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Product Specifications

Motion Control Units

3

Servo Parameter Changes
The servo gain, such as the feed-forward gain, can be changed
from a G language program. Therefore, if position loop
feed-forward gain is enabled during circular interpolation, the
level of accuracy for circular interpolation can be improved.

Comprehensive Functions in Origin Search ModeThe
The search pattern can be selected to reduce the origin search
time. It is possible to select either deceleration stop or error
counter-based stop when a limit input is received during origin
search. Origin searches are also possible in absolute encoder
systems.

Interrupt Feeding
This function uses general-purpose inputs (interrupt signals) to
move the specified axis by the specified distance for positioning.
It is possible to perform positioning operations when no interrupt
signals are received during interrupt feeding.

Brake Signal Outputs
To make motor operation even easier, brake signal outputs (also
used as a general-purpose output) can be used during servo
lock or unlock.

Stopover
A stopover outputs M code or D (interrupt) code without stopping
operation after feeding the axis by the specified distance during
operation. The cycle time can be reduced by controlling
peripheral devices before the operation is completed.

Error Logging
The error log can store up to 20 error records, such as positioning
errors or hardware errors in the MC Unit or operation fatal errors
in the CPU Unit, together with the date and time of each error.
The error log can be read using the CX-Motion.

Windows-based MC Support Software: CX-Motion

Multiple MC Unit Management in Project Units
Multiple MC Units can be registered as one project. This allows
simultaneous management of multiple MC Units.

Tree Display for Edit or Monitor Screens
Data will be displayed in tree format on the left side of the window

so that the user can easily understand the location of the data
currently being set, edited, or monitored.

Servo Information Trace Function
Speed reference values, the present speed, and the error
counter can be traced with specified starting conditions and a
specified sampling period using the Windows-based CX-Motion.
Up to 500 items can 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
application consisting of more than 100 programs.

Single-port Multiaccess Function
A Windows-based Support Software package called CX-Motion
can be used on the same computer and through the same port as
the CX-Programmer, enabling multiple programming environ-
ments on a single computer.

User-defined Mnemonics
The user can enter G codes or mnemonics corresponding to
each G code when writing a program. The user can register or
change these mnemonics as required, making it easy to write or
analyze MC programs.

File Conversion
The existing system parameters, position data, and programs
created using previous versions of the MC Support Software can
be converted for use with the CX-Motion.

Data Creation Using Teaching Box

In addition to entering numbers in the Position Data Edit Window of
the MC Support Software (CX-Motion), it is possible to create posi-
tion data by using the Teaching Box to teach positions while actually
moving the machinery.

Operate with MPG

Positioning and simple sync operations can be performed using an
MPG (manual pulse generator).

 Models

Applicable PCs

Unit classification

Controlled driver

Number of controlled

axes

Model

CS1 Series

CS1 Special I/O Unit

Analog input servodriver

4

CS1W-MC421

CS Se es

CS S ec a /O U

a og

u se od

e

2

CS1W-MC221

MC Unit Support Software (Sold Separately)

Name

Computer

Supported MC Units

Specifications

Model

CX-Motion

IBM PC/AT or
compatible

CS1W-MC421/221,
C200H-MC221,
CV500-MC421/221

Operating system:
Windows 95/98/NT V4.0
CPU: Pentium, 100 MHz
min.
Memory: 32 MB min.
Hard disk: 10 MB min.
CD-ROM drive: 1 min.
(for setup)
Functions: Creating and
editing system
parameters, creating and
editing position data,
creating MC programs
(G language), monitoring
MC Units, saving data in
flash memory, printing,
automatic loading, file
conversion, etc.

WS02-MCTC1-E

Connecting Cables

Connection to CPU Unit

Computer

Cable length

Cable model

Peripheral port

IBM PC/AT or compatible

2.0 m, 6.0 m

CS1W-CN

jjj

RS-232C port

IBM PC/AT or compatible

2.0 m, 5.0 m

XW2Z-

jjj

S (-

jj

)

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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