Omron CS1W-213 - REV 02-2008 Operation Manual Download Page 1

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Position Control Units

Cat. No. W376-E1-06

SYSMAC
CS1W-NC113/213/413/133/233/433

OPERATION MANUAL

Summary of Contents for CS1W-213 - REV 02-2008

Page 1: ...Position Control Units Cat No W376 E1 06 SYSMAC CS1W NC113 213 413 133 233 433 OPERATION MANUAL ...

Page 2: ...CS1W NC113 213 413 133 233 433 Position Control Units Operation Manual Revised February 2008 ...

Page 3: ...iv ...

Page 4: ...on some OMRON products often means word and is abbreviated Wd in documentation in this sense The abbreviation PLC means Programmable Controller PC is used however in some Program ming Device displays to mean Programmable Controller 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: ...nit 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 above display ...

Page 6: ...o lute movement in direct operation Not supported Supported Supported Supported Supported Changing accelera tion deceleration time during jog operation Not supported Supported Supported Supported Supported Setting accelera tion deceleration time for axis parameters until the target speed is reached Not supported Supported Supported Supported Supported Easy backup function Not supported Supported S...

Page 7: ...internal system software version Version 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 fro...

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: ... the origin input signal Reverse mode 3 has been added to enable stopping at the origin signal at the proximity speed when a return is performed at the ori gin proximity Previous version Present version Ver 2 2 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...

Page 10: ...and Functions 20 3 2 Installation 22 3 3 External I O Circuitry 26 3 4 Wiring 35 3 5 Connection Examples for Different Types of Motor Driver 45 3 6 Connection of Unused Axes 58 3 7 Servo Relay Unit 59 SECTION 4 Data Areas 63 4 1 Overall Structure 64 4 2 Common Parameter Area 69 4 3 Axis Parameter Area 74 4 4 Operating Memory Area 93 4 5 Operating Data Area 97 4 6 Memory Operation Data 100 4 7 Zone...

Page 11: ...n 184 7 7 Sample Program 187 SECTION 8 Memory Operation 193 8 1 Outline 194 8 2 Memory Operation Procedure 197 8 3 Setting Data for Memory Operation 198 8 4 Positioning Sequences 200 8 5 Completion Codes 207 8 6 Linear Interpolation 211 8 7 Transferring Positioning Sequences 215 8 8 Timing Chart for Memory Operation 217 8 9 Acceleration Deceleration 221 8 10 Sample Program 224 SECTION 9 Other Oper...

Page 12: ...des 315 11 5 Error Code Lists 316 11 6 Releasing Pulse Output Prohibition and Resetting After Errors 333 11 7 Error Display at the CPU 336 11 8 Reading Error Information with CX Position 336 SECTION 12 Maintenance and Inspection 337 12 1 Inspection 338 12 2 Routine Inspections 338 12 3 Handling Precautions 339 12 4 Procedure for Replacing a PCU 339 Appendices A Performance Characteristics 341 B Es...

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: ...t 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 xxiii 5 Application Precautions xxiv 6 Conformance to EC Directives xxvi 6 1 Applicable Directives xxvi 6 1 1 Concepts xxvi 6 1 2 Conformance to EC Directives xxv...

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: ...tion 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 input signals may not be readable Caution Confirm the safety of the destination node before transferring a program to the node or changing the contents of I O memory Doing either of these without confirming sa...

Page 23: ...utions Always connect to a ground of 100 Ω or less when installing the Units Not connecting to a ground of 100 Ω or less may result in electric shock Always turn OFF the power supply to the PLC before attempting any of the following Not turning OFF the power supply may result in malfunction or electric shock Mounting or dismounting Power Supply Units I O Units CPU Units Memory Cassettes or any oth...

Page 24: ...ution before actually running it on the Unit Not checking the program may result in an unexpected opera tion Be sure that the terminal blocks Memory Units expansion cables and other items with locking devices are properly locked into place Improper locking may result in malfunction Double check all wiring and switch settings before turning ON the power supply Incorrect wiring may result in burning...

Page 25: ...MS Electromagnetic Susceptibility EN61000 6 2 EMI Electromagnetic Interference EN61000 6 4 Radiated emission 10 m regulations 6 1 2 Conformance to EC Directives The PCUs comply with EC Directives To ensure that the machine or device in which an 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 insulati...

Page 26: ...1 CS1W 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 9 1 5 1 Basic Specifications 9 1 5 2 Performance Specifications 10 1 6 Comparison with Existing Models 11 1 7 Control System Principles 13 1 7 1 Data Flow 13 1 7 2 Control System Principles 14 1 7 3 Basic Positioning S...

Page 27: ... 2 or 4 control axes With 2 axis and 4 axis mod els linear interpolation is possible for all axes Either open collector output or line driver output 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 b...

Page 28: ... the software used for CPU Unit ladder programming 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 commands and RELATIVE MOVEMENT commands Note Refer to the following documents for details on function blocks Using Function...

Page 29: ...Use for setting data and monitoring Editing parameters and data Monitoring status File management Computer CX Position CX Programmer Power Supply Unit Connection to RS 232C port Dedicated terminal block See note 1 Dedicated terminal block External input signals CCW limit CW limit Origin See note 2 Origin proximity Emergency stop External interrupt 24 VDC power supply for I F CCW limit CW limit Ori...

Page 30: ...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 Unit functions Position control Memory operation Independent Au...

Page 31: ...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 32: ...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 33: ...rns ON moves a specified amount before stopping 233 Memory operation Absolute relative move ment Continuously performs absolute or relative positioning according to positioning sequences previously set in the PCU 194 Linear interpolation Continuously performs positioning by linear interpolation according to positioning sequences previously set in the PCU 211 Interrupt feeding Performs interrupt fe...

Page 34: ...to the basic trapezoidal curve or an S curve that greatly helps to reduce mechanical vibration Specifies the method for setting the acceleration deceleration times 86 Initial pulse Starts pulse output in a short time in response to an oper ating command from the CPU Unit 92 Stop function Detects an error either at the CPU Unit or the PCU and stops pulse output either with or without a deceleration...

Page 35: ...nal selectable 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 t...

Page 36: ...ent position to a specified value Override When the override enabling command is executed during positioning the target speed is changed by applying 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 Tool and saving to perso...

Page 37: ...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 startup instruction from the ladder program and pulse output 2 ms max at optimum conditions...

Page 38: ... Rotary encoder 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 ...

Page 39: ...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 40: ...15 SECTION 2 Basic Procedures This section gives an overview of the procedures required to use the Position Control Unit 2 1 Basic Operational Flow 16 ...

Page 41: ...he PCU Set the 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 PC 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 i...

Page 42: ...ging 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 ...

Page 43: ...18 Basic Operational Flow Section 2 1 ...

Page 44: ... 2 4 Dimensions 25 3 3 External I O Circuitry 26 3 3 1 Connector Pin Arrangement 26 3 3 2 External I O Connector Arrangement 29 3 3 3 I O Circuitry 31 3 3 4 I O Electrical Specifications 34 3 4 Wiring 35 3 4 1 Output Connection Examples 35 3 4 2 Connecting Input Signals 41 3 4 3 Connecting Origin and Positioning Completed Input Signals 42 3 4 4 Wiring Precautions 43 3 5 Connection Examples for Dif...

Page 45: ...200HW NC213 413 connectors CS1W NC4 3 CS1W NC2 3 CS1W NC1 3 LED indicators Show the PCU s operating status Unit number setting switch Sets the unit number for the PCU X Y axis connector X axis connector X Y axis connector Connect to stepping motor driver or Servo Drive Con trols 2 axes Z U axis connector Connect to stepping motor driver or Servo Drive Controls 2 axes ...

Page 46: ... at the CPU Unit SENS Yellow Lit Either a CW CCW limit signal or an emergency stop input signal is being input At this time the LED indicator for the relevant axis X to U will flash Flashing Either a parameter loss a data loss or an operating data area designation error has occurred Not lit None of the above has occurred DATA Yellow Lit Data is incorrect e g the parameters or positions transferred...

Page 47: ...on Unit versions refer to Unit Versions of CS series Position 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 p...

Page 48: ... Unit Follow the procedure outlined below to mount the Position Control Unit 1 2 3 1 Hook the top of the PCU into the slot in the Backplane 2 Carefully insert the PCU into the connector on the Backplane 3 Tighten the screw on the bottom with a Phillips head screwdriver Provide enough space around the PCU to enable easy mounting and dismounting and to ensure good ventilation as shown below Note Tig...

Page 49: ...r supply To minimize any influence from noise place I O wiring high voltage lines and power lines in separate ducts Wire clippings tend to get scattered around during wiring so leave the label in place on top of the 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 Remove the label after completing the wir...

Page 50: ...25 Installation Section 3 2 3 2 4 Dimensions CS1W NC113 NC133 NC213 NC233 NC413 NC433 Note The above diagram is for the CS1W NC413 Mounted Dimensions Connecting cable Approx 230 117 Backplane ...

Page 51: ...26 External I O Circuitry Section 3 3 3 3 External I O Circuitry 3 3 1 Connector Pin Arrangement CS1W NC413 433 CS1W NC213 233 CS1W NC113 133 X Y axis Z U axis X Y axis X axis ...

Page 52: ...t B10 OUT Error counter reset output origin adjustment command output A11 OUT Error counter reset output with 1 6 kΩ resis tance Origin adjustment command output with 1 6 kΩ resistance B11 OUT Error counter reset output with 1 6 kΩ resis tance Origin adjustment command output with 1 6 kΩ resistance A12 IN Positioning completed input signal B12 IN Positioning completed input signal A13 Not used B13...

Page 53: ...put power supply 24 VDC A2 IN Output GND 24 VDC B2 IN Output GND 24 VDC A3 IN Pulse output GND 5 VDC B3 IN Pulse output GND 5 VDC A4 IN Pulse output power supply 5 VDC B4 IN Pulse output power supply 5 VDC A5 OUT CW pulse output B5 OUT CW pulse output A6 OUT CW pulse output B6 OUT CW pulse output A7 OUT CCW pulse direction output B7 OUT CCW pulse direction output A8 OUT CCW pulse direction output ...

Page 54: ...tput power supply via a diode Use the origin common as a pair with the 24 V origin input signal or the 5 V origin input signal 3 3 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 soldered part of the w...

Page 55: ... can be used 1 2 3 1 FCN 361J048 AU solder type FCN 360C048 D connector cover 2 FCN 363J048 crimp type housing FCN 363J AU S contact FCN 360C048 D connector cover 3 FCN 367J048 AU crimp type Cover Dimensions Connector M2x8 pan head screws two Case M2 nut four Cable holder two Screw two M2x6 pan head screws two Cable holder ...

Page 56: ... section If a current greater than this is used it will cause damage to the PCU s internal components Also be sure to use the CW CCW output method when using pulse output terminals with limit resis tance 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 direc...

Page 57: ...re to wire the 5 VDC pulse output power supply with the correct polarity Wiring with the polarity reversed will result in damage to internal elements 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 mA 1 mA Bypass resistance 7 mA Circuit example Pulse output power supply 5 VDC Pulse outp...

Page 58: ...ine driver Output power supply 24 VDC 680 Ω 4 7 kΩ 1 2W Positioning completed input signal Input common 680 Ω 4 7 kΩ 1 2W External interrupt input N O contact 680 Ω 4 7 kΩ 1 2W Emergency stop N C contact see note 680 Ω 4 7 kΩ 1 2W Origin proximity input N O N C contact see note 680 Ω 4 7 kΩ 1 2W CW limit input N O N C contact see note 680 Ω 4 7 kΩ 1 2W CCW limit input N O N C contact see note 680 ...

Page 59: ...o above input specifications N O contact 0 1 ms max N C contact 1 ms max Y U Axis B15 B14 External signal is line driver signal X Z Axis A16 A14 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 B16 B14 Item Specification Open collec tor output Maximum switching capacity 30 mA at 4 75 to 26 4 VDC NPN open collec tor 16 mA Terminals...

Page 60: ...put transistor in the pulse output section is OFF For direction output OFF indicates CCW Do not use a 24 VDC 5 VDC power supply for pulse output in common with the power supply for other I O Pulse frequency Open or close current Loaded power source voltage 7 mA 5 VDC 5 30 mA 5 VDC 5 7 mA 24 VDC 10 1 6 kΩ resistance 16 mA 24 VDC 10 1 6 kΩ resistance A B A B A B A B 50 Kpps 9 7 µs min 9 7 µs min 9 8...

Page 61: ...4 VDC power supply to be used with a motor driver rated at 5 VDC When wiring your system carefully note the current required by the motor driver in order to avoid damaging the input circuitry of the motor driver Position Control Unit open collector output 24 VDC input CW pulse output CCW pulse output 1 6 kΩ 1 6 kΩ A1 B1 Motor driver for 5 VDC input Approx 12 mA Approx 12 mA A8 B8 A6 B6 24 VDC powe...

Page 62: ... Position Control Unit open collector output 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 output CCW pulse or direction output 5 VDC input CW pulse or pulse CW CCW output 5 VDC power supply Motor driver for 5 VDC input ...

Page 63: ...nd direction 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 output ...

Page 64: ...ut power supply 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 output 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 driver s line receiv...

Page 65: ...10 A2 B2 24VIN 1 4 ECRST A1 B1 A10 B10 A2 B2 24 VDC power supply for output Position Control Unit 24 VDC power supply OMRON R88D WT Servo Drive 24 VDC power supply for output Position Control Unit 24 VDC power supply OMRON R88D WT Servo Drive 24 VDC power supply for output Position Control Unit 24 VDC power supply OMRON R88D GT Servo Drive 1 6 kΩ 1 6 kΩ 1 6 kΩ 24 VDC power supply for output Positi...

Page 66: ...g axis parameters refer to 4 3 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 chattering such as a photoelectric sensor for the input Using a switch with contacts may cause the posit...

Page 67: ...put to any output circuit except the line driver Caution Use either the 24 V origin input signal or the 5 V origin input signal but not both Also be sure not to connect them to the wrong terminal Using both sig nals or connecting them to the wrong terminal will result in damage to internal circuitry 24 VDC power supply External interrupt input signal Emergency stop input signal Origin proximity in...

Page 68: ...rns ON after positioning has been completed 3 4 4 Wiring Precautions Operational errors such as dislocation can occur in most electronic control devices if they are subjected to electronic noise from nearby power lines or loads Recovery from such errors is usually very difficult and time consuming Example OMRON E2R A01 Proximity Sensor NPN output type Position Control Unit 24 VDC power supply 150 ...

Page 69: ...he power supply for other I O Use shielded cable for control lines Connect the shielded cable to the frame ground at both the PCU and the driver Attach a surge absorber to all inductive loads such as relays solenoids and solenoid valves Note Connect the diode and surge absorber as close as possible to the relay Use a diode capable of withstanding a voltage five times higher than the circuit volt a...

Page 70: ...e driv er Example 1 Mode 0 Connection This example shows the use of a stepping motor with an external sensor sig nal connected to the origin input signal A14 A20 A2 A6 CW CCW CCW N C contact Position Control Unit open collector outputs on the CS1W NC 13 Origin Input signal CCW limit input signal CW limit input signal CW output with 1 6 k resistance 24 VDC Example DFU1514W stepping motor driver mad...

Page 71: ...ignal 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 input signal N O contact 06 1 Origin input signal N O contact 07 0 Pulse output stopped with emergency stop input signal 08 to 15 0 m 5 00 to 03 0 Mode 0 04 to 07 0 Reverse mode 1 08 to 11 1 Takes origin input signal after origin proximity input signal is received 12 to 15 0 Search...

Page 72: ...rvomotor Position Control Unit open collector outputs on the CS1W NC 13 Origin proximity input signal CCW limit input signal CW limit input signal Emergency stop input signal N O contact OMRON R88D GT 24 VDC Input common 24 V GND for output Origin input signal Shell N C contact CW output with 1 6 kΩ resistance CCW output with 1 6 kΩ resistance Shield N O contact A6 A8 A1 A2 4 6 3 5 CW CCW CW CCW 3...

Page 73: ...N 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 risi...

Page 74: ...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 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 A10 A16 A14 FG A3 A4 Position Control Unit line driver outputs on the CS1W NC 33 5 VDC 24 VDC Servo Drive ...

Page 75: ...peration cannot be completed if the positioning completed input signal from the Servo Drive is not properly connected or set W series Servo Drive CS1W NC113 NC213 NC413 Position Control Unit open collector outputs on the CS1W 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 ...

Page 76: ...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 77: ... collector outputs on the CS1W 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 Servo Drive Shell...

Page 78: ...7 29 A10 A12 A16 A14 FG A3 A4 CW output CW output CCW output CCW output Shell 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 N O contact Position Control Unit line driver outputs on the CS1W NC 33 5 VDC 24 VDC Positioning completed input signal R88M G Servomotor ...

Page 79: ...24VIN Z 1 2 A10 A16 13 10 0GND INP A12 A14 A1 A2 FG FG R88M G Servomotor Position Control Unit open collector outputs on the CS1W NC 13 OMRON R7D BP Servo Drive 24 VDC 24 V GND for output Origin input signal Shell CW output with 1 6 kΩ resistance CCW output with 1 6 kΩ resistance Shield N O contact 24 V power supply for output Error counter reset output Positioning completed input signal ...

Page 80: ... 1 2 A10 A12 A16 A14 FG A3 A4 CW output CW output CCW output CCW output Shell 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 N O contact Position Control Unit line driver outputs on the CS1W NC 33 5 VDC 24 VDC Positioning completed input signal R88M G Servomotor S...

Page 81: ... CS1W NC 13 24 V power supply for output Error counter reset output Example OMRON R7D AP 24 V GND for output 24 V origin input signal Shield Positioning completed input signal N O contact CW output with 1 6 kΩ resistance 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 A11 A15 A14 A12 INP 8 0GND 10 FG CCW output with 1 6 kΩ resistance 24 VDC Shell Servo Drive ...

Page 82: ...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 A11 A15 A14 A12 INP 8 0GND 10 FG A6 A8 A5 A7 2 4 1 3 CW CCW CW CCW A3 A4 24 VDC S...

Page 83: ...Parameter Designation of 4 2 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...

Page 84: ...pply 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 and SENS indicators as well as the LED indicator for the axis will light or flash The used axis how ever will continue to operate normally even if an error is generated for the unused...

Page 85: ...J B1 R88D UP XW2Z J B4 R88D UT R88D WT XW2Z J B25 R88D GT XW2Z J B29 R7D BP XW2Z J A8 XW2B 20J6 1B XW2Z J B5 R7D AP XW2Z J B17 R7D ZP CS1W NC213 CS1W NC413 XW2Z J A7 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 A9 XW2B 40J6 2B XW2Z J B5 R7D AP XW2Z J B17 R7D ZP XW2Z J A9 XW2B 40J6 4A XW2Z J B7 R7D AP when using RS 422 Position Control Unit CS...

Page 86: ...ed When using in combination with the CS1W NC413 NC433 4 axis con trol 4 Servo Drive Connecting Cables are required PCU Cable connected to PCU Servo Relay Unit Cable connected to Servo Relay Unit Servo Drive CS1W NC133 XW2Z J A10 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 A12 XW2B 20J6 1B XW2Z J B5 R7D AP XW2Z J B17 R7D ZP CS1W NC233 CS1W N...

Page 87: ...62 Servo Relay Unit Section 3 7 ...

Page 88: ...Parameter Area 74 4 3 1 Outline 74 4 3 2 Details 77 4 3 3 Operation Modes 80 4 4 Operating Memory Area 93 4 4 1 Outline 93 4 5 Operating Data Area 97 4 5 1 Outline 97 4 6 Memory Operation Data 100 4 6 1 Outline 100 4 7 Zone Data Area 103 4 7 1 Zone Function 103 4 7 2 Zone Data Settings 104 4 8 Examples of Parameter Settings 104 4 8 1 Setting Positioning Using Two Axes 104 4 8 2 Setting Positioning...

Page 89: ...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 90: ...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 91: ...n 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 Backlash ...

Page 92: ...OG 10 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 Comp...

Page 93: ...3 I 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 De...

Page 94: ... 2000 3000 4000 Positioning sequence num bers 0 to 99 3 words 112C 212C 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 num bers 1 to 19 1 word PCU internal address Name Data size X axis Y axis Z axis U...

Page 95: ...ll models Name Configuration Explanation Page m Operating data area designation Designate the memory area to which the operating data is to be set Select one from the following 0000 DM Area words allocated to Spe cial I O Units fixed 000D User specified DM Area words 0X0E User specified EM Area words X bank number 70 m 1 Beginning word of operating data area Designate the beginning word of the ope...

Page 96: ... specified EM Area words 0E are designated as the location for the operating data area using the area designation setting word m bits 00 to 07 use this setting to designate a bank number The following bank numbers can be designated 0 00 to 9 09 A 0A B 0B C 0C Do not however select a bank that is being used as PLC file memory If the DM Area words allocated to Special I O Units 00 or user specified ...

Page 97: ...0 to D8023 NC2 3 D8000 to D8039 NC4 3 D8000 to D8071 Example 2 The area in bank 2 of the CPU Unit s EM Area beginning with word 3A98 Hex 15000 is designated as the operating data area The following words are allocated varies with the model NC1 3 E2_15000 to E2_15023 NC2 3 E2_15000 to E2_15039 NC4 3 E2_15000 to E2_15071 Axis Parameter Designation Word Address and Enable Timing The word address and ...

Page 98: ... be used When using a 1 axis or 2 axis PCU set 0 for the other axes i e those not controlled by the PCU Setting to a value other than 0 will result in a parame ter designation error error code 0013 Note The settings in the DM Area words allocated to Special I O Units will not be used for any axes that are set to 1 This means that when control is not required for all axes e g when a 4 axis PCU is u...

Page 99: ... axis parameters for axes for which the axis specification word m 2 bits 08 to 11 is set to 1 when 01 is set for the parameter designation m 2 bits 00 to 07 in the common parameters The axis parameters are read into the PCU s internal memory at power up or restart Also by using data transfer changes in the axis parameters other than the I O settings and the operation mode can be reflected in subse...

Page 100: ...each of the axes 82 m 8 0008 m 9 0009 m 36 0024 m 37 0025 m 64 0040 m 65 0041 m 92 005C m 93 005D Initial speed rightmost word leftmost word Specifies the initial speed for each of the axes 83 m 10 000A m 11 000B m 38 0026 m 39 0027 m 66 0042 m 67 0043 m 94 005E m 95 005F Origin search high speed rightmost word leftmost word Specifies the origin search high speed for each of the axes 83 m 12 000C ...

Page 101: ... search deceleration time rightmost word leftmost word Specifies the time taken to go from maximum speed to initial speed 90 m 24 0018 m 52 0034 m 80 0050 m 108 006C Positioning monitor time Specifies the time to monitor for the positioning completed signal from the motor driver when positioning has been completed 91 m 25 0019 m 26 001A m 53 0035 m 54 0036 m 81 0051 m 82 0052 m 109 006D m 110 006E...

Page 102: ...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 2 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 103: ...t 1 N O input 07 Emergency stop input Specifies the operation for when the emergency stop signal is input 0 Only stop pulse output 1 Stop pulse output and output the error counter reset signal enabled for operation modes 1 and 2 08 Origin undefined designation This setting specifies whether or not the origin will be undefined when an emergency stop signal CWW limit signal or CW limit signal is inp...

Page 104: ...ame 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 the error counter re...

Page 105: ...earch 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 ori...

Page 106: ...or 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 Mode 3 Set mode 3 when using the Servo Drive s origin adjustment comma...

Page 107: ...0 500 000 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 during mem ory operation or direct operation the axis will be operated at the maximum speed t...

Page 108: ...figuration 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 36 0024 m 64 0040 m 92 005C Initial speed ...

Page 109: ...e rightmost word as 32 bit unsigned data For details on origin search operation refer to 6 4 Origin Search Operation 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 Compens...

Page 110: ...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 111: ...o 9 8 Backlash Compensation Acceleration Deceleration Curve and Acceleration Deceleration Time Designations 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 112: ...e 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 ...

Page 113: ...is possible however only as long as the maximum acceleration deceleration rate is not exceeded Target speed Initial speed 0 Acceleration time setting Deceleration time setting Time Speed pps Maximum 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 abso...

Page 114: ...he origin search acceleration time setting are shown below Speed pps Maximum speed Target speed Initial speed Acceleration time setting Deceleration time setting Time Actual axis acceleration time Actual axis deceleration time Speed S curve acceleration Time 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 0068 Origin se...

Page 115: ...is shown below Settings The origin search deceleration time can be set to any time in the following range 00000000 to 0003D090 Hex 0 to 250 000 ms The default setting is 00000064 100 Explanation This setting specifies the time in ms taken to go from the maximum speed to the initial speed when performing origin search The origin search decelera tion time is set in the range 0 to 250 000 ms using tw...

Page 116: ...d data If the positioning monitor time is set to 0 operation will proceed in one of the following ways depending on the kind of operation being performed Origin search operation Waits until positioning completed signal turns ON Other operation jogging direct operation etc Positioning completed signal ignored Software Limits Word Address and Enable Timing The word addresses and enable timing for th...

Page 117: ...ddresses in the above table is shown below Settings The initial pulse designation can be set to either of the following 0000 250 pps 0001 Maximum speed specified with axis parameters The default setting is 0000 Explanation This setting specifies the speed of the first pulse when operation starts When axis operation starts the speed of the first pulse based on the acceleration curve is calculated I...

Page 118: ...used for sending commands to the PCU and the inputs used for monitor ing PCU status 4 4 1 Outline The area allocated as the operating memory area is contained in the Special I O Unit Area within the CPU Unit s CIO Area The beginning word of the oper ating memory area is determined according to the unit number set for the PCU according to the following equation Beginning word of operating memory ar...

Page 119: ...URN At the rising edge when this bit turns ON positioning returns to the origin 08 PRESENT POSITION PRESET At the rising edge when this bit turns ON the present position is forcibly changed to the position set in the operat ing data area and then the origin is estab lished based on the changed present position NC4 3 NC2 3 NC1 3 n n n n 2 n 2 n 4 n 6 09 Commands for special functions JOG speed feed...

Page 120: ...the CPU Unit to the PCU SECTION 5 Transferring and Saving Data 13 READ DATA At the rising edge when this bit turns ON data is read from the PCU to the CPU Unit 14 SAVE DATA At the rising edge when this bit turns ON the contents of the PCU s internal memory are saved to its flash memory 15 Not used Model Words Bits Name Operation Reference X axis Y axis Z axis U axis ...

Page 121: ...tab lished SECTION 6 Defining the Ori gin 07 Origin Stop Flag ON when stopped at the origin 08 Zone 0 Moni tor Flag ON when within the zone 0 range 4 7 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...

Page 122: ... the operating data area 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 NC2...

Page 123: ...mple 1 Example 2 m 0 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 wri...

Page 124: ...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 I...

Page 125: ...ory operation 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 Sa...

Page 126: ...o to to to to 12B8 12B9 22B8 22B9 32B8 32B9 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 15 00 Axis designation Output code Position designation Completion code 1000 12 11 08 07 04 03 Dwell time No Acceleration time No Deceleration time No 1001 Initial speed No Target ...

Page 127: ...me 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 to to to to 12F...

Page 128: ...itor Flags This function is mainly used when performing interlocks 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 z...

Page 129: ...arameter described above Address Name Configuration 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 C...

Page 130: ... 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 have specific applications are expressed in h...

Page 131: ...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 132: ...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 133: ...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 134: ...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 135: ...ompensation 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 1000 The operating range is not set The software limits are disabled m 27 to m 28 CW software limit 1073741823 1000000...

Page 136: ...e Data Program 123 5 3 Reading Data with the READ DATA Bit 124 5 3 1 Outline 124 5 3 2 Data Settings Required for Reading Data 125 5 3 3 Timing Chart for Reading Data 126 5 3 4 Data Reading Program Example 127 5 4 Writing Data with IOWR 129 5 4 1 Outline 129 5 4 2 IOWR INTELLIGENT I O WRITE 130 5 4 3 Error Code Treatment for IOWR 131 5 4 4 Flags 131 5 4 5 Precautions when Using IOWR 132 5 4 6 IOWR...

Page 137: ...he 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 data can be changed at high speed and data can be rea...

Page 138: ...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 Do not turn OFF the power or restart the PCU whi...

Page 139: ... 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 2 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 identify the wr...

Page 140: ...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 141: ...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 142: ...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 143: ... 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 144: ...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 145: ...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 5 2 2 Data Writing Procedure 1 2 3 1 Set the common parameters Refer to 4 2 Common Parameter Area m Set the operating data area either to DM ...

Page 146: ...ngs 5 2 3 Data Settings Required for Writing Data Beginning Words of Operating Memory Area Operating Data Area and Parameter 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 Beginning word of the common parame...

Page 147: ...nk 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 07 Setting range 00 to 0C banks 0 to C 15 00 Specifies the beginning word of the area in the DM or EM Area used for sett...

Page 148: ...o the PCU The PCU to be used will be an 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 beginning word address for the data transfer area is D00500 and the data to be sent is as follows Data Address transfe...

Page 149: ...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 ing data area For an outline refer to 5 2 Writing Data...

Page 150: ...r when modifying the data in the common parameter area 5 3 2 Data Settings Required for Reading Data Beginning Words of Operating Memory Area Operating Data Area and Parameter 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...

Page 151: ...es the beginning address of the area in the PCU from which parameters and data are read For details of the PCU s inter nal addresses refer to SECTION 4 Data Areas EM bank designation DM EM designation 15 08 07 00 Specifies the area where the parameters and data read from the PCU are stored DM EM designation 0D Designates DM Area 0E Designates EM Area EM bank designation Specifies the EM Area bank ...

Page 152: ...mory area Check this error code to determine the cause of the error and correct it 5 3 4 Data Reading Program Example In this example speeds 0 and 1 written in 5 2 Writing Data 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...

Page 153: ...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 20011...

Page 154: ...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 t...

Page 155: ... 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 156: ...10 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 compatible with the IOWR instruction has been specified A Special I O Unit for which a set...

Page 157: ... 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 158: ...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 159: ...data to the data area the Equals Flag which is the completion flag for the IOWR instruction does not turn ON Therefore 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...

Page 160: ... 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 number 2 Data Address transfer destinat...

Page 161: ...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 S...

Page 162: ...0000 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 whic...

Page 163: ...e transfer 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 out side the range 0000 to 005F Hex A Special I O Unit that is not com patible with the IORD instruction has been specified A Special I O Unit for which a set ting error has been made or an error is being generated has been specified Anything else Th...

Page 164: ...eeds 0 and 1 written in 5 4 Writing Data with IOWR are read The conditions to be set are the same as those used in the example of writing the data The beginning word for the DM Area where the read data is to be stored is set at D00500 Note Depending on the timing of IORD instructions transfer errors may not be reflected in the CPU Unit For details refer to 5 1 Transferring and Saving Data CPU Unit...

Page 165: ...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 166: ...ata 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 Operating Memory Area Operating Da...

Page 167: ...hat 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 C...

Page 168: ...ng Memory Area 148 6 3 4 Allocation of Operating Data Areas Supported for Unit Version 2 2 or Later 149 6 4 Origin Search Operation 149 6 4 1 Operation Pattern Settings for Origin Search 149 6 4 2 Details of Parameters 149 6 4 3 Operation Mode Settings 153 6 4 4 Origin Search Operation and Origin Detection Direction Settings 158 6 4 5 Operation Pattern With Origin Compensation 163 6 5 Origin Searc...

Page 169: ...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 170: ...ed for unit version 2 2 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 a...

Page 171: ...a 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 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 d...

Page 172: ... 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 173: ...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 174: ...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 175: ... input signal during deceleration is detected An origin input signal error error code 6202 will be generated and opera tion will decelerate to a stop 1 Turns ON for 20 ms when origin is detected The origin input signal during deceleration is not detected Opera tion is stopped and the origin is determined when the origin input signal is received after the origin search prox imity speed has been rea...

Page 176: ...ions where a high degree of positioning accuracy is not required The position ing completed signal at the Servo Drive is not used 1 Use this mode for a high degree of positioning accu racy The positioning com pleted signal at the Servo Drive is not used 2 Use this mode for a Servo Drive with an origin adjust ment function 3 Origin search operation Reverse modes Reverse mode 1 Reverse mode 2 Single...

Page 177: ...speed there will 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 Setting Origin detection method Origin input signal detection Notes 0 With origin prox imity input signal reversal Origin input signal detected a...

Page 178: ... such as a sensor is connected to the origin input signal and the origin input signal 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 ...

Page 179: ...sitioning begins from within the origin proximity area an origin input signal will be detected immediately after the falling edge of the origin proximity input signal Be sure that the origin proximity 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...

Page 180: ...ent command is output on the falling edge Positioning stops on the rising edge of the positioning completed input signal from the Servo Drive Note When the origin search is completed in Mode 2 or Mode 3 the 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 ...

Page 181: ...ra tion is not completed when the origin proximity input signal is turned ON and then turned OFF an origin adjustment signal will be output after deceleration is completed Origin Detection Method 1 Deceleration starts on the rising edge of the origin proximity input signal and an origin adjustment command is output when deceleration is completed Origin adjustment command output Z phase signal Posi...

Page 182: ...justment command output turns ON If the deceleration is 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 comma...

Page 183: ...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 184: ...in proximity signal turns ON and OFF Origin detection method Origin search operation 0 Reverse mode 1 Note If the direction of operation 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 Note A limit signal is input and operation is stopped without decelerat...

Page 185: ...verse 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 Start Stop Stop Start CW limit See note Start Limit Stop Er...

Page 186: ... 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 stopped without deceleration Origin input signal Pulse output Start Stop CW limit See note Limit Stop Error code 6201 Start CW limit See note Limit Stop Error code 6201 Start Origin search proximity speed Origin input signal Pu...

Page 187: ...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 Origin search proximity speed 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 lim...

Page 188: ...led 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 gin compensation value is made at twice the speed of the origin search proximity speed as shown below Note If the speed during movement for compensation is greater than ...

Page 189: ...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 190: ...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 191: ...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 192: ...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 193: ... 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 194: ...ontrol 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 as shown...

Page 195: ...ill be generated 6 7 1 Allocation of Operating Memory Area and Setting of Operating Data Area 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 t...

Page 196: ...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 197: ... 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 198: ...173 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 199: ...174 Z phase Margin Section 6 8 ...

Page 200: ...tarting Direct Operation 179 7 4 2 Direct Operation and the Operating Data Area 179 7 4 3 Multiple Starts With Direct Operation 179 7 4 4 Multiple Start Operating Patterns 180 7 4 5 Starting Direct Operation During Memory Operation 182 7 5 Direct Operation Timing Charts 182 7 6 Acceleration Deceleration 184 7 6 1 Calculation of Basic Acceleration Deceleration Times 184 7 6 2 Calculation of Acceler...

Page 201: ...ition control is based on the amount of relative movement from the present position Relative movement moves the axis by a relative amount from the start position It can be executed even when the origin has not been established 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 wo...

Page 202: ...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 the data in the common parameter area 7 3 Setting Data for Direct Operation A simple explanation of the axis parameter area operating memory area and operating data area settings that are used when executing direct operation is given below Fo...

Page 203: ...21 I 20 I 21 I 32 I 33 I 44 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 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 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 ...

Page 204: ...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 acceleration and deceleration in the operating data area In this event the positioning currently being executed is cancelled and the axis is moved towards the newly designated position The Busy Flag does not need to be ch...

Page 205: ...on Therefore to ensure that the multiple start is exe cuted avoid activating the multiple start right before stopping If the multiple start is activated within 16 ms of stopping as shown in the following figure all the immediately preceding position command values will be output and the specified position will be reached Newly specified position command values however may become invalid Without Re...

Page 206: ...put 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 number of pulses actually output If any of the above operations are perfo...

Page 207: ...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 208: ... 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 209: ...me it takes to go from the maximum speed to the initial speed If the acceleration deceleration time designation is set to 1 the acceleration or deceleration time is directly set as the time from the present speed to the target speed This section describes the acceleration and deceleration times when opera tion is performed using a speed command specified for direct operation with the acceleration ...

Page 210: ...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 are used First Command...

Page 211: ...celeration Deceleration Times when the Speed is Changed 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 time T1 V1 V0 VMAX V0 Ta Actu...

Page 212: ...section provides a sample program for operating the axes The PCU used is an 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 the position at 135 000 pulses The speed ...

Page 213: ...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 214: ...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 215: ...ation 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 Guide R123 OMRO...

Page 216: ... 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 217: ...192 Sample Program Section 7 7 ...

Page 218: ...8 Initial Speed and Target Speed Numbers 207 8 5 Completion Codes 207 8 5 1 Starting Memory Operation 207 8 5 2 Memory Operation In Accordance With Positioning Sequences 207 8 6 Linear Interpolation 211 8 6 1 Using Continuous Completion with Linear Interpolation 213 8 7 Transferring Positioning Sequences 215 8 7 1 PCU s Internal Addresses 215 8 7 2 Transferring 100 Positioning Sequences from the C...

Page 219: ...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 220: ...sed 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 operation will be executed for the designated axes 8 1 2 Axis Designation and Flags The status and present position allocated to the o...

Page 221: ...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 3 NC1 3 n 8 n 4 n 2 n 11 n 7 n 14 n 17 06 No Origin Flag 07 Origi...

Page 222: ...example 1 2 3 1 Set the common parameters Refer to 4 2 Common Parameter Area m Set the operating data area either to DM or to EM m 1 Set the beginning word of the operating data area I m 2 Designate the axis parameters 2 Power up again or restart The data in the common parameter area set in 1 above is enabled 3 Transfer the data Refer to SECTION 5 Transferring and Saving Data Transfer the data set...

Page 223: ... methods and other details refer to 4 3 Axis Parameter Area and 4 4 Operating Memory Area 8 3 1 Beginning Words of Operating Memory Area Operating Data Area and Parameter 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 ar...

Page 224: ... 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 225: ...ning 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 is the same as the num ber of the sequ...

Page 226: ...l 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 curves set for the axes specified by the a...

Page 227: ... 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 228: ...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 229: ...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 230: ...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 231: ...tion deceleration time set in the axis parameter area is used Speed Sequence n Completion code automatic Time Positioning Completed Flag Busy Flag Waiting for memory operation Sequence n 1 Completion code automatic The next sequence is executed when the dwell time elapses following the completion of pulse output Speed Servo Drive s positioning completed signal Sequence n Completion code automatic ...

Page 232: ...e 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 operation 8 5 2 Memory Operation In Accordance With Positioning ...

Page 233: ...the target speed changes to the target speed for the next positioning sequence n 1 and the position with the same number as that positioning sequence is exe cuted 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 E...

Page 234: ...e 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 START See note Note If INDEPENDENT START is executed a terminating com pletion and not a continuous completion will result Speed Sequence n Sequence n 1 Time Sequence number Sequence Number Enable...

Page 235: ...e value For the CW direction 00000000 Hex 0 or any other positive value To stop speed control execute the STOP command Interrupt Feeding Completion Codes 5 and 6 With interrupt feeding completion pulse output is supported at the target speed in this positioning sequence The present position can be calculated even during continuous output The direction of the pulse output is set by the sign for the...

Page 236: ...equence settings refer to 8 4 Positioning Sequences Completion Code 5 Speed Sequence n Time Sequence number Sequence 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 STAR...

Page 237: ...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 speed error error codes 1500 to 1599 will be generated The maximum distance the can be moved in one linear interpolation operation i e for one sequence is 2 147 483 520 7FF...

Page 238: ...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 used As a result the motor may not be able to follow the variations in the ...

Page 239: ...or 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 and Y axes starting at the X axis At point A the direction of movement at the Y axis is reversed In this example the interpolation speed to point A is given as a and the interpolation speed to point...

Page 240: ... 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 positioning sequences to the PCU using the second method is explained here The same method can be used for data other than positioning sequences For further details on transferring data refer to SECTION 5 Transferring and Saving Data 8 7 1 PCU s Inter...

Page 241: ...2BC 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 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 Accelera...

Page 242: ...le at startup DIFU R1 MOV 012C D00500 200814 MOV 000E D00501 MOV 0000 D00502 R1 Write switch Work bit Data Transferring Flag MOV 1000 D00503 200112 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 use...

Page 243: ... INDEPENDENT START is used for stopping at each positioning sequence An INDEPENDENT START operation is treated as a terminating positioning sequence stopping after a single start regardless of the completion code A bank end operation completion code however will still generate a bank end operation In the following timing chart the completion codes for the positioning sequences are as follows using...

Page 244: ...ce 3 Continuous Sequence 1 Terminating Sequence 2 Automatic Sequence 4 Bank end 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 Sequence 1 Sequence 10 ...

Page 245: ... 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 tioning sequence are not made during execution of the positioning sequence at least 3 sequences before these change...

Page 246: ... 9 1 Calculation of Basic Acceleration Deceleration Times The method for calculating actual acceleration and deceleration times when performing INDEPENDENT START operation or operation where the comple 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 Sequence n Completion code continuo...

Page 247: ... override is enabled i e the Override Enable Bit is ON the speed will be as follows Speed designation Positioning sequence s speed setting Operating data area s override setting 100 8 9 2 Calculation of Acceleration Deceleration Times for Continuous Positioning The method for calculating actual acceleration and deceleration times when performing continuous operation where the completion codes of t...

Page 248: ...lowing 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 pps Acceleration time Ta2 ms Deceleration time Td2 ms No 2 Position Initial speed V0 pps Speed V3 pps Acceleration time Ta3 ms Deceleration time Td3 ms As can be seen from the equations above the acc...

Page 249: ... deceleration 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 ...

Page 250: ...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 251: ... 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 15 ...

Page 252: ...ding 233 9 3 1 Outline of Operation 233 9 3 2 Procedure for Memory Operation 233 9 3 3 Procedure for Direct Operation 234 9 3 4 Beginning Words of Operating Memory Area Operating Data Area and Parameter Areas 234 9 3 5 Operating Memory Area Allocation and Operating Data Area Settings 234 9 3 6 Timing Chart 235 9 4 Forced Interrupt 236 9 4 1 Beginning Words of Operating Memory Area Operating Data A...

Page 253: ...s of Operating Memory Area Operating Data Area and Parameter Areas 251 9 8 3 Setting Axis Parameters 251 9 8 4 Backlash Compensation Operation 251 9 8 5 Backlash Compensation With Linear Interpolation 252 9 9 Software Limit 252 9 9 1 Outline 252 9 9 2 Beginning Words of Operating Memory Area Operating Data Area and Parameter Areas 253 9 9 3 Setting Axis Parameters 254 9 9 4 Operation Timing 254 9 ...

Page 254: ...ing 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 unit number Beginning word of the operating data area l is specified in m and m 1 Set the beginning w...

Page 255: ... when decelerating for a JOG stop or deceleration stop 9 1 5 Timing Chart 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 NC...

Page 256: ... 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 then turn the TEACH Bit fr...

Page 257: ...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 258: ...ng 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 deceleration...

Page 259: ...e 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 as shown below 9 3 5 Opera...

Page 260: ... illustrates interrupt feeding under direct operation using the X axis for a 4 axis PCU as an example There is a movement of 10 000 pulses in the direction of travel 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...

Page 261: ...ting 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 origin search origin return or present position preset If forced interrupt is executed at bank end Proce...

Page 262: ...d Operating Data Area Settings 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 axi...

Page 263: ...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 264: ...erating data area l is specified 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 com ...

Page 265: ...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 266: ...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 267: ...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 240 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 268: ...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 269: ...2000 10 unit number Override 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...

Page 270: ...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 271: ...eed is changed by the override while jogging the X axis for a 4 axis PCU Pulse output Speed Time Positioning Completed Flag word n 8 bit 05 Busy Flag word n 8 bit 13 Speed I 10 I 11 Override I 17 Override enable word n bit 14 JOG word n bit 09 3E8 Hex 1000 32 Hex 50 64 Hex 100 96 Hex 150 ...

Page 272: ...rror counter reset output is automatically output for approximately 20 ms upon completion When this bit is turned ON the error counter reset signal is output The following processing is executed 1 Pulse output is stopped 2 The origin determination is released 3 The error counter reset outputs are output ON While this bit is ON if operations such as direct operation memory operation origin search o...

Page 273: ... general outputs in mode 0 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 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 ...

Page 274: ...it 06 ABSOLUTE MOVEMENT word n bit 03 Error counter reset output word n bit 13 X axis Error counter reset output PCU output signal Pulse output Speed Time Busy Flag word n 8 bit 13 Positioning Completed Flag word n 8 bit 05 No Origin Flag word n 8 bit 06 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 op...

Page 275: ...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 276: ...ommon parameters as shown 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 ...

Page 277: ...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 278: ... 483 647 pulses 80000001 Hex 9 9 2 Beginning Words of Operating Memory Area Operating Data Area and Parameter 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 par...

Page 279: ...position ing during pulse output The timing of the checks varies with the opera tion as shown in the following table Data Parameter area for each axis Data Configuration NC1 3 NC2 3 NC4 3 X axis Y axis Z axis U axis CCW soft ware limit m 25 rightmost m 26 left most m 53 rightmost m 54 left most m 81 rightmost m 82 left most m 109 rightmost m 110 left most CW software limit m 27 rightmost m 28 left...

Page 280: ...ding OK OK If the total number of pulses the position output during speed control is outside the software limit range operation decelerates to a stop to a position outside the software limit range If the sum of the specified amount of move ment after the interrupt input and the num ber of pulses output until the interrupt input is received is outside the software limit range operation decelerates ...

Page 281: ...ime data Dwell timer data 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 Error Emergency stop input signal turns ON CPU Unit A command to the ope...

Page 282: ...herwise the data will not be backed up correctly and a parameter corrupted error error code 0001 will be displayed when you try 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 th...

Page 283: ...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 284: ...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 285: ...260 Easy Backup Function Ver 2 0 or later Section 9 11 ...

Page 286: ... 264 10 2 2 Repeat Operation 269 10 2 3 Cancelling Positioning 273 10 3 Direct Operation 279 10 3 1 Positioning with Positions in the DM Area 279 10 3 2 Inching 282 10 4 Linear Interpolation 285 10 4 1 Two axis Linear Interpolation 285 10 5 Origin Search 291 10 5 1 Origin Search Using Limit Input 291 10 6 Override 294 10 6 1 Changing Speed During Pulse Output 294 10 7 Transferring and Saving Data ...

Page 287: ...re mounted on a Backplane The following settings are needed for the PCU Model Notes Position Control Unit CS1W NC113 NC133 NC213 NC233 NC413 NC433 SYSMAC CS series CPU Unit CS1G H CPU Power Supply Unit C200HW PA204 PA204S PA204R PD024 PA209R Backplane CS1W BC 3 Motor driver The following are required Servomotor driver and cabling between the motor and driver Stepping motor driver and cabling betwe...

Page 288: ...g Data Refer to the data settings for each program example and then 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 tools such as Terminals Wiring 24 V power supply for out put A1 B1 24 VDC 24 VDC power supply positive termi nal Output power supply 0 V A2 ...

Page 289: ... of each positioning sequence without reference 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 264 Repeat operation 269 Cancelling positioning 273 Direct operation Positioning with positions in...

Page 290: ...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 291: ...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 292: ... 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 293: ...g 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 W03014 W03012...

Page 294: ...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 295: ...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 296: ...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 297: ...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 298: ...ignated 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 Fla...

Page 299: ...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 300: ...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 301: ...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 302: ...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 303: ...nable 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 W03...

Page 304: ...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 305: ...se 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 area starting ...

Page 306: ...4 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 D00026 0190 Speed 400 pps 190 Hex D00011 0000 D00027 0000...

Page 307: ...ts the positioning so this simplifies positioning commands from the PLC ladder program Operation start switch Busy Flag No Origin Flag 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 D00...

Page 308: ...on 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 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 ...

Page 309: ...ntirely at the default settings 0 Speeds This data area is not used with direct operation It should be left entirely at the default settings 0 Positions This data area is not used with direct operation It should be left entirely at the default settings 0 Acceleration and Deceleration Times This data area is not used with direct operation It should be left entirely at the default settings 0 Dwell T...

Page 310: ...ositioning sequence for the active axis designates the axes to be used in interpolation 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 200...

Page 311: ... 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 Y axes beforehand to 0 by either conducting an origin search or executing PRESENT POSITION PRESET Setting the PCU Unit number Unit 0 ...

Page 312: ...4 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 Backlas...

Page 313: ...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 Ini...

Page 314: ...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 0000 ...

Page 315: ...rd 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 Position 3 4000 pulses FA0 Hex 21FB 0000 21FC 1388 Position 4 5000 pulses 1388 Hex 21FD 0000 21FE 0000 Position 5 0 pulses 0 Hex 21FF 0000 2200 0000 Position 6 0 pulses 0 Hex 2201 0000 Operation sta...

Page 316: ...ut 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 or...

Page 317: ... 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 D20019 000...

Page 318: ...n Search Section 10 5 Program W030 is used as a work word Operation start switch Takes the rising edge of the operation start switch Busy Flag ORIGIN SEARCH W03000 200213 DIFU W03000 200006 200006 ORIGIN SEARCH ...

Page 319: ...on tinuous operation 1 2 3 1 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 ...

Page 320: ...rams 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 area starting from D2...

Page 321: ...ide 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 W03001 Acceleration time ...

Page 322: ... for both the X and Y axes needed for the operation of the NC213 Unit 0 are all transferred 2 When the operation start switch is turned ON the 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 ...

Page 323: ...imes 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 READ DATA DM Setting Contents of ...

Page 324: ...9 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 determination f...

Page 325: ...30 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 200113 READ DATA 200414 Data Transferring Flag ...

Page 326: ...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 327: ...ious 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 202112 202214 Data Transferring Flag WRITE DATA 202214 Data Transferring Flag 202114 SAVE DATA ...

Page 328: ...ators 312 11 4 Reading Error Codes 315 11 5 Error Code Lists 316 11 5 1 Data Check at Startup 316 11 5 2 Command Execution Check 320 11 6 Releasing Pulse Output Prohibition and Resetting After Errors 333 11 6 1 Outline 333 11 6 2 Beginning Words of Operating Memory Area Operating Data Area and Parameter Areas 334 11 6 3 Operating Memory Area Allocation 335 11 6 4 Timing Chart 335 11 7 Error Displa...

Page 329: ...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 330: ...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 Only...

Page 331: ... 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 332: ...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 333: ... 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 334: ...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 sig nals and whether the cables are shielded Use twisted pair and sh...

Page 335: ...cable 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 operation Check whether the Servo Drive s operating command output sig nals are turning OFF during operation Turn ON the operat...

Page 336: ...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 337: ...Error Indicators 11 5 Error Code Lists Instruction execution error Power ON Hardware 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...

Page 338: ...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 accept able range Set the unit number for each of the Units to a setting within the acceptable range reset the power supply and create an I O table from the CPU Unit The unit number set for the PC...

Page 339: ...use is removed nor mal status will be restored and the ERH LED indicator will turn OFF Parameters destruction When using the axis param eters 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 inter rupted there was noise or there was an error in flash memory In this condition only the data transfer read ...

Page 340: ...rt the PCU If this error occurs again despite increasing the cycle monitor time it is pos sible that there is a fault in the PCU or somewhere in the PLC Contact your OMRON representative Operating data area address specifica tion error The beginning word desig nation for the operating data area m 1 is outside the settable range In this condition only the data save operations can be performed The P...

Page 341: ... 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 342: ...ly the data save operations can be performed In this case the PCU s 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 ver sion 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 correcting the common parame ters refer to...

Page 343: ...celeration time error 1320 The axis parameters origin search deceleration time setting is outside the settable range 0 to 250 s Acceleration Deceleration curve error 1330 The axis parameters acceleration deceleration curve setting is not 0 or 1 Positioning moni tor time error 1332 The axis parameters positioning monitor time setting is outside the settable range 0 to 9999 ms Origin search Origin c...

Page 344: ... range 0 to 9 999 pulses Backlash com pensation speed error 1710 The axis parameters backlash compensation speed setting exceeds the maximum speed set ting Software limits CW software limit error 1800 The axis parameters CW software limit setting is outside the settable range 1 073 741 823 to 1 073 741 823 CCW software limit error 1801 The axis parameters CCW soft ware limit setting is outside the...

Page 345: ...1 to 9 is out side the settable range 0 to 250 s The rightmost digit of the error code indi cates the setting with the error Acceleration Deceleration curve error 1330 The axis parameters acceleration decel eration curve setting is not 0 or 1 Positioning monitor time error 1332 The axis parameters positioning monitor time is outside the settable range 0 to 9 999 ms Speed data Speed error 1500 to 1...

Page 346: ...able 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 settable range 1 073 741 823 to 1 073 741 823 Zone 0 CCW error 1901 Zone 0 s CCW data is outside the settable range 1 073 741 823 to 1 073 741 823 Zone 1 CW erro...

Page 347: ... 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 348: ...ware limit value 5031 If positioning were performed within the software limit range in response to one of the following commands with the specified position data the CCW software limit would be exceeded so positioning cannot be started ABSOLUTE MOVEMENT RELATIVE MOVEMENT or PRESENT POSITION PRESET Positioning commands used in memory operation absolute or relative designa tion The axis has been sto...

Page 349: ...ove in the CW direction Sensor inputs Emergency stop input 6000 The axis was stopped by an emergency stop signal input Start operation again after clear ing the emer gency stop input and executing RELEASE PRO HIBIT ERROR RESET An emergency stop will be per formed on the affected axis Other operating axes will not be affected CW limit stop 6100 The axis was stopped by a CW limit input signal Move i...

Page 350: ...ers I O set tings If the signal type is changed reset the power sup ply or restart the PCU before resuming opera tion Other operating axes will not be affected No origin input signal 6201 There was no origin input signal received during the origin search Perform the ori gin search again after checking the origin input signal wiring and the origin input signal type N C or N O in the axis parameters...

Page 351: ...ng input in both directions Perform the ori gin search again after checking the wiring and signal type in the axis parameters I O settings N C or N O for both directions If the signal type is changed reset the power sup ply or restart the PCU before resuming opera tion The origin search will not be executed but other operating axes will not be affected Simultaneous origin proximity and limit signa...

Page 352: ...ty search with limit input reversal not using the origin proximity input signal Perform the ori gin search again after checking the signal types in the axis parameters I O settings N C or N O and posi tions for the limit input signal ori gin proximity input signal and origin input sig nal inputs If the signal type is changed reset the power sup ply or restart the PCU before resuming opera tion An ...

Page 353: ... ing speed error 7201 The speed designation of interrupt feeding is not between 1 and 500 000 Interrupt feed ing accelera tion time error 7202 The acceleration time designation of inter rupt feeding is outside the settable range 0 to 250 ms Interrupt feed ing decelera tion time error 7203 The deceleration time designation of inter rupt feeding is outside the settable range 0 to 250 ms Origin retur...

Page 354: ...s ORIGIN SEARCH ORIGIN RETURN PRESENT POSITION PRESET JOG TEACH RELEASE PROHIBIT ERROR RESET ABSOLUTE MOVEMENT RELA TIVE MOVEMENT or INTERRUPT FEED ING Correct the lad der program so that a command is not executed for a busy axis and execute the command again A data save operation was executed while one of the following commands was in progress START INDEPENDENT START ORIGIN SEARCH ORIGIN RETURN P...

Page 355: ... again The command will not be exe cuted If the last com mand made before the error was START INDEPENDENT START ORIGIN SEARCH ORI GIN RETURN JOG ABSO LUTE MOVE MENT RELATIVE MOVEMENT or INTERRUPT FEEDING the axis with the error will be decelerated to a stop When interpola tion operation is being used all interpolated axes will be deceler ated to a stop If the error is generated dur ing data transf...

Page 356: ...g the sequence data The FORCED INTERRUPT Bit was turned ON after a bank end completion in mem ory operation Change the ON timing 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 command again after checking the speed data and sequence data to make sure that the tar get speed is not 0 The axis wil...

Page 357: ...pt to output a error counter reset origin adjustment output when the output couldn t be used Execute the command again after checking that the output can be used and changing the lad der program if necessary The axis will be decelerated to a stop Other oper ating axes will not be affected Override Override error 8500 The override setting was outside the setta ble range 1 to 999 Execute the command...

Page 358: ...e the instruction again after correcting 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 instruction was executed The PCU s address was outside the setta ble range The parameters for the origin search high speed and the origin search proximity speed were not sent together...

Page 359: ...ting data area and designate the axis parameters used with the common parameters as shown below Cause Error code Clearing method Emergency stop input sig nal 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 PRO HIBIT ERROR RESET Bit is turned ON with the emergency stop signal still ON pulse ou...

Page 360: ...signation 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 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 RE...

Page 361: ...mber Flag For methods of clearing errors refer 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 cur...

Page 362: ...on Control Unit 12 1 Inspection 338 12 2 Routine Inspections 338 12 3 Handling Precautions 339 12 4 Procedure for Replacing a PCU 339 12 4 1 When PCU Parameters and Operating Data is Set in the CPU Unit s DM Area 339 12 4 2 When PCU Parameters and Operating Data is Saved to the PCU s Flash Memory 340 ...

Page 363: ...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 hydroscope check the ambient humidity inside the panel and make sure that it falls within the acceptable range...

Page 364: ...ure when it is necessary to replace a PCU 12 4 1 When PCU Parameters and Operating Data is Set in the 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 ...

Page 365: ...parameters and operating data for the PCU to be replaced to a floppy disk or a hard disk using CX Position 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 operat...

Page 366: ...ource clock is divided by the pulse output LSI divider An error of 0 02 also occurs because the source clock is affected by factors such as the temperature However this does 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...

Page 367: ...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 368: ...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 369: ...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 370: ...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 371: ...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 372: ...as the time from the present speed to the target speed The time it takes to the reach the target speed the time from the target speed to the initial speed and the num ber of pulses for each of them can all be found by means of the formulas shown below when 0 is set for the acceleration deceleration time designation VM Maximum speed setting TU Acceleration time from initial speed VL to target speed...

Page 373: ... 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 8000 pulses Deceleration time TD Deceleration pulses PD VH VL ...

Page 374: ...speed is changed during positioning 3 The target speed at that time is less than half of the present speed 4 The speed is changed at a position beyond the deceleration start limit position calculated from the target speed and deceleration time in condition 3 above In other words consider the deceleration rate for the final deceleration from the target speed to the completion of positioning and det...

Page 375: ...alculate the deceleration from 400 pps to 0 pps in 500 ms Deceleration pps2 400 pps 0 5 s 800 pps2 B Calculate time to reach 0 pps from 10 000 pps at this deceleration Time s 10 000 pps pps2 12 5 s 12 500 ms C Calculate the movement required to decelerate from 10 000 pps to 0 pps in this time Movement pulses 62 500 pps D Calculate the deceleration start limit position at which the speed can be cha...

Page 376: ... designation 0 Fixed DM Area D DM E EM m 1 m 2 Specified unused axes Unit version 2 1 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 377: ...352 Common Parameter Area Appendix C ...

Page 378: ...s PCUs most of the parameters and operating data were in BCD format With CS series PCUs the parameters and operating data area in hexadecimal binary format For this reason it is necessary to change the parameters and data All parameters and operating data excluding the common parameters can be automatically converted to the CS series format using CX Position Details of the conversion in the case w...

Page 379: ...ngs containing multiplica tion factors to 2 word unsigned 32 bit binary settings unit pps Initial speed Origin search high speed Origin search proximity speed Origin compensation Convert to signed 32 bit binary data Backlash compensation Convert to unsigned 16 bit binary data Backlash compensation speed Convert the 1 word setting containing a multiplication factor to a 2 word unsigned 32 bit binar...

Page 380: ...ute or relative for the position data in the previous for mat and reflect this in the position desig nation in the new positioning sequence For example if positioning sequence 0 uses X axis position number 0 and this position data is for relative positioning set the X axis position designation for posi tioning sequence 0 to 1 The total number of words of data is the same Speeds Convert the 1 word ...

Page 381: ...or but now consist of two words of binary data without a multiplication factor Changes in PCU Addresses At data transfer PCU internal addresses were specified in decimal but are now specified in hexadecimal With the change to hexadecimal format although the beginning address for axis parameters and the beginning addresses for the operating data of each of the axes are the same addresses after that...

Page 382: ... 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 383: ...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 384: ...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 385: ...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 386: ...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 387: ...l pulse designation Selection on the NC1 3 NC2 3 NC4 3 15 00 15 00 15 00 15 00 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...

Page 388: ...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 389: ...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 390: ... 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 391: ...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 392: ...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 393: ...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 394: ...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 395: ...370 Parameter Coding Sheets Appendix F ...

Page 396: ...rection designation 94 error counter reset output 94 FORCED INTERRUPT 94 INDEPENDENT START 94 INTERRUPT FEEDING 94 JOG 94 origin adjustment command output 94 ORIGIN RETURN 94 ORIGIN SEARCH 94 override enable 94 PRESENT POSITION PRESET 94 READ DATA 95 Read Data 124 RELATIVE MOVEMENT 94 RELEASE PROHIBIT 94 SAVE DATA 95 sequence number enable 94 START 94 STOP 94 TEACH 94 WRITE DATA 95 Write Data 119 ...

Page 397: ...ors description 311 instruction execution checks 320 358 INTELLIGENT I O READ See also IORD INTELLIGENT I O WRITE See also IOWR interrupt feeding completion in memory operation 210 interrupt feeding operation 233 IORD specifications 136 IOWR specifications 130 J JOG operation explanation 229 L LED indicators error indicators 312 limit input signal type 78 linear interpolation 211 program examples ...

Page 398: ...peration time 344 positioning with absolute value 5 with incremental value 5 power amplifiers 13 power lines 44 power supply 36 44 24 VDC 38 24 VDC 36 37 precautions applications xxiv general xxi xxii operating environment xxiii safety xxii PRESENT POSITION PRESET explanation 169 program examples cancelling positioning 273 changing speed during continuous output 294 checking positioning operations...

Page 399: ...ation 231 terminals with and without resistance 31 terminating completion in memory operation 207 timing charts for deceleration stop operation 243 for direct operation 182 for error counter reset output 248 for forced interrupt operation 238 for interrupt feeding operation 235 for JOG operation 230 for memory operation 217 for origin adjustment command output 248 for origin return 171 for origin ...

Page 400: ... changed to Programming Manual Pages 76 and 77 Acceleration Deceleration Curve section rewritten Pages 85 85 89 91 and 82 Note and references to it added Pages 99 107 168 174 193 269 and 270 Model number prefixes deleted Pages 114 120 and 306 CS1 changed to CPU Unit for manual reference Page 124 First line changed under 5 7 Pages 136 138 150 200 209 and 211 Terminal numbers for signals removed Pag...

Page 401: ...o 03 Added information on CW CCW pulse output direction selection Page 74 Changed the enable timing Added information on reverse mode 3 Page 75 Added information on origin search direction and origin search preset Page 88 Changed description of present position preset Page 98 Added section on examples of parameter settings Page 120 Changed list of data and parameters for method 1 Page 133 Added in...

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