Omron CS1 Series Specification Download Page 14

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Product Specifications

Motion Control Units

Code

Name

Function

Code

a e

4-axis MCU

2-axis MCU

CS1W-MC221

CS1W-MC421

G00

Positioning

Positions up to 2 or 4 axes simultaneously with PTP control at the maximum
feed rate.

G01

Linear Interpolation

Performs linear interpolation on 1, 2, 3, or 4 axes (1 or 2 axes for MC221).

The specified axes move simultaneously.

The feed rate can be specified.

G02

Circular Interpolation (Clockwise)

Performs 2-axis circular interpolation in the clockwise direction at the
specified interpolation feed rate.

G03

Circular Interpolation (Counterclockwise)

Performs 2-axis circular interpolation in the counterclockwise direction at the
specified interpolation feed rate.

G04

Dwell Timer

Waits for the specified length of time.

G10

Pass Mode

Performs operations one-by-one in sequence without waiting for
deceleration to stop.

G11

Stop Mode

Performs the next operation after completing positioning.

G13

IN-POSITION CHECK OFF MODE

Starts the next operation without waiting for positioning to be completed.

G17

Circular Plane Specification (X-Y)

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

G18

CIRCULAR PLANE SPECIFICATION (X-Z)

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

G19

CIRCULAR PLANE SPECIFICATION (Y-Z)

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

G20

CIRCULAR PLANE SPECIFICATION (X-U)

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

G21

CIRCULAR PLANE SPECIFICATION (Y-U)

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

G22

CIRCULAR PLANE SPECIFICATION (Z-U)

Sets the Z-U plane as the plane for circular interpolation.

G26

Reference Origin Return

Moves to the reference origin.

G27

Workpiece Origin Return

Moves to the workpiece origin.

G28

Origin Search

Performs an origin search on the specified axis.

G29

Origin UNDEFINED

Sets the origin to an undefined state.

G30

SPEED CONTROL

Feeds up to 2 axes simultaneously at the controlled feed rate.

G31

INTERRUPT FEEDING

Performs an interrupt feeding operation.

G32

traverse

Executes traverse operation.

G50

Select Reference Coordinate System

Specifies the reference coordinate system.

G51

Select Workpiece Coordinate System

Specifies the workpiece coordinate system.

G53

Change Workpiece Origin Offset

Changes the origin of the workpiece coordinate system.

G54

Change Reference Coordinate System PV

Changes the present value in the reference coordinate system.

G60

Arithmetic Operations

Performs arithmetic operations on numerical values, position data, and
registers.

G63

Substitution

Substitutes numerical values, position data, or registers into other position
data or registers.

G69

Change Parameter

Changes the specified parameter.

G70

Unconditional Jump

Unconditionally jumps to the specified block.

G71

Conditional Jump

Jumps to the specified block when the condition is met.

G72

Subroutine Jump

Calls the specified subroutine.

G73

Subroutine End

Ends the subroutine.

G74

Optional End

Ends the block currently being executed when the specified optional input is
ON.

G75

Optional Skip

Skips the block after this command when the specified optional input is ON.

G76

Optional Program Stop

Pauses the program when the specified optional input is ON.

G79

Program End

Ends the main program.

G90

Absolute Specification

Positions with absolute coordinates when performing axis operations.

G91

Incremental Specification

Positions with relative coordinates when performing axis operations.

Auxiliary Codes

Code

Name

Function

Code

a e

4-axis MCU

2-axis MCU

CS1W-MC221

CS1W-MC421

M code

Outputs an M code.

D code

Starts an external interrupt task for the CPU Unit.

Summary of Contents for CS1 Series

Page 1: ...Motion Control Units CS1 Series CS1W MC421 221 Specification Sheets ...

Page 2: ...t position can be controlled but also the path between those points Linear interpolation circular interpolation helical circular interpola tion and traversing are all possible The MC Unit has been developed for use in simple position ing applications using servomotors Applicable machines are as follows Conveyor Systems X Y tables palletizers depalletizers loaders unloaders etc Assembling Systems A...

Page 3: ...ency The maximum feedback encoder response frequency is 500 kp s so the MC Unit can be used with high speed and high precision ser vomotors This is double the response frequency of the earlier mod els CPU Unit Interrupts A CPU Unit external interrupt task can be started by outputting a D code interrupt code for the CPU Unit when positioning is com pleted or when passing through a particular positi...

Page 4: ...be traced making it easy to adjust the servo system Automatic Loading Function When it is necessary to use more programs or position data than can be stored in the MC Unit programs or position data stored in an external memory device at the computer where CX Motion is installed can be automatically downloaded to the MC Unit s internal memory This function allows the system to cope with an applicat...

Page 5: ...utomatic Mode through dedicated bits in the CPU Unit or from the Teaching Box Encoder interface Line receiver input maximum response frequency 500 kp s before multiplication Pulse ratio Select 1 2 or 4 Note The applicable absolute encoder is the OMRON OMNUC U Series Control unit Minimum setting unit 1 0 1 0 01 0 001 0 0001 Units mm inch degree pulse There is no unit conversion function Maximum com...

Page 6: ...e 0 1 to 100 0 Setting unit 0 1 Interpolation feed override 0 1 to 199 9 Setting unit 0 1 Jog feed override 0 1 to 100 0 Setting unit 0 1 Axis control Zone settings Up to 8 zones axis can be set s co o Backlash correction Can be set from 0 to 10 000 pulses In position zone Can be set from 0 to 10 000 pulses Position loop gain 1 to 250 1 s Feedforward gain 0 to 100 Task program t Number of tasks 2 ...

Page 7: ... Servodriver connector I O connector Teaching Box connector one each Servodriver connectors two I O connector Teaching Box connector MPG connector Power supply voltage 5 VDC from Backplane o e su y o age 24 VDC from external power supply Voltage fluctuation tolerance 4 75 5 25 VDC from Backplane o age uc ua o o e a ce 21 6 26 4 VDC from external power supply Internal current consumption 600 mA or ...

Page 8: ...le length 2 m CV500 CN224 eac g o Co ec g Cable Cable length 4 m CV500 CN424 Cable length 6 m CV500 CN624 ROM Cassette Required when the CVM1 PRS21 V1 Programming Console is used as a Teaching Box CVM1 MP702 CX Motion Connecting Cables Unit Port on Unit Computer Port on computer Serial communications mode network Model numbers Length Remarks CPU Unit Peripheral IBM PC AT 9 pin D b Peripheral bus o...

Page 9: ...ng to CPU Unit memory area or commands from Teaching Box Automatic Mode Operation according to commands in G language program Manual Jogging Moves axes continuously by manual operation a ua Handle feed Moves axes by MPG Deceleration stop Decelerates to a stop according to command Manual origin search Searches for mechanical origin Origin search is possible in either an incremental or absolute enco...

Page 10: ...e block at a time Pause Temporarily halts program execution Forced block end Forcibly ends execution of a block Error reset Clears error status M code reset Resets the M code for interlock Teaching Creates position data for each task Auxiliary Optional inputs 20 points Specify input information to be referenced by special G code Of the 20 input points 4 can be specified as general purpose inputs f...

Page 11: ...ported Traverse command G32 A 2 axis traverse operation is available with a traverse time of 4 ms max Not supported Unlimited Feed Mode Unlimited feeding can be either specified or not specified for an axis The software limit is ignored Cannot be specified Present position display for unlimited feeding When unlimited feeding is specified for an axis the software limit is ignored The present positi...

Page 12: ...ration time mode only Servo system parameter changes G code G69 Servo system parameters can be changed by a G code Not supported Servo lock There is a brake signal timing adjustment function There is no brake signal timing adjustment function Servo unlock There is a brake signal timing adjustment function Servo unlock can be used at any time There is no brake signal timing adjustment function Serv...

Page 13: ...e delay when interpolation is performed for 1 task Analog voltage output time lag per axis for independent operation CS1W MC221 4 3 ms axis CS1W MC421 4 3 ms axis Time delay when one axis each is started for all tasks simultaneously Interrupt notification time 2 25 ms When C200Hj series Special I O Unit is not mounted G language interpretation time CS1W MC221 2 0 ms CS1W MC421 4 2 ms Interpretatio...

Page 14: ...rn Moves to the workpiece origin G28 Origin Search Performs an origin search on the specified axis G29 Origin UNDEFINED Sets the origin to an undefined state G30 SPEED CONTROL Feeds up to 2 axes simultaneously at the controlled feed rate G31 INTERRUPT FEEDING Performs an interrupt feeding operation G32 traverse Executes traverse operation G50 Select Reference Coordinate System Specifies the refere...

Page 15: ...pply Unit For connection to peripheral port on CPU Unit CS1W CNjjj For connection to RS 232C port on CPU Unit XW2Z j00S CV Servodriver Connecting Cable for U H M series or user prepared cable Servodriver Servomotor CS1W MC421 4 axes CS1W MC221 2 axes MC Unit Terminal Block CS1W MC421 XW2B 40J6 7 CS1W MC221 XW2B 20J6 6 I O connector DRV Z U connectors XW2Z 100J F1 MC Unit Terminal Block Connecting ...

Page 16: ...ge program CS1 CS1W MC421 CIO Area Words Unit 0 Unit 1 Unit 2 Unit 3 Unit 90 Unit 91 Unit 92 Unit 93 Unit 94 Unit 95 Reserved Reserved Data Memory Area Allocated areas are not used Data Data transfer words IOWR IORD instructions Transferred to each Unit during I O refresh I O Refresh Data Area OUT refresh IN refresh Reserved A total of 30 words used n 2000 10 unit number Internal memory Address Po...

Page 17: ...ors Indicator Color Status Meaning RUN Green ON The MC Unit is operating normally U G ee OFF The MC Unit is not recognized by the PC or is malfunctioning ERC Red ON An error occurred in the MC Unit C ed OFF The MC Unit is operating normally ERH Red ON An error occurred in the CPU Unit OFF The CPU Unit is operating normally XCCW YCCW ZCCW See note UCCW S t Yellow ON The motor for the applicable axi...

Page 18: ... 10 XORG NC NO See note 1 13 X axis origin proximity input Used for the X axis origin search 11 YORG NC NO See note 1 18 Y axis origin proximity input Used for the Y axis origin search 12 OUT1 See note 3 15 General output 1 General output 1 or X axis brake signal output 13 OUT2 See note 3 19 General output 2 General output 2 or Y axis brake signal output 14 DC GND 0 24 VDC input ground Connects to...

Page 19: ...4 VDC external power supply 15 ZCWL NC 31 See note 5 Z axis CW limit input Limits movement of the Z axis in the CW direction 16 UCWL NC 36 See note 3 U axis CW limit input Limits movement of the U axis in the CW direction 17 ZCCWL NC 32 See note 3 Z axis CCW limit input Limits movement of the Z axis in the CCW direction 18 UCCWL NC 37 See note 3 U axis CCW limit input Limits movement of the U axis...

Page 20: ...ector case provided with the Unit or by using the XW2Z 100J F1 MC Unit Terminal Block Connecting Cable Using the MC Unit Terminal Block XW2Z 100J F1 MC Unit Terminal Block Cable MC Unit Terminal Block CS1W MC221 XW2B 20J6 6 CS1W MC421 XW2B 40J6 7 X axis CW CCW origin proximity and emergency stop Y axis CW CCW origin proximity and emergency stop XW2B 20J6 6 MC Unit Terminal Block Example X axis Wir...

Page 21: ...ack input for the X axis 14 X B X axis phase B input Phase B feedback input for the X axis 15 X Z X axis phase Z input Phase Z feedback input for the X axis 16 X Z X axis phase Z input Phase Z feedback input for the X axis 17 XOUT X axis speed control Speed control voltage to the X axis driver 18 XAGND X axis speed control ground Ground for the X axis s speed control voltage 19 F24V 24 VDC output ...

Page 22: ...s speed control Speed control voltage to the Z axis driver 18 ZAGND Z axis speed control ground Ground for the Z axis s speed control voltage 19 F24V 24 VDC output 24 VDC input to the driver for the Z U axes 20 FDC GND 24 VDC output ground Ground for 24 VDC outputs for the Z U axes 21 UALM U axis alarm input Driver alarm input for the U axis 22 URUN U axis run output Driver run output for the U ax...

Page 23: ... 2 0 H series R88D H R88A CPH001M2 R88A CPH001M1 1 0 se es 88 R88A CPH002M2 R88A CPH002M1 2 0 M series R88D M R88A CPM001M2 R88A CPM001M1 1 0 se es 88 R88A CPM002M2 R88A CPM002M1 2 0 Connect to a battery when using the absolute encoder Connect to 24 V Servodriver Servodriver Connect to 24 V Connect to 24 V U series Servodrivers R88A CPU001M2 002M2 30 to 750 W R88A CPUB001M2 002M2 1 to 5 kW H serie...

Page 24: ...d control ground 24 VDC output Y axis alarm input Y axis run output Y axis alarm reset output Y axis SEN signal ground Y axis feedback ground Y axis phase A input Y axis phase A input Y axis phase B input Y axis phase B input Y axis phase Z input Y axis phase Z input Y axis speed control Y axis SEN signal output MPG Connector Wiring MPG Connector for CS1W MC421 Only The MPG connector is used to co...

Page 25: ... Power supply MPG LGF 003 100 CS1W MC221 I O connector MPG input phase A MPG input phase A MPG input phase B MPG input phase B MPG LGF 003 100 Note For the CS1W MC221 use the I O connector 6 5 13 12 5 VDC Power supply 16 18 17 19 ALL DIMENSIONS SHOWN ARE IN MILLIMETERS To convert millimeters into inches multiply by 0 03937 To convert grams into ounces multiply by 0 03527 ...

Page 26: ...ofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 OMRON ELECTRONICS INC 1 East Commerce Drive Schaumburg IL 60173 U S A Tel 1 847 843 7900 Fax 1 847 843 8568 OMRON ASIA PACIFIC PTE LTD 83 Clemenceau Avenue 11 01 UE Square Singapore 239920 Tel 65 835 3011 Fax 65 835 2711 Authorized Distributor Note Specifications subject to change without notice Cat No R062 E1 1 Printed in Japan 0100 0 ...

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