START is used for stopping...

Page 251: ... operation for a 4 axis PCU as an example Sequence 0 Sequence 3 Continuous Sequence 1 Terminating Sequence number word l 16 bit 00 to 15 Sequence Number Enable word n bit 00 Speed Sequence number word I 58 bit 00 to 15 Sequence 0 INDEPENDENT START word n bit 02 Output pulses Positioning Completed Flag word n 8 bit 05 Busy Flag word n 8 bit 13 Waiting For Memory Operation Flag word n 8 bit 04 Seque...

Page 252: ...erforming positioning with the completion code set to continuous however there will be a delay in the timing with which data changes are reflected in operation When positioning sequences with completion codes set to continuous are being executed continuously the PCU reads up to 3 positioning sequences at the start of memory operation This means that if changes to data for a posi Speed Output pulse...

Page 253: ...d The following is an explanation of the acceleration and deceleration times when speed commands are executed for memory operation with the accelera tion deceleration time designation parameter in the axis parameter area set to 0 If changes to the data used for positioning sequence n 3 are made during this period positioning sequence n 3 will be executed according to the new settings Speed Sequenc...

Page 254: ...1 V0 VMAX V0 Ta Actual deceleration time T2 V1 V0 VMAX V0 Td The following axis parameter settings are used Maximum speed VMAX pps The following data specified by data number in the positioning sequence is used Position Initial speed V0 pps Speed V1 pps Acceleration time Ta ms Deceleration time Td ms Note If override is enabled i e the Override Enable Bit is ON the speed will be as follows Speed d...

Page 255: ...tion time T2 V2 V1 VMAX V0 Ta1 Actual deceleration time T3 V2 V3 VMAX V0 Td2 Actual deceleration time T4 V3 V0 VMAX V0 Td3 The following axis parameter settings are used Maximum speed VMAX pps The following data specified in each positioning sequence is used No 0 Position Initial speed V0 pps Speed V1 pps Acceleration time Ta1 ms Deceleration time Td1 ms No 1 Position Initial speed V0 pps Speed V2...

Page 256: ...ion times are related to the values set for actual tar get speeds and the maximum speeds in the axis parameter area For details refer to Appendix B Estimating Times and Pulses for Acceleration Decelera tion Speed Speed V2 Speed V1 Speed V3 Speed V0 Acceleration time T1 Acceleration time T2 Deceleration time T3 Deceleration time T4 Time Sequence 0 Sequence 1 Sequence 2 Speed Target speed 3 000 pps ...

Page 257: ...r 00 00 Acceleration time number 5 5 Deceleration time number 6 6 Initial speed number 14 14 Target speed number 15 16 Item Details Unit number of PCU Unit 1 Common parameter area D20100 to D20102 Operating memory area CIO 2010 to CIO 2014 words The above areas are allocated automatically according to the unit number set Common parameters Operating data area des ignation Beginning word of oper ati...

Page 258: ...ing ms Value set Hex Address Hex Acceleration time 5 5000 1388 0000 12C6 12C7 Deceleration time 6 6000 1770 0000 12DC 12DD 15 00 Leftmost 15 00 Rightmost Unsigned 32 bit binary data Setting range 1 to 7A120 Hex 1 to 500 000 pps Speed data pps 15 00 Leftmost 15 00 Rightmost Unsigned 32 bit binary data Setting range C0000001 to 3FFFFFFF Hex 1 073 741 823 to 1 073 741 823 pulses Position data pulses ...

Page 259: ...232 Sample Program Section 8 10 ...

Page 260: ...ings 238 9 2 5 Timing Chart 238 9 3 Interrupt Feeding 239 9 3 1 Outline of Operation 239 9 3 2 Procedure for Memory Operation 239 9 3 3 Procedure for Direct Operation 240 9 3 4 Beginning Words of Memory Areas 240 9 3 5 Operating Memory Area Allocation and Operating Data Area Settings 240 9 3 6 Timing Chart 242 9 4 Forced Interrupt 242 9 4 1 Beginning Words of Memory Areas 243 9 4 2 Operating Memor...

Page 261: ... 2 Beginning Words of Memory Areas 257 9 8 3 Setting Axis Parameters 257 9 8 4 Backlash Compensation Operation 257 9 8 5 Backlash Compensation With Linear Interpolation 258 9 9 Software Limit 258 9 9 1 Outline 258 9 9 2 Beginning Words of Memory Areas 259 9 9 3 Setting Axis Parameters 260 9 9 4 Operation Timing 260 9 10 Stop Function 261 9 10 1 Outline 261 9 10 2 Stop Methods 262 9 11 Easy Backup ...

Page 262: ...ition Control Unit PCU are deter mined or set according to the following Beginning word of the operating memory area n CIO 2000 10 unit number Beginning word of the common parameter area m D20000 100 unit number Beginning word of the operating data area l is specified in m and m 1 Set the beginning words of the operating data area and designate the axis parameters used with the common parameters a...

Page 263: ...The following is an example of a timing chart for a JOG operation on the X axis with a 4 axis PCU Name Model Operating data area Bit Details X axis Y axis Z axis U axis Speed NC4 3 NC2 3 NC1 3 I 10 I 11 I 10 I 11 I 10 I 11 I 22 I 23 I 22 I 23 I 34 I 35 I 46 I 47 00 to 15 rightmost 00 to 15 leftmost Acceleration time NC4 3 NC2 3 NC1 3 I 12 I 13 I 12 I 13 I 12 I 13 I 24 I 25 I 24 I 25 I 36 I 37 I 48...

Page 264: ... positioning sequence to absolute position ing If it is set to relative positioning positioning will be performed to a position other than the one obtained with the teaching function 9 2 2 Procedure for Teaching 1 2 3 1 Set the operating data area using the parameters 2 Move the axis to the teaching position e g using JOG 3 Set the teaching address in the operating data area 4 Stop the axis and th...

Page 265: ...Beginning word of operating data area 00 to 15 m 2 Axis parameter designation 00 to 15 Name Model Operating memory area Bit Details X axis Y axis Z axis U axis TEACH NC4 3 NC2 3 NC1 3 n n n n 2 n 2 n 4 n 6 11 Teaching completed NC4 3 NC2 3 NC1 3 n 8 n 4 n 2 n 11 n 7 n 14 n 17 11 Busy Flag 13 1 Busy Name Model Operating memory area Bit Details X axis Z axis Y axis U axis Teaching address NC4 3 NC2 ...

Page 266: ...oning sequence completion code is set to interrupt feeding 5 or 6 and then this sequence number is started and the interrupt input signal is awaited 1 2 3 1 Set the positioning sequence completion code to 5 interrupt feeding in di rection of travel or 6 interrupt feeding in opposite direction and write it to the PCU 2 In the positioning sequence set the speed data number and acceleration decelerat...

Page 267: ...ording to the following Beginning word of the operating memory area n CIO 2000 10 unit number Beginning word of the common parameter area m D20000 100 unit number Beginning word of the operating data area l is specified in m and m 1 Set the beginning words of the operating data area and designate the axis parameters used with the common parameters as shown below 9 3 5 Operating Memory Area Allocat...

Page 268: ...rupt signal is input will be used after the interrupt input Name Model Operating data area Bit Details X axis Y axis Z axis U axis Position NC4 3 NC2 3 NC1 3 I 8 I 9 I 8 I 9 I 8 I 9 I 20 I 21 I 20 I 21 I 32 I 33 I 45 I 45 00 to 15 rightmost 00 to 15 leftmost Speed NC4 3 NC2 3 NC1 3 I 10 I 11 I 10 I 11 I 10 I 11 I 22 I 23 I 22 I 23 I 34 I 35 I 46 I 47 00 to 15 rightmost 00 to 15 leftmost Accelerati...

Page 269: ...d at the time of the interrupt For operation started with INDEPENDENT START operation will follow terminating completion For any other kind of startup method operation will be determined by the completion code in the positioning sequence Note A sequence number error error code 8101 will be generated in the following cases If forced interrupt is executed at power up or restart or after execution of...

Page 270: ...tings Refer to 8 4 Positioning Sequences for information about positioning sequences under memory operation Operating Memory Area Operating Data Area Word Name Bit Reference m Operating data area designation 00 to 15 SECTION 4 m 1 Beginning word of operating data area 00 to 15 m 2 Axis parameter designation 00 to 15 Name Model Operating memory area Bit Details X axis Y axis Z axis U axis FORCED IN...

Page 271: ...is executed during memory operation the stop occurs with a deceleration time that can be calculated from the deceleration time set for the positioning sequence see 8 9 Acceleration Deceleration When a deceleration stop is executed at any other time the stop occurs with a deceleration time that can be calculated from the deceleration time set in the operating memory area see 7 6 Acceleration Decele...

Page 272: ...pecified in m and m 1 Command Executable while STOP Bit is ON Memory operation START No INDEPENDENT START No FORCED INTERRUPT No Direct operation ABSOLUTE MOVEMENT No RELATIVE MOVEMENT No INTERRUPT FEEDING No Other ORIGIN SEARCH No ORIGIN RETURN No PRESENT POSITION PRESET Yes JOG No TEACH Yes RELEASE PROHIBIT ERROR RESET Yes Error counter reset output origin adjustment command output Yes Override ...

Page 273: ...uting START If the completion code of the stopped positioning action is anything other than continuous when a deceleration stop occurs after the target position has been passed it is possible to resume positioning by executing START Word Name Bit Reference m Operating data area designation 00 to 15 SECTION 4 m 1 Beginning word of operating data area 00 to 15 m 2 Axis parameter designation 00 to 15...

Page 274: ...r 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 will vary as shown below according to whether the positions for each active axis are relative or abso l...

Page 275: ...arting For details regarding operation when the target position has been passed for an axis with an absolute position refer to Deceleration Stop During Position ing with Absolute Positions on page 246 When the X Axis and Y Axis Positions are Both Relative When positioning is stopped by a deceleration stop the stopped sequences for both axes are re executed by restarting positioning Y axis X axis R...

Page 276: ...peration direct operation jogging and so on are taken to be 100 Target speed Speed setting x Override 100 If the override is greater than the maximum speed for an axis the target speed will be the maximum speed Override is not enabled for pulse output during origin search It is enabled however for the pulse output for the amount of compensation when origin compensation is used Normally override op...

Page 277: ...ide can be enabled at any time during this period The speed can be changed by changing the override value even while the speed is changing acceleration or deceleration as the result of a previous change in the override value Override cannot be enabled while decelerating to a stop Speed Time Jogging origin return interrupt feeding Memory operation completion code continuous During these periods the...

Page 278: ...ION 4 m 1 Beginning word of operating data area 00 to 15 m 2 Axis parameter designation 00 to 15 Name Model Operating memory area Bit Details X axis Y axis Z axis U axis Override Enable Bit NC4 3 NC2 3 NC1 3 n n n n 2 n 2 n 4 n 6 14 1 Enable 0 Disable Name Model Operating data area Bit Data configuration X axis Y axis Z axis U axis Speed NC4 3 NC2 3 NC1 3 I 10 I 11 I 10 I 11 I 10 I 11 I 22 I 23 I ...

Page 279: ...ment command output are used as the following kinds of signals depending on the operation mode and they control the ON OFF status of the error counter reset output origin adjustment command output from the external I O connectors General purpose output mode 0 Error counter reset output modes 1 and 2 Origin adjustment command output mode 3 Pulse output Speed Time Positioning Completed Flag word n 8...

Page 280: ...is stopped 2 The origin determination is released 3 The error counter reset outputs are output ON While this bit is ON if operations such as direct operation memory operation origin search or jogging are executed an error counter reset or origin adjustment command output error error code 8400 will be generated Make sure this bit is OFF before executing the opera tion Do not turn this bit ON during...

Page 281: ...a Bit Details X axis Y axis Z axis U axis Error counter reset output and origin adjustment command output NC4 3 NC2 3 NC1 3 n n n n 2 n 2 n 4 n 6 13 1 ON 0 OFF Busy Flag NC4 3 NC2 3 NC1 3 n 8 n 4 n 2 n 11 n 7 n 14 n 17 13 1 Busy Pin number Name A9 X Z axis B9 Y U axis Error counter reset output or origin adjustment com mand output 24 v A10 X Z axis B10 Y U axis Error counter reset output or origin...

Page 282: ...bit 03 Error counter reset output word n bit 13 X axis error counter reset output PCU output signal No Origin Flag word n 8 bit 06 Pulse output Speed Time Busy Flag word n 8 bit 13 Positioning Completed Flag word n 8 bit 05 Sequence number word l 16 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 Sequenc...

Page 283: ...ative direction or when the positioning direction pulse output direction is reversed With this PCU the backlash compensation and backlash compensation speed can be designated by parameters The backlash compensation operation is used after the origin has been estab lished If the backlash compensation speed is set to 0 compensatory output is made at the initial speed If the initial speed is below 25...

Page 284: ...n below 9 8 3 Setting Axis Parameters 9 8 4 Backlash Compensation Operation Reciprocating Operation on One Axis Word Name Bit Reference m Operating data area designation 00 to 15 SECTION 4 m 1 Beginning word of operating data area 00 to 15 m 2 Axis parameter designation 00 to 15 Data Parameter area for each axis Bit Data Configuration NC113 NC213 NC413 X axis Y axis Z axis U axis Backlash com pens...

Page 285: ...e completed and then accelerate Example Linear interpolation using the X and Y axes 9 9 Software Limit 9 9 1 Outline In order to prevent damage to external devices due to unexpected positioning operation when there is a malfunction in addition to the CW and CCW limit input signals the PCU also has a function that monitors the position at a soft ware level This function is called the software limit...

Page 286: ...ut in CCW direction 2 147 483 647 pulses 80000001 Hex 9 9 2 Beginning Words of Memory Areas The beginning words of the operating memory area operating data area and common parameter area used for a Position Control Unit PCU are deter mined or set according to the following Beginning word of the operating memory area n CIO 2000 10 unit number Beginning word of the common parameter area m D20000 100...

Page 287: ...left most 15 00 Leftmost 15 00 Rightmost Setting range C0000001 to 3FFFFFFF Hex 1 073 741 823 to 1 073 741 823 pulses If the CCW software limit is greater than or equal to the CW software limit the software limit function will be disabled Both the CCW and CW software limits have the configuration shown below Positioning operation Check before positioning Is the position setting within the software...

Page 288: ...ion positioning OK Operation not possible No check is performed unless the position setting is changed with the start of the forced interrupt If the position setting is changed with the start of forced interrupt and the new position is outside the software limit range operation decelerates to a stop to a position within the software limit range Speed control OK OK If the total number of pulses the...

Page 289: ...n the data is backed up on the Card as a Unit Board backup file using the following file name Area Stopping method Status category Internal PCU operation when an error has occurred e g because the present position is outside the software limit range Operation is stopped accord ing to the deceleration curve Error Input signal CW CCW limit input signal turns ON Operation is stopped imme diately Erro...

Page 290: ...to re store the data i e read it from Memory Card 3 Data in flash memory can be backed up even if it is corrupted However a parameter corrupted error error code 0001 will be displayed when you try to restore the data i e read it from Memory Card 9 11 2 Applications Use the easy backup function to back up data for the entire PLC including the CPU Unit MC Units DeviceNet Units and Serial Communicati...

Page 291: ...t as shown in the following table and turn ON the PLC This reads the PCU data file on Memory Card and restores the data to the PCU Note When data is restored it is read from Memory Card to PCU RAM where it is checked If the check ends successfully the data is au tomatically written to flash memory If the check fails then a param eter corrupted error error code 0001 will be displayed the RAM will b...

Page 292: ...es data from PCU flash memory with data in PCU data file on the Memory Card When the power supply switch is pressed the MCPWR indica tor on the front of the CPU Unit will flash once and then will remain lit while data is being compared The indicator will go out after the comparison has been completed as long as the data matches DIP switch pins on the CPU Unit SW7 SW8 OFF OFF Memory Card power supp...

Page 293: ...266 Easy Backup Function Ver 2 0 or later Section 9 11 ...

Page 294: ...270 10 2 1 Checking Positioning Operations 270 10 2 2 Repeat Operation 275 10 2 3 Cancelling Positioning 279 10 3 Direct Operation 285 10 3 1 Positioning with Positions in the DM Area 285 10 3 2 Inching 289 10 4 Two axis Linear Interpolation 292 10 5 Origin Search Using Limit Input 298 10 6 Changing Speed Using an Override during Pulse Output 300 10 7 Transferring and Saving Data 303 ...

Page 295: ...and Power Supply Unit The following settings are needed for the PCU Model Notes Position Control Unit CJ1W NC113 NC133 NC213 NC233 NC413 NC433 SYSMAC CJ series CPU Unit CJ1G H CPU Power Supply Unit CJ1W PA205R 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 PC...

Page 296: ...n set values for the parameters sequences speeds positions acceleration and decel eration dwell times and zones 6 Inputting the Program Refer to the program in each program example and then use Programming Devices such as the CX Programmer Programming Console and so on to input the ladder program to the CPU Unit Terminals Wiring 24 V power supply for output A1 B1 24 V DC 24 V DC power supply posit...

Page 297: ...e to the completion code set for that sequence Operation Examples The following examples show positioning tests on positioning sequences with completion codes set either to automatic or continuous Name Page Memory operation Checking positioning operations 270 Repeat operation 275 Cancelling positioning 279 Direct operation Positioning with positions in the DM Area 285 Inching 289 Linear interpolat...

Page 298: ...ugh D00523 according to the data memory settings DM Setting Contents of setting DM Setting Contents of setting D20000 000D Sets the operating data area to D00500 1F4 Hex onwards D20016 0000 Backlash compensation default setting D20001 01F4 D20017 0000 Backlash compensation speed default setting D20002 0001 Specifies that the axis param eters in the area starting from D20004 will be used for all ax...

Page 299: ...ignation Output code 0 Position designation relative Completion code continuous Dwell time 0 Acceleration time 0 Deceleration time 0 Initial speed 3 Target speed 1 1004 0000 1005 0301 1006 1012 Sequence 2 X axis designation Output code 0 Position designation relative Completion code continuous Dwell time 0 Acceleration time 0 Deceleration time 0 Initial speed 3 Target speed 2 1007 0000 1008 0302 1...

Page 300: ... the default settings 0 Dwell Times Dwell times are not used in these programs so this data area needs to be set completely to the default settings 0 Zones Zones are not used in these programs so this data area needs to be set com pletely to the default settings 0 Address Setting Contents of setting 11F4 04B0 Position 0 1 200 pulses 4B0 Hex 11F5 0000 11F6 03E8 Position 1 1 000 pulses 3E8 Hex 11F7 ...

Page 301: ...tion 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 DIFU W03000 W03002 W03000 200213 W03001 D00516 200000 W03012 W03013 W03014 W03015 W03001 200002 200001 W03015 W03013 W...

Page 302: ...rt switch is turned ON at the origin the program outputs 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 exe cuting PRESENT POSITION PRESET 2 When the operation start switch turns ON positioning is executed using the continuous completion code and the program positions to 4 500 puls es CW on the X axis and stops 3 When the o...

Page 303: ...0019 0000 Acceleration Deceleration curve trapezoid default set ting D20004 0060 I O settings default settings D20020 000A Origin search acceleration time 0 to maximum speed 10 ms A Hex D20005 000 Operation mode see note D20021 0000 D20006 01F4 Maximum speed 500 pps 1F4 Hex D20022 000A Origin search acceleration time maximum speed to 0 10 ms A Hex D20007 0000 D20023 0000 D20008 0000 Initial speed ...

Page 304: ...get speed 3 1004 0022 1005 0403 1006 1002 Sequence 2 X axis designation Output code 0 Position designation absolute Completion code continuous Dwell time 0 Acceleration time 2 Deceleration time 2 Initial speed 4 Target speed 1 1007 0022 1008 0401 1009 1000 Sequence 3 X axis designation Output code 0 Position designation absolute Completion code terminating Dwell time 0 Acceleration time 2 Decelera...

Page 305: ...2C 0096 Speed 0 150 pps 96 Hex 112D 0000 112E 012C Speed 1 300 pps 12C Hex 112F 0000 1130 0190 Speed 2 400 pps 190 Hex 1131 0000 1132 01F4 Speed 3 500 pps 1F4 Hex 1133 0000 1134 0000 Speed 4 0 pps 0 Hex 1135 0000 Address Setting Contents of settings 11F4 03E8 Position 0 1 000 pulses 3E8 Hex 11F5 0000 11F6 08CA Position 1 2 250 pulses 8CA Hex 11F7 0000 11F8 0CB2 Position 2 3 250 pulses CB2 Hex 11F9...

Page 306: ...designated sequence number The pulses currently being output are stopped immediately without decel eration Operation start switch Busy Flag Sets 0 for the sequence number Sequence Number Enable Enables the sequence number START No Origin 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 No Origin ...

Page 307: ...N PRESET 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 INTERRUPT switch is turned ON during the above po sitioning operation that operation is immediately canceled and positioning ...

Page 308: ...is param eters in the area starting from D20004 will be used for all axes D20018 0000 D20003 0000 Reserved D20019 0000 Acceleration Deceleration curve trapezoid default set ting D20004 0060 I O settings default settings D20020 000A Origin search acceleration time 0 to maximum speed 10 ms A Hex D20005 000 Operation mode see note D20021 0000 D20006 01F4 Maximum speed 500 pps 1F4 Hex D20022 000A Orig...

Page 309: ...s designation Output code 0 Position designation relative Completion code continuous Dwell time 0 Acceleration time 2 Deceleration time 2 Initial speed 4 Target speed 1 1007 0022 1008 0401 1009 1013 Sequence 3 X axis designation Output code 0 Position designation relative Completion code bank end Dwell time 0 Acceleration time 2 Deceleration time 2 Initial speed 4 Target speed 2 100A 0022 100B 040...

Page 310: ...12C 0096 Speed 0 150 pps 96 Hex 112D 0000 112E 012C Speed 1 300 pps 12C Hex 112F 0000 1130 0190 Speed 2 400 pps 190 Hex 1131 0000 1132 01F4 Speed 3 500 pps 1F4 Hex 1133 0000 1134 0000 Speed 4 0 pps 0 Hex 1135 0000 Address Setting Contents of settings 11F4 03E8 Position 0 1 000 pulses 3E8 Hex 11F5 0000 11F6 05DC Position 1 1 500 pulses 5DC Hex F11F7 0000 11F8 03E8 Position 2 1 000 pulses 3E8 Hex 11...

Page 311: ...r 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 200206 DIFU W03000 DIFU W03004 W03001 200206 W03001 200213 W03000 D00516 W03013 W03001 W03002 D00516 W03014 W03015 W03002 W03004 D00516 200108 W03002 W03001 200000 200001 ...

Page 312: ...Operation Example The following example shows positioning by ABSOLUTE MOVEMENT com mand using positions on the DM 1 2 3 1 When the operation start switch is turned ON at the origin positioning is executed to 1500 in the CW direction on the X axis 2 Subsequently as the switch turns ON each time positioning is executed to 3000 in the CW direction on the X axis and then to 4500 in the CW di rection o...

Page 313: ... to the default settings 0 DM Setting Contents of setting DM Setting Contents of setting D20000 000D Sets the operating data area to D00500 1F4 Hex onwards D20016 0000 Backlash compensation default setting D20001 01F4 D20017 0000 Backlash compensation speed default setting D20002 0001 Specifies that the axis param eters in the area starting from D20004 will be used for all axes D20018 0000 D20003 ...

Page 314: ... 01F4 Speed 500 pps 1F4 Hex D00003 0000 D00019 0000 D00004 0005 Acceleration time 5 ms 5 Hex D00020 0005 Acceleration time 5 ms 5 Hex D00005 0000 D00021 0000 D00006 0005 Deceleration time 5 ms 5 Hex D00022 0005 Deceleration time 5 ms 5 Hex D00007 0000 D00023 0000 D00008 0BB8 Position 3 000 pulses BB8 Hex D00024 0000 Position 0 pulses 0 Hex D00009 0000 D00025 0000 D00010 0190 Speed 400 pps 190 Hex ...

Page 315: ...lag Transfers DM Area position data Adds DM Area pointer Determines position completion ABSOLUTE MOVEMENT Initializes DM Area pointer Takes the rising edge of the operation start switch W03000 200213 200206 DIFU W03000 0008 200003 A20011 D00508 D00032 D00032 D00032 D00032 D00032 0008 First Cycle Flag 200003 D00032 ...

Page 316: ...om the PLC ladder program Operation Example 1 2 3 1 Set the number of inching pulses and the inching direction 2 When the INCH command switch is turned ON the designated number of pulses are output in the specified direction on the X axis and the position ing is stopped The pulse output speed at this time is the speed specified for direct oper ation Setting the PCU Unit number Unit 0 PCU used NC11...

Page 317: ...he default settings 0 DM Setting Contents of setting DM Setting Contents of setting D20000 000D Sets the operating data area to D00500 1F4 Hex onwards D20016 0000 Backlash compensation default setting D20001 01F4 D20017 0000 Backlash compensation speed default setting D20002 0001 Specifies that the axis param eters in the area starting from D20004 will be used for all axes D20018 0000 D20003 0000 ...

Page 318: ...rection set negative value DIFU W03000 MOVL D00002 D00508 200213 MOVL D00000 D00508 MOVL 00000064 D00510 W03000 Busy Flag MOVL 00000000 D00512 Transfers the number of pulses in the CCW direction Transfers the number of pulses in the CW direction Speed 100 pps 64 Hex Acceleration time 0 ms Inching direction switch MOVL 00000000 D00514 200004 END Deceleration time 0 ms RELATIVE MOVEMENT command INCH...

Page 319: ...carries out an automatic interpolation operation then returns to the origin and stops When the operation start switch is turned ON the following positioning is automatically executed in the given order using linear interpolation and then positioning 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...

Page 320: ...D20044 0000 Backlash compensation default setting D20013 0000 D20045 0000 Backlash compensation speed default setting D20014 0000 Origin compensation default setting D20046 0000 D20015 0000 D20047 0000 Acceleration Deceleration curve trapezoid default set ting D20016 0000 Backlash compensation default setting D20048 000A Origin search acceleration time 0 to maximum speed 10 ms A Hex D20017 0000 Ba...

Page 321: ...xis absolute Position designation for Y axis absolute Completion code automatic Dwell time 0 Acceleration time 0 Deceleration time 0 Initial speed 1 Target speed 0 1004 0000 1005 0100 1006 3001 Sequence 2 X Y axis designation Output code 0 Position designation for X axis absolute Position designation for Y axis absolute Completion code automatic Dwell time 0 Acceleration time 0 Deceleration time 0...

Page 322: ... 6 X Y axis designation Output code 0 Position designation for X axis absolute Position designation for Y axis absolute Completion code bank end Dwell time 0 Acceleration time 0 Deceleration time 0 Initial speed 1 Target speed 0 1013 0000 1014 0100 Address Setting Contents of setting Address Setting Contents of setting 112C 01F4 Speed 0 500 pps 1F4 Hex 112D 0000 112E 0000 Speed 1 0 pps 0 Hex 112F ...

Page 323: ... programs so this data area needs to be set completely to the default settings 0 Zones Zones are not used in these programs so this data area needs to be set com pletely to the default settings 0 Address Setting Contents of setting 21F4 03E8 Position 0 1000 pulses 3E8 Hex 21F5 0000 21F6 07D0 Position 1 2000 pulses 7D0 Hex 21F7 0000 21F8 0BB8 Position 2 3000 pulses BB8 Hex 21F9 0000 21FA 0FA0 Posit...

Page 324: ... 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 W03000 200413 200406 W03001 DIFU W03000 D00516 200000 W03014 W03015 W03001 W03001 W03000 W03001 W03014 W03015 200001 200001 ...

Page 325: ...t signal In this example the CCW limit input is an N C contact With an N O contact the logic is reversed 1 2 3 1 When the operation start switch is turned ON the origin search starts with an origin search high speed of 500 pps in the CW direction on the X axis 2 When the CCW limit input signal is turned OFF the program decelerates to an origin search proximity speed of 100 pps 3 When the first ori...

Page 326: ... settings 0 DM Setting Contents of setting DM Setting Contents of setting D20000 000D Sets the operating data area to D00500 1F4 Hex onwards D20016 0000 Backlash compensation default setting D20001 01F4 D20017 0000 Backlash compensation speed default setting D20002 0001 Specifies that the axis param eters in the area starting from D20004 will be used for all axes D20018 0000 D20003 0000 Reserved D...

Page 327: ...When the operation start switch is turned ON pulse output is executed at a speed of 300 pps CW on the X axis 2 When speed change switch 1 is turned ON the pulse output decelerates to a speed of 150 pps 3 When speed change switch 2 is turned ON the pulse output accelerates to a speed of 500 pps 4 When speed change switch 3 is turned ON the pulse output decelerates to a speed of 300 pps 5 When the o...

Page 328: ...not used in these programs so this data area needs to be set com pletely to the default settings 0 DM Setting Contents of setting DM Setting Contents of setting D20000 000D Sets the operating data area to D00500 1F4 Hex onwards D20016 0000 Backlash compensation default setting D20001 01F4 D20017 0000 Backlash compensation speed default setting D20002 0001 Specifies that the axis param eters in the...

Page 329: ...rride 167 A7 Hex Override 100 64 Hex W03005 Busy Flag W03000 200213 DIFU W03000 0000012C D00512 0000000A 200010 200009 W03001 W03005 W03001 W03001 W03003 W03002 W03004 W03002 W03003 W03004 W03002 W03004 W03003 200213 W03000 W03001 W03013 W03014 W03015 200014 200014 W03015 0032 D00510 0000000A D00514 DIFU W03002 DIFU W03003 DIFU W03004 D00517 MOVL MOVL MOVL W03013 00A7 D00517 W03014 0064 D00517 W03...

Page 330: ... 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 parameters and data for the X axis of the NC213 are read into D03000 through D03799 at the PLC 3 When work bit W03010 turns ON the read operation is completed WRITE DATA and SAVE DATA 1 2 3 1 Mount the NC113 Unit 2 to the Programmable Controller s CPU Rack Set ...

Page 331: ...ell Times Zones Transfer the data needed for the operation beforehand to the PCU for both the X and Y axes and save it in the flash memory WRITE DATA and SAVE DATA The data in D03000 through D03799 is transferred to the PCU so set all the data such as the axis parameters positioning sequences speeds and so on in this DM Area Program W030 and W031 are used as work words DM Setting Contents of setti...

Page 332: ...W03009 W03010 W03008 W03009 200412 200412 W03010 MOV 001C D00504 W03002 MOV 0004 D00505 MOV 000D D00506 MOV 0BB8 D00507 continued on next page Takes the rising edge of the operation start switch Timing determination for data reading completion Error determination for data reading Setting of operating data area for reading axis parameters Reading of axis parameters Reading of data Timing determinat...

Page 333: ...TA W030 and W031 are used as work words MOV 0304 D00504 W03005 MOV 1000 D00505 MOV 000D D00506 MOV 0BD4 D00507 continued from previous page 200113 W03005 W03002 END READ DATA Setting of operating data area for reading axis parameters 200414 200113 Data Transferring Flag ...

Page 334: ...ng Timing determination for data saving completion Error determination for data saving DIFU W03000 W03001 DIFU W03002 DIFU W03003 W03004 W03100 W03005 W03006 W03000 W03001 W03001 W03003 W03004 W03005 W03004 202214 W03004 202212 202212 W03006 DIFU W03007 W03006 202214 W03008 W03008 W03007 W03008 W03101 W03009 W03010 W03008 W03009 202212 202212 W03010 continued on next page Data Transferring Flag Er...

Page 335: ...d from previous page Setting of operating data for writing axis parameters 202112 W03005 W03002 END WRITE DATA 202114 W03009 MOV 0304 D00600 W03005 MOV 000D D00601 MOV 0BD4 D00602 MOV 1000 D00603 Setting of operating data area for writing data SAVE DATA 202214 202112 202214 202114 Data Transferring Flag Data Transferring Flag ...

Page 336: ... 317 11 3 LED Error Indicators 319 11 4 Reading Error Codes 321 11 5 Error Code Lists 322 11 5 1 Data Check at Startup 322 11 5 2 Command Execution Check 325 11 6 Releasing Pulse Output Prohibition and Resetting After Errors 338 11 6 1 Outline 338 11 6 2 Beginning Words of Memory Areas 339 11 6 3 Operating Memory Area Allocation 340 11 6 4 Timing Chart 340 11 7 Error Display at the CPU 341 11 8 Re...

Page 337: ...n the environment that could get into the equipment 3 Is the ambient temperature higher than the level shown in the specifications 4 Is there excessive moisture from humidity water usage etc 5 Are there corrosive materials in the environment acid salt sulphur etc 6 Is there a source of noise nearby such as a welding machine or inverter 7 Wiring Are signal lines and power lines placed in separate d...

Page 338: ... wiring 2 The power supply voltage is low Check the power supply voltage Check the power supply capacity and correct the power supply 3 An internal fuse has blown Check the fuses Replace the fuse and determine what caused it to blow Refer to the troubleshooting section in the applicable CPU Unit operation manual 4 The power supply is defective Check the power supply Replace the power sup ply 5 Onl...

Page 339: ... input signal monitor function to check whether the sensors are turning ON and OFF normally Correct the wiring 18 The origin input signal is incorrectly wired to the PCU Check the wiring for the origin input signal Correct the wiring 19 The direction of rotation does not match the direction of the limit input If axis rotation is reaching the mechanical limit without revers ing direction check whet...

Page 340: ...eck the Servo Motor power lines and encoder lines Correct the wiring 28 There is eccentricity in the couplings connecting the motor axis and the mechani cal system There may be loose screws or load torque fluctuation due to the meshing of pulley gears Check the machinery Try turning the motor with no load i e with the machinery removed from the coupling Adjust the machinery 29 The gain adjustment ...

Page 341: ... The next operation cannot be started The Servo Drive s in position width set in the PCU parame ters is too narrow and the axis is not in the in position range If it is not in the in position range the next oper ation cannot be started because the preceding opera tion is not completed Increase the in position width set in the PCU parameters 38 The wiring for the Servo Drive s positioning completed...

Page 342: ...properly grounded Check whether the control signal shield is properly grounded at the Servo Drive Check whether the control signal lines are in contact with the ground Correct the wiring 47 Twisted pair or shielded cable is not being used between the PCU and the Servo Drive Check whether twisted pair cables are used for the pulse signals and whether the cables are shielded Use twisted pair and shi...

Page 343: ...able from other power lines 62 There is malfunctioning due to noise from a welding machine inverter etc Check whether there is a device such as a welding machine or inverter nearby Separate the Unit from the noise source 63 Output for operating com mands turns OFF during oper ation Check whether the Servo Drive s operating command output sig nals are turning OFF during operation Turn ON the operat...

Page 344: ...and read and data save operations Instruction Execution Errors An error check is performed when a command is executed or a data irregular ity is detected during operation An error check is also performed when a soft ware limit emergency stop or limit signal is detected Refer to the tables in 11 5 Error Code Lists for details on the Unit operation when an error has occurred If an emergency stop or ...

Page 345: ...rdware check Check that communications have been established with CPU Unit Common parameters check Flash memory check Axis parameters check Error detected Check the wiring and the settings for the PCU and the CPU Unit and correct if necessary START command received START command executed Error detected Correct the wiring data or ladder program Error detected Error detected Error detected Error det...

Page 346: ...e PCU turned ON Mount the PCU securely and reset the power supply CPU Unit power inter ruption An interruption in the power supply was detected at the CPU Unit Remove the cause of the power interruption and reset the power supply Setting error The unit number set for the PCU is outside the acceptable range Set the unit number for each of the Units to a setting within the acceptable range reset the...

Page 347: ...ed normal sta tus will be restored and the ERH LED indicator will turn OFF Normal operation Parameters destruc tion When using the axis parame ters saved in the PCU the parameters saved in flash memory have been lost It is possible that while saving to flash memory the PCU s power supply was interrupted there was noise or there was an error in flash memory In this condition only the data transfer ...

Page 348: ...tion error The beginning word designa tion for the operating data area m 1 is outside the settable range Response timeout The axis parameters set in the PLC could not be read to the PCU Increase the cycle monitor time set with CX Programmer and either reset the power supply or restart the PCU If this error occurs again despite increasing the cycle monitor time it is pos sible that there is a fault...

Page 349: ... axis parameters and data are all returned to their default values if the unit version of the PCU is earlier than version 2 3 If the unit version of the PCU is version 2 3 or later only parameters and data for which an error has been detected will be returned to their default values After transferring the parameters again for all axes save the parameters and either reset the power supply or restar...

Page 350: ...restart the PCU If this error occurs again despite increasing the cycle monitor time it is possible that there is a fault in the PCU or somewhere in the PLC Either replace the whole PLC or the PCU Initial speed Initial speed error 1000 The axis parameters initial speed setting exceeds the maximum speed setting for an axis In this condition only the data transfer read or write and data save opera t...

Page 351: ...ough the axis parameters origin search operation is not set to single direction mode the origin detection method setting is not 0 1 or 2 Backlash com pensation Backlash com pensation error 1700 The axis parameters backlash compensation setting is outside the settable range 0 to 9 999 pulses Backlash com pensation speed error 1710 The axis parameters backlash compensation speed setting exceeds the ...

Page 352: ... 1 to 9 is outside the settable range 0 to 250 s The rightmost digit of the error code indicates the setting with the error Acceleration Deceleration curve error 1330 The axis parameters acceleration deceleration curve setting is not 0 or 1 Positioning mon itor time error 1332 The axis parameters positioning moni tor time is outside the settable range 0 to 9 999 ms Speed data Speed error 1500 to 1...

Page 353: ...e range 1 073 741 823 to 1 073 741 823 CCW software limit error 1801 The axis parameters CCW software limit setting is outside the settable range 1 073 741 823 to 1 073 741 823 Zones Zone 0 CW error 1900 Zone 0 s CW data is outside the setta ble range 1 073 741 823 to 1 073 741 823 Zone 0 CCW error 1901 Zone 0 s CCW data is outside the setta ble range 1 073 741 823 to 1 073 741 823 Zone 1 CW error...

Page 354: ... PCU The Z or U axis was specified for a 2 axis PCU More than one axis is specified for inter rupt feeding or speed control or all axis designation settings are set to 0 The last two digits of the code indicate the position data number 00 to 99 where the error occurred Transfer the data again after checking and correcting it When this error occurs during data transfer all data including the data w...

Page 355: ...ol during memory operation Start operation after correcting all of the position data and clearing the pulse output prohibited state CCW software limit value 5031 If positioning were performed within the software limit range in response to one of the following commands with the specified posi tion data the CCW software limit would be exceeded so positioning cannot be started ABSOLUTE MOVEMENT REL A...

Page 356: ...SET move in the CW direction Sensor inputs Emergency stop input 6000 The axis was stopped by an emer gency stop signal input Start operation again after clearing the emergency stop input and executing RELEASE PRO HIBIT ERROR RESET An emergency stop will be performed on the affected axis Other operat ing axes will not be affected CW limit stop 6100 The axis was stopped by a CW limit input signal Mo...

Page 357: ...put signal was input will be decelerated to a stop Other operat ing axes will not be affected Limit inputs in both directions 6203 Origin search cannot be executed because there are limit signals being input in both directions Perform the origin search again after checking the wiring and signal type in the axis parame ters I O settings N C or N O for both directions If the signal type is changed r...

Page 358: ...nal was input will be stopped immedi ately Other operating axes will not be affected Origin proximity origin reverse error 6206 The limit signal in the origin search direction was input while the origin proximity input signal was reversed during a proximity search with limit input reversal The limit input signal in the origin search direction was received while the origin input signal was reversed...

Page 359: ...he settable range 0 to 250 ms Absolute move ment decelera tion time error 7003 The deceleration time designation of the ABSOLUTE MOVEMENT command is outside the settable range 0 to 250 ms Relative movement command Relative move ment position error 7100 The position designation of the RELATIVE MOVEMENT com mand is outside the settable range 1 073 741 823 to 1 073 741 823 pulses Relative move ment s...

Page 360: ...interrupt feeding is outside the settable range 0 to 250 ms Origin return Origin return error 7300 The speed designation of origin return is outside the settable range 1 to 500 000 pps Origin return acceleration time error 7301 The acceleration time designation of origin return is outside the setta ble range 0 to 250 s Origin return deceleration time error 7302 The deceleration time designation of...

Page 361: ...xis ORIGIN SEARCH ORIGIN RETURN PRESENT POSITION PRESET JOG TEACH RELEASE PROHIBIT ERROR RESET ABSOLUTE MOVEMENT RELATIVE MOVEMENT or INTERRUPT FEEDING Correct the ladder program so that a command is not executed for a busy axis and execute the command again A data save operation was exe cuted while one of the following commands was in progress START INDEPENDENT START ORIGIN SEARCH ORIGIN RETURN P...

Page 362: ...again The command will not be executed If the last com mand made before the error was START INDEPEN DENT START ORI GIN SEARCH ORIGIN RETURN JOG ABSOLUTE MOVEMENT REL ATIVE MOVE MENT or INTERRUPT FEEDING the axis with the error will be decelerated to a stop When interpolation operation is being used all interpo lated axes will be decelerated to a stop If the error is gener ated during data transfer...

Page 363: ...ing the sequence data The FORCED INTERRUPT Bit was turned ON after a bank end completion in memory operation Change the ON tim ing for the FORCED INTERRUPT Bit Speed error 8104 When positioning with memory operation the speed designated in the sequence data was set to 0 Execute the com mand again after checking the speed data and sequence data to make sure that the target speed is not 0 The axis w...

Page 364: ...t to output a error counter reset origin adjust ment output when the output couldn t be used Execute the com mand again after checking that the output can be used and changing the ladder program if necessary The axis will be decelerated to a stop Other operat ing axes will not be affected Override Override error 8500 The override setting was outside the settable range 1 to 999 Execute the com mand...

Page 365: ...the instruc tion again after cor recting the data The current data transfer will not be executed but other operating axes will not be affected IOWR format error 8701 One of the following errors occurred when the IOWR instruc tion was executed The PCU s address was outside the settable range The parameters for the origin search high speed and the origin search proximity speed were not sent together...

Page 366: ...ror code Clearing method Emergency stop input signal is ON 6000 After turning OFF the emergency stop signal pulse output is enabled with the rising edge of the RELEASE PROHIBIT ERROR RESET Bit If the RELEASE PROHIBIT ERROR RESET Bit is turned ON with the emergency stop signal still ON pulse output will not be enabled CW limit input signal is ON 6100 Pulse output is enabled with the rising edge of ...

Page 367: ...e Busy Flag is ON a multiple axis start error error code 8000 will be generated Name Model Operating memory area Bit Details X axis Y axis Z axis U axis RELEASE PROHIBIT ERROR RESET NC4 3 NC2 3 NC1 3 n n n n 2 n 2 n 4 n 6 12 No Origin Flag NC4 3 NC2 3 NC1 3 n 8 n 4 n 2 n 11 n 7 n 14 n 17 06 1 Origin not established 0 Origin established Busy Flag 13 1 Busy RELEASE PROHIBIT ERROR RESET execution Pul...

Page 368: ...er to 11 3 LED Error Indicators and 11 5 Error Code Lists After the error has been cleared the PCU can be restarted without resetting the power supply by using OFF ON OFF one of the fol lowing restart bits Restart Bits 11 8 Reading Error Information with CX Position The following two types of error information can be displayed at the CX Posi tion The current error The errors that occurred since th...

Page 369: ...342 Reading Error Information with CX Position Section 11 8 ...

Page 370: ...g the Position Control Unit 12 1 Inspection 344 12 2 Routine Inspections 344 12 3 Handling Precautions 345 12 4 Procedure for Replacing a PCU 345 12 4 1 PCU Parameters and Operating Data Set in CPU Unit s DM Area 345 12 4 2 PCU Parameters and Operating Data Saved to PCU s Flash Memory 346 ...

Page 371: ...NC1 3 2 3 0 to 55 C NC4 3 0 to 50 C With a thermometer check the ambient tem perature inside the panel and make sure that it falls within the acceptable range Is the ambient humidity within the acceptable range When used in a panel the ambient humidity inside the panel must be checked 10 to 90 RH with no condensation With a hygrometer check the ambient humidity inside the panel and make sure that ...

Page 372: ... 1 PCU Parameters and Operating Data Set in CPU Unit s DM Area 1 2 3 1 Make a note of the unit number of the PCU to be replaced 2 Save the parameters and operating data for the PCU to be replaced to a floppy disk or a hard disk using for example CX Programmer 3 Turn OFF the power supply 4 Make a note of the way in which the PCU is wired It is recommended that the cables are labelled 5 Replace the ...

Page 373: ... a floppy disk or hard disk using CX Programmer 3 Turn OFF the power supply 4 Make a note of the way in which the PCU is wired It is recommended that the cables are labelled 5 Replace the PCU and reconnect the wiring as before 6 Set the unit number for the PCU 7 Turn ON the power supply to the PLC 8 Transfer the saved parameters and operating data to the PCU using CX Position If the parameters and...

Page 374: ... not affect the positioning accuracy Note An additional error of 0 02 max occurs in the actual speed Power Up Time When the Position Control Unit is powered up or restarted the time required for the Unit to complete its initial processing and be ready to recognize the START command is approximately 240 to 300 ms Actual speed pps 16 000 000 Round 16 000 000 Set value Note The actual speed is obtain...

Page 375: ...m speed 200 kpps Initial pulse designation 1 maximum speed set with axis parameters Acceleration deceleration curve Trapezoid Even if the START commands for multiple axes are recognized simultaneously there will be a discrepancy in the actual pulse output START Pulse output Time Opera tion NC1 3 NC2 3 NC4 3 Y axis starting while X axis is stopped Y axis starting while X axis is operating X axis an...

Page 376: ...execution times for transferring positioning sequences with a PLC cycle time of 2 ms are shown in the tables below Data Reading Time Note The time for 772 words is the time to read all the data for one axis from the positioning sequences to zone data Data Writing Time Note The time for 772 words is the time to write all the data for one axis from the positioning sequences to zone data Amount of da...

Page 377: ...ened according to the amount of movement and the target speed the operation time required for the continuous completion cannot be assured and positioning will be executed as if the completion code were automatic When using a sequence with a continuous completion code be sure to adjust the target speed and target position so that the operation time will be equal to or greater than the minimum opera...

Page 378: ...rget speed can be changed during direct operation by changing the speed data set in the operating data area The time from when the speed is changed until the change is reflected in the pulse output is as follows Note The above values are for a PLC cycle time of 10 ms Operation NC1 3 NC2 3 NC4 3 Emergency stop input 0 4 to 0 47 ms 0 4 to 0 47 ms 0 4 to 0 47 ms CW CCW limit input 0 9 to 2 7 ms 0 9 t...

Page 379: ...within the same cycle of the ladder program These time differences are shown below Note The figures in the above table are based on the assumption that the maximum speed setting for all the axes is the same and that the initial pulse designation for the axes is 1 maximum speed setting Operation NC1 3 NC2 3 NC4 3 Position change response 2 8 to 4 9 ms 2 1 to 4 1 ms 2 2 to 5 9 ms Operation NC1 3 NC2...

Page 380: ...set to 1 the accelera tion and deceleration times will be the times required to go from the present speed to the target speed Accord ingly when the acceleration deceleration time designation parameter in the axis parameter area is set to 0 the time it takes to reach the target speed the time from the target speed to the initial speed as well as the number of pulses for each of them can all be foun...

Page 381: ...ration time setting TAD 550 ms TU VH VL TD Acceleration pulses PU VH VL xTU 2 VH VL VH VL TAU 2 x VM VL VH VL xTD 2 VH VL VH VL TAD 2 x VM VL Deceleration pulses PD VM VL TAU VH VL VM VL TAD 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 ...

Page 382: ...limit position which is calculated from the target speed and deceleration speed in step 3 Therefore you must consider the final deceleration rate from the target speed at the completion of positioning and determine if positioning is possible for the specified deceleration Consider the following example Figure 1 shows a graph of positioning to a final target position of 216 000 pulses If the speed ...

Page 383: ...of movement required to decelerate from 10 000 pps to 0 pps within this amount of time 12 500 ms Movement amount pulses 62 500 pulses D Calculate the deceleration starting limit position at which the speed can be changed Deceleration starting limit position 216 000 62 500 153 500 pluses In this case the speed change was attempted at around 193 000 pulses so the above deceleration starting limit po...

Page 384: ... designation 0 Fixed DM Area D DM E EM m 1 m 2 Specified unused axes Unit version 2 3 or later Axis designation Parameter designation 00 Parameters saved in the PCU 01 Parameters in m 4 to m 115 U axis Z axis Y axis X axis m 3 0 0 0 0 15 00 Operating data area designation 0 EM bank designation 0 to C Beginning word of operating data area 163 162 161 160 ...

Page 385: ...358 Common Parameter Area Appendix C ...

Page 386: ... Maximum speed error 1010 Acceleration deceleration data Acceleration time error 1310 Deceleration time error 1320 Acceleration Deceleration curve error 1330 Positioning monitor time error 1332 Origin search Origin compensation error 1600 Origin search high speed error 1601 Origin search proximity speed error 1602 Origin search speed inconsistent 1603 Operation mode selection error 1604 Origin sea...

Page 387: ...mpensation error 1600 Origin search high speed error 1601 Origin search proximity speed error 1602 Origin search speed inconsistent 1603 Operation mode selection error 1604 Origin search operation error 1605 Origin search direction error 1606 Origin detection method error 1607 Backlash compensation Backlash compensation error 1700 Backlash compensation speed error 1710 Software limits CW software ...

Page 388: ...se error 6206 Absolute movement command Absolute movement position error 7000 Absolute movement speed error 7001 Absolute movement acceleration time error 7002 Absolute movement deceleration time error 7003 Relative movement command Relative movement position error 7100 Relative movement speed error 7101 Relative movement acceleration time error 7102 Relative movement deceleration time error 7103 ...

Page 389: ...tination address error 8312 Read transfer number of words error 8320 Read transfer source address error 8321 Read transfer destination word error 8322 Error counter reset Origin adjustment output Error counter reset origin adjustment output error 8400 Override Override error 8500 Positioning Positioning timer timeout 8600 Overflow 8601 Intelligent Read Write IORD format error 8700 IOWR format erro...

Page 390: ...umber Function 0 0 00 EM bank designation bits 08 to 11 0 to C Operating data area designation bits 00 to 03 0 fixed DM D DM E EM 01 Beginning word of operating data area 02 Axis designation bits 08 to 11 X axis to U axis Parameter designation bits 00 to 03 0 parameters saved in PCU 1 parameters in m 4 to m 115 0 0 0 0 0 0 03 Reserved ...

Page 391: ...NC2 3 NC4 3 Initial pulse designation Selection on the 0 04 0 32 0 60 0 88 05 33 61 89 06 34 62 90 0 0 0 07 0 0 0 35 0 0 0 63 0 0 0 91 08 36 64 92 0 0 0 09 0 0 0 37 0 0 0 65 0 0 0 93 10 38 66 94 0 0 0 11 0 0 0 39 0 0 0 67 0 0 0 95 12 40 68 96 0 0 0 13 0 0 0 41 0 0 0 69 0 0 0 97 14 42 70 98 15 43 71 99 16 44 72 100 17 45 73 101 0 0 0 18 0 0 0 46 0 0 0 74 0 0 0 102 0 0 0 19 0 0 0 47 0 0 0 75 0 0 0 1...

Page 392: ...ct 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 unde fined status 09 to 15 Reserved Set to 0 CW CCW pulse output direction selection Output pulse selection 0 CW CCW outpu...

Page 393: ...erse 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 origin proximity input signal tur...

Page 394: ... position Completion code 00 to 06 Hex 0 to 6 Dwell time No 00 to 13 Hex 0 to 19 Acceleration time No 0 to 9 Hex 0 to 9 Deceleration time No 0 to 9 Hex 0 to 9 Initial Target speed No 00 to 63 Hex 0 to 99 15 00 Axis designation Output code Position designation Completion code 12 11 08 07 04 03 Dwell time number Accel time number Decel time number Initial speed number Target speed number Designated ...

Page 395: ...is Z axis U axis Speed No Designated area Speed No Speed No Speed No Speed No Speed No Speed No Speed No Speed No Speed No Speed No Speed No Speed No Speed No Speed No Speed No Speed No Speed No Speed No Speed No Designated area Designated area Designated area Function ...

Page 396: ...osition No Position No Position No Position No Position No Position No Position No Position No Position No Position No Position No Position No Position No Position No Position No Position No Position No Position No Position No Designated area Designated area Designated area Designated area Function ...

Page 397: ...o Acceleration time No Acceleration time No Acceleration time No Acceleration time No Acceleration time No Deceleration time No Deceleration time No Deceleration time No Deceleration time No Deceleration time No Deceleration time No Deceleration time No Deceleration time No Deceleration time No Designated area Designated area Designated area Designated area Function ...

Page 398: ...Dwell time No 7 Dwell time No 8 Dwell time No 9 Dwell time No 10 Dwell time No 11 Dwell time No 12 Dwell time No 13 Dwell time No 14 Dwell time No 15 Dwell time No 16 Dwell time No 17 Dwell time No 18 Dwell time No 19 Zone 0 CCW side Zone 0 CW side Zone 1 CCW side Zone 1 CW side Zone 2 CCW side Zone 2 CW side Designated area Designated area Designated area Designated area Function ...

Page 399: ...372 Parameter Coding Sheets Appendix E ...

Page 400: ...ction designation 96 error counter reset output 96 FORCED INTERRUPT 96 INDEPENDENT START 95 INTERRUPT FEEDING 95 JOG 96 origin adjustment command output 96 ORIGIN RETURN 95 ORIGIN SEARCH 95 override enable 96 PRESENT POSITION PRESET 95 READ DATA 96 Read Data 127 RELATIVE MOVEMENT 95 RELEASE PROHIBIT 96 SAVE DATA 96 sequence number enable 95 START 95 STOP 96 TEACH 96 WRITE DATA 96 Write Data 121 co...

Page 401: ...rors description 317 instruction execution checks 325 360 INTELLIGENT I O READ See also IORD INTELLIGENT I O WRITE See also IOWR interrupt feeding completion in memory operation 215 interrupt feeding operation 239 IORD specifications 139 IOWR specifications 133 J JOG operation explanation 235 L LED indicators error indicators 319 limit input signal type 79 linear interpolation 217 program examples...

Page 402: ...alue 5 with incremental value 5 power amplifiers 14 power lines 46 power supply 38 46 24 V DC 40 24 V DC 38 39 precautions applications xxv general xxi xxii operating environment xxiv safety xxii PRESENT POSITION PRESET explanation 174 program examples cancelling positioning 279 changing speed during continuous output 300 checking positioning operations 270 inching 289 origin search using limit in...

Page 403: ...out resistance 33 terminating completion in memory operation 211 timing charts for deceleration stop operation 249 for direct operation 186 for error counter reset output 254 for forced interrupt operation 244 for interrupt feeding operation 242 for JOG operation 236 for memory operation 223 for origin adjustment command output 254 for origin return 176 for origin search 169 for override operation...

Page 404: ... and where necessary X axis added Pages 171 179 183 and 202 Note added Page 183 Row for initial speed removed Page 188 Note and two references to it added Page 195 Sentence added to paragraph Page 205 Set in axis parameter area removed twice Pages 206 and 207 Location of initial speed information moved Pages 230 and 231 Terminal numbers removed and replaced with output name Page 262 DM addresses c...

Page 405: ...o list of parameters in table Pages 131 132 and 320 Changed catalog number Page 267 Changed suffix symbol for D00032 to in diagram Page 308 Modified rows in table for software limits Page 333 Changed diagram Pages 304 and 337 Removed note 05 May 2005 Page v DANGER and WARNING definitions altered Page xv Warranty and liability related information added Page 18 Section reference for installation cha...

Page 406: ...ty input signal Page 169 and 170 Added information on the Busy Flag operation patterns and multi ple starts Page 178 Added information on function block programming Pages 185 Added information on reverse mode 3 and origin search preset Pages 302 and 303 Added information on error results depending on the unit version Updated error causes to include settings for unused axes Pages 312 and 313 Remove...

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