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373

Stopping

Section 6-21

Feedback control is not performed while outputting 0 V and while waiting for
the brake to turn ON after outputting 0 V. It is thus possible that the axis will be
rotating. (Feedback control is performed while waiting for the brake to turn ON
for a servo unlock command, and thus the axis will not rotate.)

6-21-1 Changes Made to the Driver Alarm Input Stop Method

The method used to stop the servomotor when an error occurs at the servo
driver and a driver alarm input error (error code: 003C) is generated, has been
changed in the following way. The change is effective for models with -E9 at
the end of the lot number, and for models with lot numbers 991118 or later.

Specifications before
Change

After the driver alarm input signal is received, brake output and RUN com-
mand output are turned OFF with the following timing. Brake output and RUN

Servo Unlock

Upon input.

The servo is unlocked upon input.

During program operation, the servo will be unlocked for the
specified axis and the other axes in the same task will be
decelerated to a stop.

Emergency Stop

Upon input.

Each axis is stopped immediately upon input.

There are two methods for stopping: accumulated-pulse stop
and servo-off stop. The selection is made in the system
parameters.

CCW, CW Limit Inputs

Upon input.

Each axis is stopped immediately upon input.

There are two methods for stopping: accumulated-pulse stop
and servo-unlock stop. The selection is made in the system
parameters.

Software Limit ON

When a software limit is
exceeded.

Each axis is decelerated to a stop when a software limit is
exceeded.

During interpolation operations, axis operation is stopped after
moving from the interpolation locus.

Other errors

Refer to

SECTION 12 Troubleshooting.

Method

Activation timing

Remarks

Speed

Deceleration stop

Decelerates to a stop at the

ratio of the maximum feed

rate and the deceleration

time.

Speed

Accumulated-pulse stop

Deletes the accumulated
pulses in the error counter
and stops operation.

Time

Time

Servo-unlock

Outputs 0 V for 5 s, and
then turns OFF the
operation command
output to the servo driver.

Speed

Time

Operation

command

output to

servo driver

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Summary of Contents for CS1W-MC221 -

Page 1: ...Motion Control Units Cat No W359 E1 04 CS1W MC221 V1 421 V1 OPERATION MANUAL ...

Page 2: ...CS1W MC221 V1 421 V1 Motion Control Units Operation Manual Revised February 2008 ...

Page 3: ...iv ...

Page 4: ...tion 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 interest for efficient and convenient opera tion of the product 1 2 3 1 Indicates lists of one sort or anot...

Page 5: ...vi ...

Page 6: ...it 30 1 8 Commands Listed According to Purpose 37 1 9 Comparison with Earlier MC Unit Model 38 1 10 Basic Operating Procedure 42 1 11 Methods for Using MC Unit Functions 43 1 12 Overview of Version 1 Upgrades 45 SECTION 2 Installation 101 2 1 Nomenclature and Unit Settings 102 2 2 Installation 104 2 3 Wiring 107 2 4 Failsafe Circuits 133 2 5 Wiring Check Troubleshooting 139 2 6 Changing the Mechan...

Page 7: ...olation 331 6 5 Helical Circular Interpolation 332 6 6 Interrupt Feeding 334 6 7 Traverse Function 336 6 8 Operating Modes 337 6 9 Changing Parameters 345 6 10 Stopover Function 346 6 11 CPU Unit Interrupt Processing 348 6 12 Override Function 349 6 13 Resetting the Error Counter 351 6 14 Servo Lock and Unlock 353 6 15 Backlash Correction 356 6 16 Automatic Loading 359 6 17 Present Position Preset...

Page 8: ... 480 9 7 Absolute Encoder Interface Specifications 483 SECTION 10 Teaching 487 10 1 Introduction 488 10 2 Setting the Teaching Address 488 10 3 Performing Teaching 490 10 4 Errors during Teaching 492 SECTION 11 Getting Started 495 11 1 Operation Details 496 11 2 System Configuration and Wiring 498 11 3 Considerations When Starting Up the MC Unit 518 SECTION 12 Troubleshooting 521 12 1 Troubleshoot...

Page 9: ...Lists 565 D System Parameters 589 E Control Bit Flag Timing Charts 613 F Origin Search Patterns 629 G Encoder Divider Rate and Rotation Speed for OMRON Servo Drivers 657 H MC Program Coding Sheet 659 I System Parameter Settings 661 J Position Data Coding Sheet 667 Index 669 Revision History 677 ...

Page 10: ...Section 8 provides examples of G language programming for the CS1W MC421 221 Section 9 explains how to search for and establish the origin using either an incremental encoder or an absolute encoder and gives a general overview of absolute encoders Section 10 describes the teaching function This function can be used to teach new positions by mov ing to a given position and then reading the present ...

Page 11: ...xii ...

Page 12: ...ions of Motion Control Units start with unit version 1 1 Confirming Unit Versions with Support Software CX Programmer version 4 0 or higher can be used to confirm the unit version using the Unit Manufacturing Information 1 2 3 1 In the IO Table Window right click the Motion Control Unit and select Unit Manufacturing information 2 The following Unit Manufacturing information Dialog Box will be disp...

Page 13: ...tions Supported According to Unit Versions of Motion Control Units Product label Notation in this manual Remarks The version number is given to the right of the lot number for unit versions 1 1 and later e g Ver 1 1 CS series Motion Control Unit with unit version 1 1 or later The contents of this manual applies to all unit version when ever the unit version is not specified No version number is gi...

Page 14: ...e Ver 1 1 to Version 1 1 The following improvements have been made Pre Ver 1 1 Ver 1 1 The absolute encoder functionality for OMNUC G series Servo Drivers is not supported The absolute encoder functionality for OMNUC G series Servo Drivers is sup ported ...

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: ...otion Control Unit You must read this section and understand the information contained before attempting to set up or operate a Motion 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 Conforma...

Page 21: ...ference during operation WARNING It is extreme important that Motion 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 Motion Control Units and related devices to the above mentioned applications 3 Safety P...

Page 22: ...tor may run when the power is turned ON or OFF or when en error occurs in the Unit Caution Do not save data into the flash memory during program execution or while the motor is running Otherwise unexpected operation may be caused Caution Do not reverse the polarity of the 24 V power supply The polarity must be cor rect Otherwise the motor may start running unexpectedly and may not stop 4 Operating...

Page 23: ...ions Check the task configuration before creating MC program for the MC Unit Set the task configuration axis configuration number of tasks and task axis definition using the unit parameters within the system parameters If changes are made to the task configuration the MC program must be changed as well After transferring the system parameters G language program or posi tion data to the MC Unit be ...

Page 24: ...e measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to terminals Connection of bare stranded wires may result in burning Leave the label attached to the Unit whe...

Page 25: ...th EC Direc tives will vary depending on the configuration wiring and other conditions of the equipment or control panel in which the OMRON devices are installed The customer must therefore perform final checks to confirm that devices and the overall machine conform to EMC standards Note Applicable EMC Electromagnetic Compatibility standards are as follows EMS Electromagnetic Susceptibility EN6113...

Page 26: ...s taken external to the PLC The following methods represent typical methods for reducing noise and may not be sufficient in all cases Required countermeasures will vary de pending on the devices connected to the control panel wiring the config uration of the system and other conditions ...

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

Page 28: ... 4 3 CW and CCW 15 1 5 Specifications 16 1 5 1 Overview of Operations 21 1 5 2 Performance Chart 23 1 5 3 CX Motion Functions 24 1 5 4 Teaching Box Functions 25 1 6 Data Exchange 26 1 6 1 Overall Structure 26 1 6 2 Explanation 27 1 6 3 Internal Block Diagram 28 1 6 4 Data Transfer Overview 29 1 7 Overview of G language Programs in the MC Unit 30 1 7 1 Programs and Tasks 30 1 7 2 Manual and Automat...

Page 29: ...ear interpo lation circular interpolation helical circular interpolation and traversing are all possible The MC Unit has been developed for use in simple positioning applications using servomotors Applicable machines are as follows Conveyor Systems X Y tables palletizers depalletizers loaders unload ers etc Palletizers and depalletizers are devices used for loading goods onto pallets or for unload...

Page 30: ...eedback encoder response frequency is 500 kp s so the MC Unit can be used with high speed and high precision servomotors This is double the response frequency of the earlier models CPU Unit Interrupts A CPU Unit external interrupt task can be started by outputting a D code interrupt code for the CPU Unit when positioning is completed or when pass ing through a particular position This feature is i...

Page 31: ...power supply for interface ABS data backup battery 2 8 V to 4 5 V See note 3 Servo driver CPU Unit External I O Terminal Block See note 2 Driver Connection Cable See note 1 SYSMAC CS series PLC Used for trial operation debugging teaching etc Monitoring PV I O signals Origin search Jogging Error reset Teaching Etc CCW limit input CW limit input Origin proximity input Emergency stop input General pu...

Page 32: ...ders can also be connected to MPG connectors Connecting a sync encoder makes it possible for example to synchronize axis feeding with a conveyer If this is to be done prepare the required sync encoder A data backup battery is required when using an absolute encoder For details refer to the Servo Driver manual Devices Model Motion Control Unit CS1W MC421 MC221 SYSMAC CS series CPU Unit One of the f...

Page 33: ... pin D sub female XW2Z 200S CV 2 0 m ESD static electricity resis tant connectors used XW2Z 500S CV 5 0 m Serial Communi cations Board Unit RS 232C 9 pin D sub female Host Link XW2Z 200S CV 2 0 m XW2Z 500S CV 5 0 m Connected Driver Cable model for 1 axis Cable model for 2 axes Length m R88D H Series R88A CPH001M1 R88A CPH002M1 R88A CPH001M2 R88A CPH002M2 1 0 2 0 R88D M Series R88A CPM001M1 R88A CP...

Page 34: ...ems Simple robots including orthogonal robots simple automated assembling machines etc Orthogonal Robots Note The CS1W MC221 can control one or two axes PTP control can be performed when horizontal articulated robots or cylindrical robots are used but linear interpolation circular interpolation and helical cir cular interpolation are not possible Horizontal Articulated Robots One axis robot Two ax...

Page 35: ...each axis X and Y axis independently Posi tioning time depends on the travel distance and speed of each axis Example Moving from the origin to the X axis coordinate of 100 and Y axis coordinate of 50 at the same speed Two axis robot Three axis robot Four axis robot X Although point to point control is possible linear and circular interpolation are not possible for the ends of the robot arms Positi...

Page 36: ...stance when the external signal is input Positioning with no interrupt signal is also possible Multiturn Circular Interpolation The multiturn circular interpolation function has been added to the existing cir cular and helical circular interpolation functions This function can be used for applications such as winding machine operations Circular interpolation Target point Linear interpolation Start...

Page 37: ...esets the error counter to zero and stops axis operation after a deceleration command Present Position Preset Changes the present position according to specified position data Teaching Obtains the present position to create position data Zones A Zone Flag turns ON when the present position is within a preset range Override Real Time Speed Change Changes the speed during PTP linear interpolation or...

Page 38: ...nit functions Position control Speed control Origin search Interrupt feeding Traversing Arithmetic operations etc Automatic Mode Executes G language programs in the MC Unit Deceleration stop Origin search manual Standard origin return Jogging Error counter reset Forced origin Absolute origin setting Servo lock Servo unlock Teaching Zones Backlash correction Override Stop Mode Pass Mode In position...

Page 39: ...itioning devices for industrial applications Internal Operations of the MC Unit Commands to the MC Unit speed control voltage to the servo driver and the feedback signals from the encoder are described in the next few pages 1 2 3 1 The error counter receives a target position in units of encoder pulses This is called a pulse string 2 The error counter is directly connected to the D A converter whe...

Page 40: ...y connected to the motor axis rotates in sync with the motor and generates feedback pulses 5 The error counter is reduced by the feedback pulses until the error counter goes to zero When the error counter goes to zero the speed control volt age to the servo driver becomes zero and the motor stops rotating Rotational speed N r min Speed control voltage Servo Driver Speed Characteristics Target posi...

Page 41: ...n for maintain ing the present position is called servolock or servoclamp 8 Using this principle positioning with acceleration and deceleration is exe cuted by continuously setting target positions in the error counter 9 The target position set in the error counter becomes the error counter count as shown below The count is converted to a speed control voltage for the servo driver to control the m...

Page 42: ...from the ones given above take one of the following actions Reverse the phase B wiring between the MC Unit and the servo driver Reverse the B terminal and the B terminal Set the machine parameter encoder polarity in the system parameters to reverse rotation for encoder increase It is initially set to the forward rotation at the encoder increase 1 4 3 CW and CCW The abbreviations CW and CCW used in...

Page 43: ...it CS Special I O Unit Backplanes on which MC Unit can be mounted CPU Backplane or CS Expansion I O Backplane See note 1 Method for data transfer with CPU Unit Words allocated to Special I O Units in CIO Area 30 words Unit uses 3 unit numbers See note 2 50 words Unit uses 5 unit numbers See note 2 CPU Unit to MC Unit Commands G language program execution stop origin search manual operation etc Dat...

Page 44: ...01 Units mm inch degree pulse There is no unit conversion function See note 3 Maximum command value 39 999 999 to 39 999 999 When the minimum setting unit is 1 See note 6 Number of controlled axes 2 axes max 4 axes max Positioning operations PTP indepen dent control Execution by independent programs operating modes for each axis Linear interpola tion 2 axes max 4 axes max Circular interpola tion C...

Page 45: ...als are each provided for two axes The following signals are each provided for four axes Input CCW limit inputs CW limit inputs Origin proximity inputs Emergency stop inputs Others See note 4 General inputs 4 pts interrupt inputs General outputs 4 pts brake signal outputs Feed operations High speed feed rate Example 36 86 m min Conditions Encoder resolution 2 048 p r Motor speed 4 500 r m Control ...

Page 46: ...ed 25 Program capacity When 1 task is used 2 000 blocks When 2 tasks are used 1 000 blocks task The maximum number of blocks in a single program is 800 When 1 task is used 2 000 blocks When 2 tasks are used 1 000 blocks task When 3 task are used 666 blocks task When 4 tasks are used 500 blocks task The maximum number of blocks in a single program is 800 Position data capacity 2 000 positions max t...

Page 47: ...Unit however handle data in millimeters within the ranges described in note 2 for the above table Depending on the pulse rate setting the axes may move or stop in positions that cannot be handled by these devices If a posi tion is beyond the range that can be handled by these devices it will be indi cated as the maximum 399 999 999 or minimum 399 999 999 value until the position returns within the...

Page 48: ... Forced origin Forcibly sets the present position to 0 to establish it as the origin In an absolute encoder system only the present position of the MC Unit will be set to 0 Absolute origin setting Sets the origin for an absolute encoder Servo lock Creates a position loop and turns ON the operation command output to the servo driver while simultaneously releasing the brake When an absolute encoder ...

Page 49: ...ted at a fixed acceleration with a fixed acceleration mode setting Switching to In position Check OFF Mode Starts the next positioning operation without waiting for the current one to be completed Stop over function Outputs an M code or a D code while axes are being moved by a fixed amount determined by present position without stopping the operation G codes are also possible for all operations Dw...

Page 50: ...or transferring data One for transferring large amounts of data and another for rapidly transferring small amounts of data Servo data trace function Up to 500 data items including speed reference values present speed and error counter data can be traced for each axis This data can be referenced by CX Motion Item Typical value Description Power ON startup time Average 600 ms Time from turning ON th...

Page 51: ...n time MC221 14 08 ms MC421 34 08 ms The time required for one Zone Flag to respond Function Explanation Program editing Creating changing and clearing MC programs Position data editing Creating changing and clearing position data Parameter editing Creating and changing system parameters and clearing to defaults Transfer and comparison Transferring and verifying MC programs system parameters and p...

Page 52: ...execution Task program No designation Designates the desired task and program to be executed Cycle run Executes tasks Single block run Executes the program block by block Jogging Jogs individual axes More than one axis cannot be jogged at the same time MPG feeding Pulse ratio Designates the ratio for 1 pulse for the MPG Override Increases or decreases the operating speed during program execution T...

Page 53: ...ications parameters Coordinate system parameters Feed rate parameters Zone parameters Servo parameters Internal memory data area Address See note 1 Position data Corresponding to A0000 to A1999 Monitor information Error codes I O monitoring Task status Present position Error counter values etc Servo Driver See note 5 G language program G language program transfer command executed Data transfer com...

Page 54: ...kewise data in the 30 words from n 18 to n 47 containing status information is input from the MC Unit to the CPU Unit Words n 48 and n 49 are reserved for the system CS1W MC221 During I O refreshing data in the 10 words from n to n 9 including com mands related to operations and other information are transferred from the CPU Unit to the MC Unit Likewise data in the 16 words from n 10 to n 25 conta...

Page 55: ...ircuitry I O interface circuitry I O connector CS1 bus MPG interface circuitry MPG connector LED indicators Servo driver interface circuitry DRV connector CS1 bus connector Teaching Box connector EEPROM MCU Name Explanation MCU Microcomputer for system control FLASH ROM1 Memory for storing system programs FLASH ROM2 Memory for storing G language programs system parameters and position data S RAM M...

Page 56: ...to transfer data between the CPU Unit and the MC Unit as shown below 1 2 3 1 The CX Motion can be used to transfer data to or from the MC Unit via the CPU Unit CX Motion CPU Unit Teaching Box Command to save to flash memory Data transfer Internal memory MC Unit Flash memory System parameters Position data G language programs CX Motion CPU Unit Teaching Box Data transfer Internal memory MC Unit Fla...

Page 57: ...can execute up to four tasks tasks 1 to 4 and the CS1W MC221 can execute one or two tasks 1 to 2 A task is a unit of execution for a program By executing two or four tasks at the same time the MC Unit can perform the same functions as two or four controllers The number of tasks and axes to be used are set in advance using CX Motion to edit unit parameters Number of Tasks and Axes The X and Y axes ...

Page 58: ...blocks that can be executed in each task depends on the number of tasks as shown in the following table These figures include sub routines Note Up to 800 blocks can be used in one program including subroutines Tasks and Programs A maximum of 100 programs can be managed by the MC Unit The number of programs that can be managed per task depends on the number of tasks as shown in the following table ...

Page 59: ...rams CS1W MC421 Maximum number of programs CS1W MC221 Automatic Mode Operation command Manual command MC program to be executed in the Automatic Mode MC Unit G language Teaching Box Manual Mode Automatic Mode Operation commands Manual commands PLC N000 P001 XY N001 G26 XY N094 G79 Command Description DECELERATION STOP Decelerates and stops a moving axis ORIGIN RETURN For determining origins of mec...

Page 60: ...cal code then adding any needed parameters G language codes G00 through G91 are used in the MC Units For example the function PTP control positioning is assigned to G00 Note Refer to Section 1 7 4 G language Codes for a table showing the functions assigned to the G language codes For details on programming refer to the CX Motion Online Help Operation MC Unit operating mode T Box control T Box enab...

Page 61: ...ode G00 in line C is a G language code representing the PTP control posi tioning function Arguments Positions are input as arguments In this example X100 has been input to indicate 100 on the X axis The next argument M100 outputs M code 100 when the positioning to X100 has been completed Some commands such as G90 in line B don t require arguments The abso lute specification command G90 indicates t...

Page 62: ...at the specified interpolation feed rate 388 G03 CIRCULAR INTERPOLATION COUNTER CLOCKWISE Performs 2 axis circular interpolation in the counterclockwise direction at the specified inter polation feed rate 388 G04 DWELL TIMER Waits for the specified length of time 395 G10 PASS MODE Performs operations one by one in sequence without waiting for deceleration to stop 396 G11 STOP MODE Performs the nex...

Page 63: ...inate system 417 G53 CHANGE WORKPIECE ORIGIN OFFSET Changes the origin of the workpiece coordinate system 418 G54 CHANGE REFERENCE COORDINATE SYSTEM PV Changes the present value in the reference coor dinate system 419 G60 ARITHMETIC OPERATIONS Performs arithmetic operations on numerical val ues position data and registers 420 G63 SUBSTITUTION Substitutes numerical values position data or registers...

Page 64: ...rupt feeding to execute position ing even when no interrupt signal is input INTERRUPT FEEDING G31 334 406 To change speeds during operation during PTP control linear interpolation or circular interpolation Override function 349 After a fixed amount of axis movement during operation to notify the CPU Unit of interrupts and so on without stopping operation Improving tack time by controlling an exter...

Page 65: ... times only Program capacity 2 000 blocks 800 blocks Acceleration deceleration time 0 to 100 000 s 0 to 9 999 s Speed reference range 1 pps to 2 000 kp s 1 pps to 1 000 kp s Start time 2 axis Units 8 ms max 4 axis Units 12 ms max See note 2 axis Units 12 ms max Optional inputs Optional No 0 to 15 Inputs from CPU Unit Optional No 16 to 19 General inputs 1 to 4 Optional No 0 to 4 Inputs from CPU Uni...

Page 66: ...igin Present position can be forcibly set to 0 and established as the origin In an absolute encoder system only the MC Unit s present position is set to 0 The present position is set to 0 by the present position preset function Absolute encoder origin setting The absolute encoder origin can be set even while servo lock is in effect Origin is set by either the absolute value initial setting or the ...

Page 67: ...rake signal timing adjustment function Servo unlock cannot be used while other manual commands are being executed Error log Up to 20 items can be saved Not supported Absolute value initial setting Integrated with absolute origin setting Not supported Absolute value software reset Not supported MPG Operating Flag Busy signal is used instead Not supported Servo data trace function Traces servo data ...

Page 68: ...rea or EM Area Each Unit uses two unit numbers IR 100 to IR 119 Unit 0 to Unit 8 IR 180 to IR 199 to Allocated DM Area Each Unit uses two unit numbers DM 1000 to DM 1001 DM 1100 to DM 1101 to DM 1800 to DM 1801 Data transfer area specification for I O transfer instruction Error code status etc Transfer Data DM Area or EM Area Position data 3 words each PLC Interface Area CS1W MC421 CS1W MC221 Each...

Page 69: ...it up to flash memory Create a CPU Unit ladder diagram program and transfer it to the CPU Unit Use CX Programmer Trial operation Perform MC monitoring Check servo lock origin search jogging etc Check MC program operation Set manual automatic switch to automatic and press the start button Use CX Motion or the Teaching Box Refer to Refer to and to the CX Motion Online Help Change Teaching Box messag...

Page 70: ...2 Automatic 412 Speed control O G30 Automatic 405 Interrupt feeding O G31 Automatic 406 Pass Mode O G10 Automatic 396 Specifying operations in Pass Mode O 4008 Automatic 158 171 Stop Mode O G11 Automatic 398 Dwell timer setting and execution O G04 Automatic 395 In position Check OFF Mode O G13 Automatic 399 In position setting O 4601 4626 Automatic Manual 169 186 Stopover function O G00 etc Automa...

Page 71: ... 10 Automatic Manual 296 Trapezoidal S curve speci fication O 4405 4430 Automatic Manual 164 183 Zone setting O 4500 to 4516 4525 to 4541 Automatic Manual 167 184 Backlash correction O 4604 4629 Automatic Manual 169 356 Origin search time short ening O 4216 4241 Automatic Manual 161 472 Origin deceleration method setting selection of deceleration stop or accumulated pulse stop O 4217 4242 Automati...

Page 72: ...tions such as position compensation by inte grating a virtual axis Electronic gear CONNECT This function synchronizes the operating axis to the input axis at a specified gear ratio The following options can be selected for the input axis Virtual axis present position real axis position command value real axis encoder feedback input MPG input or sync encoder input The gear ratio can be changed duri...

Page 73: ... position hardware latch The present position encoder at the leading edge of an external input can be obtained The present position is recorded by means of a hard ware latch enabling highly accurate compensation Can be used for pur poses such as providing accurate position com pensation by means such as marks printed on film Linked traverse G32 commands can be linked across multiple blocks line nu...

Page 74: ...odes can be reset from the CPU Unit using allocated memory High speed general purpose outputs The MC Unit s general purpose outputs 1 to 4 can be turned ON and OFF according to zone bits Outputs can be made directly without going through the CPU Unit and this enables faster interlock operations Tact time can be shortened and assembly precision can be improved Function Summary and features Advantag...

Page 75: ...up Function Summary and features Advantages Override function selection This function enables disables the override value after turning OFF the Override Setting Bit For details on the setting method refer to 3 6 Command Area Enable The set override value is enabled even after the Override Set ting Bit is turned OFF and operation proceeds with the set override value Disable The override value is di...

Page 76: ...and C to FFFF hex and turn ON customized function selection bit 04 the virtual axes electronic gear electronic cam electronic cam gear cancel function and register function enable bit Set the virtual axes with the IOWR instruction Electronic gear func tion CONNECT With G01 specify register E31 and set 1 at the beginning of the operand table Electronic cam func tion CAMBOX With G01 specify register...

Page 77: ...word including the customized function selection bits S Operand Set value C Control data FFFF hex 65535 Customized function selection S First source word Transfer data S 0 41AC hex S 1 BE53 hex S 2 Bits 00 to 04 Customized function selection bits 0 Not used 1 Used Bit 00 Linked traverse function Bit 01 Memory link function Bit 02 M code reset with program execution stopped Bit 03 High speed genera...

Page 78: ...Settings Synchronized Control Functions Only When a synchronized control function i e virtual axes electronic gear elec tronic cam electronic cam gear cancel function or register function is used normally G01 the G code for linear interpolation commands is used and register E31 is specified indirectly specifying a position data address from register E31 as the operand At the beginning of the indir...

Page 79: ...virtual axis as the input axis for the electronic gear or electronic cam function Moreover in case of slippage in motor or workpiece operations position com pensation can be simplified by setting the compensation amount i e the slip page amount as the virtual axis target position and using that with the electronic gear or electronic cam function Note Position command values from the virtual axis a...

Page 80: ...s Bit 02 Z axis Bit 03 U axis MC Unit unit number specification MC Unit unit number R2 Operand Setting C Control data 1840 hex 6208 Virtual axis setting S First source word Transfer data S 0 For each axis bits 00 to 03 specify whether that axis is to be used normally or as a virtual axis Bit 00 X axis Bit 01 Y axis Bit 02 Z axis Bit 03 U axis 1 Virtual axis 0 Normal axis Bits 04 to 15 Reserved for...

Page 81: ...gs on page 210 Wiring and Control 1 2 3 1 Short circuit the CW and CCW limit inputs emergency stop inputs and alarm inputs of the virtual axis to the 24 V ground 2 Use the virtual axis with servolock ON The Servolock Flag will also turn ON Operation Specifications 1 2 3 1 The RUN outputs SEN signal outputs and speed references that are out put to hardware ports will always be OFF 0 Therefore axes ...

Page 82: ...sync with the input axis while apply ing a specified gear ratio numerator denominator The operation is similar to a roller connected to a gearbox For the input axis a sync encoder input MPG input encoder feedback input X Y Z or U virtual axis position command value X Y Z or U or real axis position command value X Y Z or U can be specified IOWR 1840 D00000 00020000 A20011 R1 R2 R1 R2 C S D MOVL 000...

Page 83: ...ic gear numerator denominator Position commands Error counter D A converter Speed references Sync encoder Driver Motor G language program Position commands Error counter D A converter Speed references Driver Motor Electronic gear numerator denominator Position commands Error counter D A converter Speed references Driver Motor Encoder feedback Virtual Axis Position Command Input Real Axis Position ...

Page 84: ...ing axis E31 the operation can be cancelled only by executing CANCEL electronic cam gear cancel func tion Format G01 operating axis E31 Note If any other operands are used linear interpolation will be performed in the normal way for G01 Operand MPG Sync encoder Encoder X Encoder Y Encoder Z Encoder U Multiplication Command value X Speed Numerator Denominator Remainder Operating axes Integrated axe...

Page 85: ...cified References the speed p 2 ms in each control cycle 2 ms and is not affected by other input axis attributes origin sta tus errors etc With input axis backlash compensa tion there is no effect if the position command value is used but there is if an encoder is used Note 1 MPG position command values can not be set 2 The same axis cannot be specified for both the operating axis and inte grated ...

Page 86: ...runcated Remainder Input axis Vi x Gear ratio numerator remainder Gear ratio denominator x Output axis Vi If the output direction is negative i e if the input axis Vi x gear ratio numera tor remainder 0 1 is subtracted and linearity is maintained Output axis Vi Input axis Vi x Gear ratio numerator remainder 1 Gear ratio denominator integrated axis Vi Remainder Input axis Vi x Gear ratio numerator ...

Page 87: ...function The program is also not ended G01 G02 G03 G32 G04 G29 G54 G79 Independent instruc tions M000 to M999 D000 to D255 G10 G11 G13 The electronic gear function also operates according to the mode but operation in Pass Mode is the same as in In posi tion Check Off Mode Also positioning completed checks are executed indepen dently of the mode between start commands and functions other than the e...

Page 88: ...set to Repeat the electronic gear function does not end so these G codes cannot be executed In Pass Mode or In position Check Off Mode The electronic gear function can be cancelled by this G code command G01 E31 Register function Not related G codes Relationship to electronic gear function Bit Flag name Relationship to electronic gear function Automatic Manual Mode If the mode is switched from aut...

Page 89: ...rs When a system error occurs the electronic gear function is stopped for all tasks Operation is stopped immediately with no deceleration Task errors When a task error occurs the electronic gear function is stopped for that task Operation is stopped immediately with no deceleration Axis errors When an axis error occurs the electronic gear function is stopped in tasks performing operations for that...

Page 90: ...speed general pur pose output functions make sure that the position data for the respective functions in the operand table do not overlap For information on position data for customized functions refer to Appendix A There may be cases where operations by input axes and integrated axes do not function normally For details refer to Appendix B Input axis speed high and low must be checked to ensure t...

Page 91: ...grate other axes i e other than the input axis and operat ing axis to the axis that is being operated by the cam table This enables position compensation according to other axis positions Block Diagrams Operating axis Input axis Virtual axis present position Real axis position command value Real axis encoder feedback input MPG or sync encoder input Input axis Operating axis Feed axis Cutter positi...

Page 92: ...or Position commands G language program MPG Multiplication Multiplication Multiplication Sync encoder Encoder X Encoder Y Encoder Z Encoder U Multiplication Multiplication Command value X Input axes Electronic cam See detailed diagram below Position Command value X Operating axes Integrated axes Integration processing Driver X Command value Y Command value Z Command value U Command value Y Command...

Page 93: ...one rotation of the input axis 360 the operating axis stroke width the cam angle and stroke ratio set for the cam table 720 max etc Format G01 operating axis E31 Note If any other operands are used linear interpolation will be performed in the normal way for G01 Operand An error number out of range will occur if the sum of the first number in the operand table plus the size of the operand table ex...

Page 94: ... 3 Z 4 U Note Integers only Specifies the axis position command values for adding outputs to electronic cam function outputs References the speed p 2 ms in each control cycle 2 ms and is not affected by other integrated axis attributes ori gin status errors backlash compensa tion etc Note 1 The same axis as the operating axis and input axis cannot be specified 2 An axis from a separate task can be...

Page 95: ... specified the input for the axis to latch will be moni tored If a general purpose input is specified the input for the axis number corre sponding to the axis to latch X to U correspond to 1 to 4 respectively will be monitored End condition Specifies whether elec tronic cam operations are to end after one rotation or be repeated with no limit 7 Input axis position 39 999 999 Pulses mm deg inch See...

Page 96: ...pping the electronic cam function depends on the conditions that are set Start Condition Not specified Electronic cam operation begins immediately after the electronic cam function is executed or after the preceding axis operation is completed when preread ing is executed Input Axis Position Electronic cam operation is started when the position specified by the input axis position is crossed The i...

Page 97: ...le to deter mine the output Unlimited Axis Processing for the Input Axis The input axis travel distance p ms is added to the cam present position If the cam present position p exceeds the cam rotation distance p it is reduced to within the rotation distance and the number of rotations is found Cam Angle The cam angle value in degrees 10 000 is found Cam angle value in degrees 10 000 Cam present po...

Page 98: ...rating axis relative position p When rotations occur with unlimited axis processing A for the input axis the following is added and feed cam operation is used Cam angle 360 stroke ratio stroke width p Cam angle 0 stroke ratio stroke width p Rotation speed Relationships to Other G Codes The relationships of the electronic cam function to other G codes are described in the following table For inform...

Page 99: ... reverse order Also if the G code commands for electronic gears cams serve as the input and output for each other and the order cannot be determined an MPG ratio overflow error will occur G01 E31 Elec tronic cam gear can cel In Stop Mode When repeat is set as the end condition the electronic cam operation does not end so these G codes cannot be exe cuted In Pass Mode or In position Check Off Mode ...

Page 100: ...onic cam function System errors When a system error occurs the electronic cam function is stopped for all tasks Operation is stopped immediately with no deceleration Task errors When a task error occurs the electronic cam function is stopped for that task Operation is stopped immediately with no deceleration Axis errors When an axis error occurs the electronic cam function is stopped in tasks perf...

Page 101: ...pose input leading edge repeat N009 G63 A1008 3 Cam table size 3 N010 G63 A1009 0 Cam table data 1 Cam angle 0 N011 G63 A1010 0 125 Cam table data 1 Stroke ratio 0 125 N012 G63 A1011 180 Cam table data 2 Cam angle 180 N013 G63 A1012 0 625 Cam table data 2 Stroke ratio 0 625 N014 G63 A1013 360 Cam table data 3 Cam angle 360 N015 G63 A1014 0 125 Cam table data 3 Stroke ratio 0 125 N016 G01 X E31 Ope...

Page 102: ...ction CAN CEL When using customized functions other than synchronized control func tions i e the memory link linked traverse or high speed general pur pose output functions make sure that the position data for the respective functions in the operand table do not overlap For information on position data for customized functions refer to Appendix A Input axis speed high and low must be checked to en...

Page 103: ...and the calculation of the travel distance will gradually deviate This will require separate programming for position compensa tion When the electronic cam function is executed the override function for the operating axis is disabled Supplementary Description of Operand Table Cam starting position Cam starting angle 360 x Cam rotation distance The cam starting angle is the angle for starting cam o...

Page 104: ...gram Settings 1 With the IOWR instruction enable using the synchronized control functions of the customized functions and then 2 with the G language specify G01 for register E31 to execute 1 Selecting the Customized Functions With the IOWR instruction turn ON customized function selection bit 04 and write the data to the MC Unit 2 Programming in G Language Format G01 axis to cancel E31 Note If any...

Page 105: ...an be canceled The current operation is canceled if 0 is speci fied The operation in the preread buffer is canceled if 1 is specified If the operation to be canceled is not specified nothing will be executed The accumulated pulses in the error counter for the electronic gear cam that was canceled will be consumed and the operation will stop If a G code com mand is executed to cancel an electronic ...

Page 106: ...0 Waits until X axis is 20 N011 G63 E31 1010 Gets operands from A1010 N012 G63 A1010 3 Electronic gear cam cancel operation N013 G63 A1011 0 Specifies electronic gear cam cancel func tion for current operation N014 G01 X E31 Executes electronic gear cam cancel func tion for X axis N015 G79 1 12 1 5 Register Function REGIST Hardware Latch of Present Position Overview This function stores the presen...

Page 107: ...f operand table X E31 Y Z U Data name Data range Unit Description First address Function number 4 Note Integers only Specifies the function number Register function 4 1 Latch condition Latch condition 1 Rising edge of general purpose input 2 Rising edge of phase Z Note Integers only Specifies the condition for latching If the phase Z input is specified the input for the axis to latch will be moni ...

Page 108: ... axis and same condition are used for two different G code commands for the register function the G code command for the register function executed first will be overwritten by the second one and only the second one will be effective Rising edges of inputs that occur during switching may not be detected Do not used the same input as the latch condition for the register function for an electronic c...

Page 109: ...execution timing when using G code commands for syn chronized control functions in more than one task There is only one E register E31 that is used in the G code commands for synchronized con trol functions When specifying the first position data address be sure that another address is not being specified in E31 in another task Interlocking between tasks will be necessary G01 E31 elec tronic gear ...

Page 110: ...G63 A1990 111 Function enabled with pitch specification and start specification N002 G63 A1991 540 Start specification 540 degrees 1 5 rota tions N003 G32 X 0 1234 Y1 234 F360 O180 L1Direction of rotation Negative Direction of traverse axis Posi tive Pitch 0 1234 Winding width 1 234 mm Speed 360 degrees s 1 rota tion s End specification 180 degrees Winding rotating axis Traverse axis G32 pitch a G...

Page 111: ...ion disabled From here G32 will have normal function Settings 1 With the IOWR instruction enable using the synchronized control functions of the customized functions and then 2 program G32 TRAVERSE in the G language program in multiple blocks and execute them 1 Selecting the Customized Functions With the IOWR instruction turn ON customized function selection bit 00 and write the data to the MC Uni...

Page 112: ...ent aspects of the operating mode are specified with the value of each digit The decimal place is ignored An error will occur number out of range if a value that cannot be specified is set N001 G32 N002 G32 N003 G32 to N010 G32 N011 G If the linked transverse function is enabled and the same axis and same direction of rotation are specified for G32 commands in consecutive blocks up to 100 blocks c...

Page 113: ...ion before starting the traverse axis This occurs only before the first linked block not before all linked blocks The unit for the start specification is the same as that for the rotating axis X Z If a negative travel distance is specified an error will occur negative rotation specification error and if 0 travel is specified operation will be the same as if the start specification had not been mad...

Page 114: ...mment blocks Operating mode All settings are valid Pass operation is possible for linear interpolation or traverse operations for the same axis and rotating direction Operation is performed in Stop Mode regardless of the operating mode like G00 Execution block number status The preread block number is given The number of the block currently being exe cuted is given Note If any errors are detected ...

Page 115: ...ion time is maintained for each block and the speed is decreased Triangular control is performed for the linked G32 commands Performance Minimum operating time per block None Note Passing however will not be performed if the time is the same or below the minimum pass time 2 ms Note If the time is less than 2 m an error will occur added axis speed exceeded and the rotating axis will decelerate to a...

Page 116: ...ndition Flags operate the same as for other addresses used for IORD IOWR in the MC Unit Refer to the Flags on page 210 Control data for IOWR R W Name Structure and description Area 1 Area 2 Area 3 Area 4 1838 6200 183A 6202 183C 6204 183E 6206 W Output Setting Areas 1 to 4 Position data CPU Unit Set whether to enable output MC Unit CPU Unit and the addresses to which to output 1839 6201 183B 6203 ...

Page 117: ...the first word for each I O area and enable the memory links All areas are disabled in the default settings Position data address Name Structure and description Task 1 Task 2 Task 3 Task 4 A1986 A1987 A1988 A1989 M code output setting When the M code is output with the stopover function the position data address and function enable disable setting copied into the output data area are set Tasks 1 t...

Page 118: ...a corresponds to one bit in the word data If a digit in the position data is 0 the bit in the word data will be 0 If the digit is 1 to 9 the bit will be 1 Decimal points are ignored 1972 1973 1976 1977 1980 1981 1984 1985 Input Area CPU Unit Po sition data This data is input from the CPU Unit word data to the MC Unit position data Each bit in the word data corresponds to one digit in the position ...

Page 119: ...ode is output N013 G63 A1234 10101010 Set data to be copied N014 G63 A1235 01010101 Set data to be copied N015 G00 X10000 M000 X1000 When X has moved 1000 units A1970 A1234 and A1971 A1235 N016 G63 A1986 0 Restores the setting N017 G71 N017 A1972 11110000 Branches according to value of Input Area 1 lower 8 bits R1 BSET 0000 D00000 D00005 IOWR 07B2 D00000 00060000 C S D MOVL 8000000A D00000 IOWR 18...

Page 120: ... the CPU Unit data words will remain unchanged until the next I O refresh period Refreshing will continue even when loads outputs are turned OFF by the CPU Unit Complete setting A1986 to A1989 at least 10 ms before the output for the stopover function If the output occurs in less than 10 ms operation will be performed with the previous values of A1986 to A1989 1 12 1 8 Resetting M Codes with Progr...

Page 121: ...flexibility Settings 1 With the IOWR instruction enable using the high speed general purpose output function of the customized functions and then 2 use A1999 to allocate zones 1 to 8 to general purpose outputs 1 to 4 1 Selecting the Customized Functions With the IOWR instruction turn ON customized function selection bit 03 and write the data to the MC Unit 2 Allocations with A1999 The numbers of t...

Page 122: ...ut only when the General purpose Output Bit is turned ON Execution Results The general purpose output will turn ON and OFF according to the present position The response time is 2 1 to 4 1 ms Note The response time is the time from when the encoder reaches the edge of the zone until the general purpose output is turned ON or OFF on the MC Unit Application Example Set the axis and zone for general ...

Page 123: ...rd n bits 0 to 3 before changing the zone Note With the CX Motion both the positive and negative settings can be down loaded at the same time There are however subtle differences in the timing for reading these at the MC Unit so the above precaution applies even when downloading zone settings from the CX Motion The response time for changing zone parameters and General purpose Output Bits allocate...

Page 124: ... only with the combination of models listed in the fol lowing table Do not restore backup data created from an MC Unit with unit version 1 1 or later to a Pre Ver 1 1 MC Unit Do not save any MC Unit data to the flash memory while the backup oper ation is in progress or data will not be properly backed up and a system parameters corrupted error error code 0001 will occur when the data is restored i...

Page 125: ...et in the MC Unit Set the DIP switch on the CPU Unit s front panel as shown below and then turn ON the power to the CPU Unit The MC Unit data file on the Memory Card will be read and it will be restored to the MC Unit Note During the restoration data is read from the Memory Card to the MC Unit s internal RAM and then the data is checked If the data is normal it is auto matically written to the fla...

Page 126: ...odes CPU Unit front panel DIP switch SW7 SW8 OFF OFF MC Unit MC Unit data in flash memory Verification Memory Card power button CPU Unit All data Memory Card Position data addresses Customized function Use 1970 to 1985 Memory link function Used as I O data area 1986 to 1989 Memory link function Used to specify position data addresses for destinations when using stopover M codes 1990 to 1993 Linked...

Page 127: ...command interpretation when an electronic cam uses 100 points With two points it is faster than linear interpolation but with 100 points it takes approximately 20 ms 3 With an electronic cam approximately how long is the period while waiting for a trigger It is approximately twice as long as the time from one servo cycle to the next i e approx 2 to 4 ms 4 How is the output axis PV handled during s...

Page 128: ...for Special Servo Driver Cable 119 2 3 6 MPG Wiring 125 2 3 7 Interface Circuits 126 2 3 8 Wiring Precautions 128 2 3 9 Motor Runaway 130 2 3 10 Wiring Check Function 132 2 4 Failsafe Circuits 133 2 4 1 Failsafe Principles 134 2 4 2 Failures in the Command System 134 2 4 3 Failures in the Feedback System 138 2 4 4 Other Safety Features 138 2 5 Wiring Check Troubleshooting 139 2 5 1 Wiring Errors 1...

Page 129: ...ch MPG connector I O connector DRV Z U connector Teaching Box connector Indicator Color Status Meaning RUN Green ON The MC Unit is operating normally OFF The MC Unit is not recognized by the CPU Unit or is malfunctioning ERC Red ON An error occurred in the MC Unit OFF The MC Unit is operating normally ERH Red ON An error occurred in the CPU Unit OFF The CPU Unit is operating normally XCCW YCCW ZCC...

Page 130: ... emergency stop inputs origin proximity inputs general inputs and gen eral outputs for each axis Special cables and terminal blocks are avail able DRV Connectors The connector for connecting to the servo driver A Driver Cable is avail able for connecting to OMRON G W U M or H series Servo Drivers The DRV X Y connector is for the X and Y axes and the DRV Z U con nector is for the Z and U axes Teach...

Page 131: ...lowing steps to mount or remove MC Units 1 2 3 1 Mount the Unit to the Backplane by hooking the top of the Unit into the slot on the Backplane and rotating the Unit downwards 2 Make sure that the connector on the back of the Unit is properly inserted into the connector in the Backplane 3 Use a Phillips screwdriver to tighten the screw on the bottom of the Unit The screwdriver must be held at a sli...

Page 132: ...m the MC Unit Place the port connecting cables in a different duct from those for high voltage lines or power lines to prevent the effects of electrical noise from these lines Do not remove the protective label from the top of the Unit until wiring has been completed This label prevents wire strands and other foreign matter from entering the Unit during wiring Remove the label after wiring has bee...

Page 133: ...106 Installation Section 2 2 2 2 4 Dimensions CS1W MC421 CS1W MC221 ...

Page 134: ...h axis s CW and CCW limit inputs emergency stop inputs and origin proximity inputs as well as general I O connections Special cables and terminals can be connected to the I O connector Snap on Connector Connector 1 10126 3000PE Sumitomo 3M Case 1 10326 52F0 008 Sumitomo 3M Backplane 210 to 250 123 Connector pin arrangement CS1W MC221 CS1W MC421 Connector pin arrangement ...

Page 135: ... the Y axis in the CW direction 4 XCCWL NC X axis CCW limit input Limits movement of the X axis in the CCW direction 5 YCCWL NC Y axis CCW limit input Limits movement of the Y axis in the CCW direction 6 XSTOP NC X axis emergency stop input Disables the X axis run output and stops it 7 YSTOP NC Y axis emergency stop input Disables the Y axis run output and stops it 8 IN1 NO General input 1 General...

Page 136: ... IN2 NO General input 2 General input 2 10 XORG NC NO See note 2 X axis origin proximity input Used for the X axis origin search 11 YORG NC NO See note 2 Y axis origin proximity input Used for the Y axis origin search 12 OUT1 See note 3 General output 1 General output 1 or X axis brake signal output 13 OUT2 See note 3 General output 2 General output 2 or Y axis brake signal output 14 DC GND 24 VDC...

Page 137: ... in the same way Cable and Terminals For CS1W MC221 Relay 24 VDC Origin proximity input Emergency stop input CCW limit input CW limit input I O Connector XW2Z 100J F1 MC Unit Cable Use for either 2 or 4 axis operation XW2B 20J6 6 MC Unit Terminals XCW XCCW origin proximity and emergency stop YCW YCCW origin proximity and emergency stop ...

Page 138: ...e connection for just the X axis of the CS1W MC221 Wire the Y axis in the same way COM COM COM COM COM COM XW2B 2036 6 Terminal No Label Normally closed NC Normally open NO Emergency stop input CCW limit input 24 VDC Origin proximity input Relay Brake release wiring CW limit input ...

Page 139: ...ON G W U H and M series Servo Drivers Refer to Section 2 3 3 Driver Cables Optional Snap on Connectors Connectors 2 10136 3000PE Sumitomo 3M Cases 2 10336 52F0 008 Sumitomo 3M 0 V Terminal No Label COM 0 1 COM 2 COM IN1 3 4 COM 5 COM COM 6 7 YSTOP 8 IN2 Not used 9 10 COM 11 COM 12 COM 13 IN3 14 COM 15 COM 16 COM 17 USTOP 18 IN4 19 XW2B 40J6 7 24 V Terminal No Label XCWL 20 21 XCCWL 22 XORG XSTOP 2...

Page 140: ...ng Connectors Attach the connectors as follows Use the connectors snap on type provided with the Unit Use the anti electrostatic screws provided with the Unit There are eight screws for the CS1W MC421 and four for the CS1W MC221 DRV X Y connector Connector pin arrangement DRV X Y connector DRV Z U connector Connector pin arrangement Anti electrostatic screws ...

Page 141: ...back input for the X axis 17 XOUT X axis speed control Speed control voltage to the X axis driver 18 XAGND X axis speed control ground Ground for the X axis s speed control voltage 19 F24V 24 VDC output 24 VDC input to the driver for the X Y axes 20 FDC GND 24 VDC output ground Ground for 24 VDC outputs for the X Y axes 21 YALM Y axis alarm input Driver alarm input for the Y axis 22 YRUN Y axis ru...

Page 142: ... Z input Phase Z feedback input for the Z axis 17 ZOUT Z axis speed control Speed control voltage to the Z axis driver 18 ZAGND Z axis speed control ground Ground for the Z axis s speed control voltage 19 F24V 24 VDC output 24 VDC input to the driver for the Z U axes 20 FDC GND 24 VDC output ground Ground for 24 VDC outputs for the Z U axes 21 UALM U axis alarm input Driver alarm input for the U a...

Page 143: ... 1 W to 5 kW Servo Drivers R88A CPUB001M2 R88A CPUB001M1 1 0 R88A CPUB002M2 R88A CPUB002M1 2 0 R88D H R88A CPH001M2 R88A CPH001M1 1 0 R88A CPH002M2 R88A CPH002M1 2 0 R88D M R88A CPM001M2 R88A CPM001M1 1 0 R88A CPM002M2 R88A CPM002M1 2 0 R88D W R88A CPW001M2 R88A CPW001M1 1 0 R88A CPW002M2 R88A CPW002M1 2 0 R88A CPW003M2 R88A CPW003M1 3 0 R88A CPW005M2 R88A CPW005M1 5 0 R88D G R88A CPG001M2 R88A CP...

Page 144: ...y the X axis or Z axis signal line is wired If the above Cables are not used then use the connector and case provided with the Unit and connect them in combination with the connector R88A CPH001M2 002M2 For H Series Connect to 24 V Red 24 V Black 0 V R88A CPM001M2 002M2 For M Series Connect to 24 V Red 24 V Black 0 V ...

Page 145: ...wire through heat shrink tubing 2 Spot solder the wires and connector terminals 3 Solder the wires 4 Pull the heat shrink tubing back over the soldered area and heat the tubing to shrink it Soldering gun Heat shrink tube Inner diameter 1 5 r 10 1 mm Heat shrink tube ...

Page 146: ...ground X Z axis phase A input X Z axis phase A input X Z axis phase B input X Z axis phase B input X Z axis phase Z input X Z axis phase Z input X Z axis speed control X Z axis speed control ground 24 VDC output 24 VDC output ground Y U axis alarm input Y U axis run output Y U axis alarm reset output Y U axis feedback ground Y U axis phase A input Y U axis phase A input Y U axis phase B input Y U ...

Page 147: ...ase A input X Z axis phase B input X Z axis phase B input X Z axis phase Z input X Z axis phase Z input X Z axis speed control X Z axis speed control ground 24 VDC output 24 VDC output ground Special Driver Cab le R88A CPU00 M2 DRV X Y Z U connector X Z axis SEN signal output CS1W MC421 MC221 MC Unit AC Servo Driver R88D UA DC Power Supply Red Black Y U axis alarm input Y U axis run output Y U axi...

Page 148: ...feedback ground X Z axis phase A input X Z axis phase A input X Z axis phase B input X Z axis phase B input X Z axis phase Z input X Z axis phase Z input X Z axis speed control X Z axis speed control ground 24 VDC output 24 VDC output ground Y U axis alarm input Y U axis run output Y U axis alarm reset output Y U axis feedback ground Y U axis phase A input Y U axis phase A input Y U axis phase B i...

Page 149: ... axis speed control ground 24 VDC output 24 VDC output ground Y U axis alarm input Y U axis run output Y U axis alarm reset output Y axis SEN signal ground Y axis SEN signal output Y U axis feedback ground Y U axis phase A input Y U axis phase A input Y U axis phase B input Y U axis phase B input Y U axis phase Z input Y U axis phase Z input Y U axis speed control Y U axis speed control ground 1 2...

Page 150: ...B input X Z axis phase Z input X Z axis phase Z input X Z axis speed control X Z axis speed control ground Y U axis alarm input Y U axis run output Y U axis alarm reset output Y U axis feedback ground Y U axis phase A input Y U axis phase A input Y U axis phase B input Y U axis phase B input Y U axis phase Z input Y U axis phase Z input Y U axis speed control Y U axis speed control ground DC Power...

Page 151: ...t X Z axis phase Z input X Z axis speed control X Z axis speed control ground 24 VDC output 24 VDC output ground Y U axis alarm input Y U axis run output Y U axis alarm reset output Y U axis feedback ground Y U axis phase A input Y U axis phase A input Y U axis phase B input Y U axis phase B input Y U axis phase Z input Y U axis phase Z input Y U axis speed control Y U axis speed control ground AC...

Page 152: ...e 1 10314 52F0 008 Sumitomo 3M MPG Connector Pin Arrangement MPG Connector Pin Names for CS1W MC421 CS1W MC421 Connection Example CS1W MC221 Connection Example Pin No Symbol Name 5 MPG A MPG input phase A 6 MPG A MPG input phase A 12 MPG B MPG input phase B 13 MPG B MPG input phase B Connector pin arrangement Pin number 1 4 7 11 and 14 are not used MPG connector MPG input phase A MPG input phase A...

Page 153: ... inputs NC inputs CWL X to U CCWL X to U STOP X to U and ALM NO inputs IN 1 to 4 NC or NO inputs ORG X to U Note 1 IN 1 to 4 0 1 ms max 2 The MC Unit s input circuits CWL X to U CCWL X to U and ORG X to U are high speed response circuits Take the chattering time bounce time of input signals into consideration Connector pin number Connector MPG signal name Terminal Block terminal number Terminal Bl...

Page 154: ...X to U Item Specification Circuit Configuration Max switching capacity 50 mA 24 VDC Leakage current 0 1 mA max Residual voltage 1 0 V max External supply voltage 24 VDC 10 Photocoupler 24 V Output Item Specification Circuit Configuration Max switching capacity 10 mA 24 VDC Leakage current 0 1 mA max Residual voltage 1 0 V max External supply voltage 24 VDC 10 Photocoupler 24 V Output Circuit Confi...

Page 155: ...mproving sys tem reliability Use electrical wires or cables of 0 2 mm2 or as specified in the instruction manual for the servo driver Use larger size cables for the FG lines of the PLC or the driver and ground them over the shortest possible distance Separate power cables AC power supply lines and motor power supply lines from control cables pulse output lines and external input signal lines Do no...

Page 156: ... grounds i e to 100 Ω or less with a wire cross section of 2 mm2 or greater Use twisted pair shielded cables for control voltage output signals MPG sig nals sync encoder signals and feedback input signals For the control voltage output signals wire a maximum of 2 m between the MC Unit and the servo driver Wire the distance between the MC Unit and the feedback pulse generator i e encoder or the ser...

Page 157: ...direction the feedback signal transfers the direction and travel distance as a count to the error counter Then the Motion Control Unit outputs a control voltage to rotate the motor in the CCW direction so as to zero this count figure The control voltage is output to the servo driver and the motor rotates in the CCW direction Again when the motor rotates in this CCW direction the encoder detects th...

Page 158: ...peed control voltage is not 0 V be cause of the signal from the error counter If the feedback line is broken no feedback signals will be given to the error counter and the speed control voltage remains unchanged from the value existed before the line break age causing motor runaway 2 Wire breakage while the motor is stopped If the feedback line is broken while the servomotor is stopped and correct...

Page 159: ...ersed it is treated as a reverse wiring error and the servo lock is cleared dropping the voltage output to 0 V To correct this faulty wiring either turn OFF the power and repair the reversed wiring or change the machine parameter encoder polarity from the preset setting to the opposite setting i e change from forward rotation for encoder increase to reverse rotation for encoder increase or from re...

Page 160: ...s as those shown below in the positioning system in which the MC Unit is used Errors during Positioning As illustrated below motor runaway may occur during operation without a position loop being formed for these reasons Failure of command system Failure of feedback system Servomotor Encoder Servo driver Broken lines Faulty contact Encoder circuits Error counter Counter Direction discrimination ci...

Page 161: ...ilure in the feedback system Outline Movements are not performed at the command speed or in the desired direction Movement occurs for stop commands or movement is not performed in the desired direction Location of failure Digital to analog circuits or analog power circuits in the MC Unit Analog to digital circuits in Servo Drive wiring of command systems etc Motor encoder encoder cable Servo Drive...

Page 162: ... ON whenever the Error Counter Warning Value is exceeded The CPU Unit uses an external output to send an emergency stop input to the MC Unit when it detects that the Error Counter Warning Flag has turned ON In either of the above examples the motor makes a sudden stop when an error counter warning occurs Make sure that this sudden stop will not result in damage to the system Operation command outp...

Page 163: ... can also be used OFF An overflow will occur at the value set for the error counter warning When the Selection Bit is ON the Error Counter Warning Flag thus cannot be used Refer to Error Counter Function Selection Bit in 5 4 1 System Controls for more information Failsafe Circuits The example shown below shows handling an error occurring during position ing The MC Unit checks the error counter and...

Page 164: ... System Parameters and then the ladder pro gram is written to stop the motor when a Zone Flag turns ON In the following example the X axis and Y axis Zone Flags are monitored in the ladder dia gram If both flags are ON at the same time the CPU Unit uses an external output to activate a dynamic brake and stop motion Zone External output Ladder program execution MC Unit Servo driver Voltage output S...

Page 165: ...nd system and feedback system wiring is checked Refer to 2 3 10 Wiring Check Function for details Software Limits Clockwise and counterclockwise limits can be set in the software to prevent motion outside of a specific range An error will occur and the axis will be decelerated to a stop if a software limit is exceeded Refer to Positive and Negative Software Limits on page 178 for details Feedback ...

Page 166: ...om bined devices Mistakes in the wiring may cause servomotor runaway More over contact problems and disconnections may occur over time even in systems that were originally wired correctly and this may also cause servo motor runaway In particular wiring disconnections can easily occur in devices such as robots with movable parts where cables are frequently bent The wir ing check function helps to p...

Page 167: ...t to the servo driver turn ON the power supply and adjust the 0 V at the servo driver with servo lock disabled For U W and G series Servo Drivers execute an automatic offset adjust ment An automatic offset adjustment is an adjustment for reading the present input voltage as 0 V Only U W and G series Servo Drivers have this function There is weight or external force on an axis Even after the wiring...

Page 168: ...utomatic off set adjustment refer to the Servo Driver manual 5 Adjust the gain at the Servo Driver It is convenient to use autotuning For details on Servo Driver autotuning refer to the Servo Driver manual 6 Adjust the gain at the MC Unit If this is done by means of Servo Driver au totuning read the Servo Driver s position loop gain and use CX Motion to set that value in the MC Unit s servo parame...

Page 169: ...a W series Servo Driver bit 0 of Cn 02 corresponds to digit number 0 of Pn000 With a G series Servo Driver bit 0 of CN 02 corresponds to Pn51 Set Pn46 to 0 2 7 Connecting Peripheral Devices This section explains how to connect a personal computer with CX Motion installed to the CPU Unit and how to connect a Teaching Box Voltage MC Unit Speed direction direction Motor Encoder Desired direction of m...

Page 170: ...Unit Port on computer Serial communications mode network Model numbers Length Remarks CPU Unit Peripheral 9 pin D sub male Peripheral bus or Host Link CS1W CN226 2 0 m CS1W CN626 6 0 m RS 232C 9 pin D sub female XW2Z 200S CV 2 0 m ESD static electricity resis tant connectors used XW2Z 500S CV 5 0 m Serial Communi cations Board Unit RS 232C 9 pin D sub female Host Link XW2Z 200S CV 2 0 m XW2Z 500S ...

Page 171: ...S1W CN118 RS 232C Cable XW2Z S See above Connect to RS 232C port Unit Port on Unit Port on computer Serial communications mode network Model numbers Length Remarks CPU Unit Peripheral port 9 pin D sub male Host Link CS1W CN114 CQM1 CIF02 Peripheral port CS1W CN114 Peripheral Cable CQM1 CIF01 02 Connect to RS 232C port Unit Port on Unit Port on computer Serial communications mode network Model numb...

Page 172: ...he MC Unit connector marked T B Removing the Cable Using your fingers press in and hold the clamps on both sides of the connec tor and pull out the connector Cover Open the cover using a small size flat blade screw Attach the removed cover to the rear surface not to lose it Cover attached Align the connector and push it in until you hear a click Unlocking clamps ...

Page 173: ...146 Connecting Peripheral Devices Section 2 7 ...

Page 174: ...of System Parameters 152 3 3 3 System Parameter Addresses 155 3 3 4 Data Configuration for System Parameters 156 3 3 5 Timing that Validates Transferred System Parameters 170 3 3 6 System Parameters 171 3 4 Position Data 187 3 4 1 Position Data Addresses 188 3 4 2 Position Data Configuration 188 3 5 Monitor Data 189 3 5 1 Monitor Data Addresses 189 3 5 2 Monitor Data Configuration 191 3 6 Command ...

Page 175: ...adder program Refer to Section 3 2 Determining the Task Configuration for details Basic Data Concepts System Parameters Transfer system parameters created on the CX Motion to the MC Unit IOWR instructions can be used to change system parameters while the CPU Unit is running if needed Unit parameters Memory management parameters Axis parameters Data Function MC Unit internal memory address System p...

Page 176: ...nction selection See note Note Applicable only with Unit Ver 1 15 or later and with Units whose model number ends in V1 3 2 Determining the Task Configuration The tasks must be configured when an MC Unit is first used Set the configu ration in the unit parameters under the system parameters Refer to Section 3 3 System Parameters The MC programs must be changed if the task con figuration is changed...

Page 177: ...rograms and write all data to flash memory b Use CX Motion to open MC Unit parameters and change the number of tasks If there are other parameters that should be changed change and save them Configuring a task c Transfer the system parameters created in step 2 from the personal computer to the MC Unit and write all data to flash memory Example 3 Two Tasks Four Axes Task 1 X Y Z axes Task 2 U axis ...

Page 178: ... as acceleration deceleration time interpolation acceleration interpolation deceleration time MPG ratio zone parameters and servo parameters in coordinate parameters and feed rate parameters from system parameters can be transferred to the Unit using the IOWR instruction Machine parameters Coordinate parameters Feed rate parameters Zone parameters Servo parameters Parameters Function Unit paramete...

Page 179: ...of 2 000 position data addresses A0000 to A1999 This parameter is used to prevent data from being incorrectly used when two or more tasks are involved Parameter name Function Axis configuration See note 2 Sets the number of axes to use in the MC Unit 1 to 4 2 axes Number of tasks See note 2 Sets the number of tasks to use in the MC Unit 1 to 4 2 tasks Task axis declaration See note 2 Sets the axes...

Page 180: ...s once Encoder ratio Sets the encoder ratio 1 2 or 4 Encoder polarity Sets whether the encoder will advance in phase A or phase B when the servomotor is rotating in the forward direction Pulse rate Sets how much the axis will move per feedback pulse numerator denominator set individually Max motor frequency Sets the number of servomotor rotations with a speed reference of 10 V applied Positive or ...

Page 181: ...ormed at this feed rate until an origin proximity sensor input is received Low speed origin search feed rate When an origin search is executed it is performed at this feed rate until phase Z is detected after an origin proximity sensor input is received Maximum jog feed rate Sets the maximum jog feed rate Acceleration deceleration curve Specifies whether the acceleration decel eration curve is tra...

Page 182: ...IORD instruction to specify the address In the table R means the parameter is read only and R W means the data can be read and written The number in parentheses in the address range column is the decimal address When transferring system parameters the number of words to transfer is 0002 hex Parameter name Function Error counter warning value Sets the number of error counter pulses used to detect a...

Page 183: ...9 Y axis R W See note 1149 to 115C hex 4425 to 4444 Z axis R W See note 1162 to 1175 hex 4450 to 4469 U axis R W See note 117B to 118E hex 4475 to 4494 Zone parameters X axis R W 1194 to 11A4 hex 4500 to 4516 Y axis R W 11AD to 11BD hex 4525 to 4541 Z axis R W 11C6 to 11D6 hex 4550 to 4566 U axis R W 11DF to 11EF hex 4575 to 4591 Servo parameters X axis R W 11F8 to 1201 hex 4600 to 4609 Y axis R W...

Page 184: ... 0000 0 Address R W Name Description Default setting Top L 1 Bottom L MC221 MC421 MC221 MC421 Specifies the axis or axes used for task 1 Bits 00 to 03 correspond to axes X through U X 1 Axis is used X 0 Axis is not used 0 0 0 0 0 0 0 L 1 L 15 00 15 03 00 Bit 03 00 L U Z Y X X 0 General output X 1 Brake signal output 0 0 0 0 0 0 0 L 1 L 15 0015 03 00 Output port setting Specifies whether the output...

Page 185: ...tion time or to the next operation in the preceding interpolation deceleration time during pass operation X 0 Interpolation acceleration time X 1 Interpolation deceleration time Acceleration mode Specifies whether to linearly interpolate or accelerate just one axis or to accelerate the axis at a fixed rate until the start of pass operation X 0 Invalid X 1 Valid Fixed accel eration 11 08 0 0 0 0 0 ...

Page 186: ...ame Description Default setting Top L 1 Bottom L MC221 MC421 MC221 MC421 Address R W Name Description Default setting Top L 1 Bottom L MC221 MC421 X Y Z U 1068 4200 1081 4225 109A 4250 10B3 4275 R Minimum setting unit 0000 0000 0 1069 4201 1082 4226 109B 4251 10B4 4276 R Axis Mode display unit 0000 0000 3 106A 4202 1083 4227 109C 4252 10B5 4277 R Rotation direction 0000 0000 0 Specifies the minimu...

Page 187: ...ut for 0 5 s X 1 Stop after error count is exhausted 0 0 0 0 0 0 0 X L 1 L 15 0015 03 00 Specifies the type of encoder X 0 Incremental encoder X 1 Absolute encoder for U or W Series 0 0 0 0 0 0 0 X L 1 L 15 0015 03 00 X 2 Absolute encoder for G Series Note 2 Absolute encoder for G Series can be used with unit version 1 1 or later 0 0 0 0 L 1 L Encoder resolution Specified the resolution of the enc...

Page 188: ...ve software limit Specifies the negative and positive software limits The data is 32 bit signed binary data L 1 Leftmost 16 bits L Rightmost 16 bits Range FD9DA601 to 026259FF Hex 39999999 to 39999999 If the negative software limit is set to 18F Hex 399 the minimum setting unit is 0 01 and the unit is mm the negative software limit would be 3 99 mm 399 0 01 Specifies the method to search for the o...

Page 189: ...method Specifies the origin deceleration method 0 Use the origin proximity input signal 1 Use the limit input signal for the origin proxim ity input signal Specifies the origin proximity input logic X 0 Normally open X 1 Normally closed 0 0 0 0 0 0 0 X L 1 L 15 0015 03 00 Specifies whether the wiring check function is used X 0 The wiring check function is not used X 1 The wiring check function is ...

Page 190: ... unit between the workpiece origin offset value and reference origin offset value When this value is changed it will become valid from the time when the next program is executed from the first block 0000 0000 0 10CE 4302 10E7 4327 1100 4352 1119 4377 R W Reserved for the system These addresses are reserved for the system 10DF 4303 10E8 4328 1101 4353 111A 4378 R W Reserved for the system These add...

Page 191: ...mum feed rate 0000 4E20 20000 1135 4405 114E 4430 1167 4455 1180 4480 R Accelera tion decel eration curve 0000 0000 0 1136 4406 114F 4431 1168 4456 1181 4481 R W Accelera tion time 0000 0064 100 1137 4407 1150 4432 1169 4457 1182 4482 R W Decelera tion time Sets the deceleration time to reduce the feed rate to zero from the maximum feed rate The data configuration range and units are the same as t...

Page 192: ... 2 0000 0001 1 113E 4414 1157 4439 1170 4464 1189 4489 R W MPG ratio numera tor 3 electronic gear ratio numera tor 3 Sets the ratio for an MPG electronic gear pulse for setting 3 The data configuration and range are the same as that for MPG ratio electronic gear numerator 1 denominator 1 0000 0064 100 113F 4415 1158 4440 1171 4465 118A 4490 R W MPG ratio denomi nator 3 electronic gear ratio denomi...

Page 193: ...tting 4 The data configuration and range are the same as that for MPG ratio electronic gear numerator 1 denominator 1 0000 00C8 200 1141 4417 115A 4442 1173 4467 118C 4492 R W MPG ratio denomi nator 4 electronic gear ratio denomi nator 4 0000 0001 1 1142 4418 115B 4443 1174 4468 118D 4493 R W Reserved for the system These addresses are reserved for the system 1143 4419 115C 4444 1175 4469 118E 449...

Page 194: ... Zone 4 Zone 3 Zone 2 Zone 1 Valid timing 00 01 02 03 04 05 06 07 Valid timing Sets timing for validating zone settings X 0 Enables a zone at the end of the origin search X 1 Enables a zone whether or not the origin search is completed Zone 1 to 8 Enables or disables zone 1 to zone 8 settings Bits 00 to 07 correspond to zones 1 to 8 1 Zone enabled 0 Zone disabled L 1 L 15 0015 00 Zone 1 negative d...

Page 195: ...19E 4510 11B7 4535 11D0 4560 11E9 4585 R W Zone 5 positive direction setting 119F 4511 11B8 4536 11D1 4561 11EA 4586 R W Zone 6 negative direction setting Sets the negative or positive direction range of zone 6 The data configurations ranges and units for the negative and positive direction set values are the same as those for zone 1 0000 0000 0 11A0 4512 11B9 4537 11D2 4562 11EB 4587 R W Zone 6 p...

Page 196: ...e Range 0000 to FDE8 Hex 0 to 65000 pulses 0 0 0 0 L 1 L 15 0015 00 Error counter warning value Sets to check the in position Range 0000 to 2710 Hex 0 to 10000 pulses 0 0 0 0 L 1 L 15 0015 00 In position Sets the position loop gain Range 01 to FA Hex 1 to 250 1 s 0 0 0 L 1 L 15 0015 03 00 Position loop gain 07 0 0 0 Sets the position loop FF gain Range 00 to 64 Hex 0 to 100 0 0 0 L 1 L 15 0015 03 ...

Page 197: ...dresses are reserved for the system Address R W Name Description Default setting Top L 1 Bottom L MC221 MC421 X Y Z U Memory management parameters Zone parameters Coordinate parameters Servo parameters Feed rate parameters Parameter group Parameters Timing Coordinate parameters Reference origin offset Valid after the next origin search Workpiece origin offset Valid after the next G51 operation Fee...

Page 198: ...or the CS1W MC221 Digital Output Settings These parameters set whether output ports will be used for general outputs or brake signal outputs When used for brake signal outputs general outputs 1 to 4 are brake signal outputs for the X through U axes The default setting is for brake signal outputs Refer to 6 14 Servo Lock and Unlock for more details When using OMRON U W or G series Servo Drivers the...

Page 199: ...in the preceding interpolation decel eration time Pass time before the next target Speed The machine moves to the next op eration in the preceding interpolation acceleration time Ta Ta Interpolation ac celeration time Speed Pass time before the next target The machine moves to the next operation in the preceding interpolation deceleration time Td Ta Interpolation ac celeration time Td Interpolatio...

Page 200: ...oading An error will be generated if communications has not restarted after the timeout time has elapsed and the automatic loading error flag will be turned ON In this case the data that is being transferred will be deleted Refer to 6 16 Auto matic Loading for more details The default setting is 0 Memory Management Parameter Refer to Unit Parameters on page 171 for details on the setting window on...

Page 201: ...ght be smaller than the range shown in the table above Set the maximum command values based on the following two conditions Max command value C 1073741823 P Max command value C 39999999 C P Pulse rate pulses pulse mm pulse degrees pulse inches pulse C Minimum setting unit 0 1 0 01 0 001 or 0 0001 For example when the minimum setting unit is 0 01 and the pulse rate is 0 0001 1073741823 0 0001 107 3...

Page 202: ... software limit minus the minimum setting unit For example if the minimum setting unit is 0 1 the negative software limit is 0 and the positive software limit is 360 the present position will be indi cated between 0 and 359 9 Refer to 6 20 Unlimited Feeding for details The default setting is for the Normal Mode Rotate Direction This parameter specifies if forward operation is to be performed or if...

Page 203: ...or occurs at the servo driver and a driver alarm input error error code 003C is generated has been changed in the following way The change is effective for models with E9 at the end of the lot number and for models with lot numbers 991118 or later Specifications before Change After the driver alarm input signal is received brake output and RUN com mand output are turned OFF with the following timi...

Page 204: ... s x 60 encoder resolution p r If the resolution does not satisfy the above condition reduce the resolution from parameters at the servo driver or reduce the maximum number of motor revolutions When using a G series Servo Driver set the encoder resolution to the same value as Pn44 Encoder Divider Numerator Setting and set Pn45 Encoder Divider Denominator Setting to 0 Encoder Ratio This parameters ...

Page 205: ...e default setting is 3 000 r min and the maximum number of motor revolutions set with this parameter corresponds to the 10 V speed reference voltage output from the MC Unit Make sure the maximum number of motor revolutions setting satisfies the following conditions Upper maximum motor revolution limit r min 500 kp s x 60 encoder resolution p r If the number of revolutions does not satisfy the prec...

Page 206: ... input so the limit input signal will be used as the origin proximity input CW CCW Deceleration Method This parameter sets the deceleration method used if a limit input signal is detected when an origin search is executed It specifies using pulses accumulated in the error counter to stop or deceler ate to a stop as the deceleration method used when an limit input signal is detected The following f...

Page 207: ...ion Setting This parameter specifies the correction value for the absolute encoder used when the absolute origin setting is used It can only be monitored from the CX Motion and cannot be monitored from the Teaching Box Coordinate Parameters The CS1W MC421 setting window from CX Motion is shown below Reference Origin Offset A reference origin offset is an offset from the mechanical origin It is use...

Page 208: ...RDINATE SYSTEM is executed in the G language program This can be useful for example in carrying out operations such as drilling holes in the positions shown above Move the workpiece origin to the workpiece origin position by changing the workpiece origin offset value Carry out the positioning for drilling the holes by selecting the workpiece coordinate system The origin can be changed temporarily ...

Page 209: ...The SV unit would be pulses s if the display units were pulses Feed Rate Relationships If the following conditions aren t met an error will occur when the parameters are transferred from the CX Motion Max feed rate Maximum interpolation feed rate Max feed rate Maximum jog feed rate Max feed rate Origin search high speed feed rate Max feed rate Origin search low speed feed rate Origin search high s...

Page 210: ...ezoidal curve or an S curve can be selected The default setting is for a trapezoidal curve The accelerations for these curves are shown below Trapezoidal Curve S curve Note The S curve is achieved using a trinomial function Acceleration Deceleration Interpolation Acceleration and Interpolation Deceleration Times These parameters set the acceleration deceleration interpolation accelera tion and int...

Page 211: ...make the zone setting valid and set whether zones 1 to 8 settings will be used Select the timing to one of the following After the origin is established or always regardless of whether or not the origin has been established The default setting is after the origin is established Set the zone ranges after selecting Set for the zone Positive and Negative Zone Settings When the present value is within...

Page 212: ...and the number of pulses in the error counter exceeds the warning value an error counter overflow error will occur and the servo will be turned OFF If the alarm function is set the Error Counter Warn ing Flag will be turned ON instead Generally set the error warning counter about 20 above the level of pulses that accumulate during normal operation and adjust to the proper setting for the mechanica...

Page 213: ...d the default setting is 10 pulses Be sure that the in position zone is entered when positioning has been com pleted Position Loop Gain Sets the position loop gain which can be determined from the following equa tion Word Axis Bit Bit name MC221 MC421 n 22 n 38 X axis 06 Error Counter Warning Flag n 25 n 41 Y axis n 44 Z axis n 47 U axis n All 07 Error counter function selec tion Word Axis Bit nam...

Page 214: ...t ting range is 0 to 10 000 pulses and the default setting is 0 pulses Refer to 6 15 Backlash Correction for more details Brake ON OFF Time This parameter sets the brake ON OFF time The setting range is 0 to 10 000 ms and the default setting is 0 ms Refer to the brake manual and adjust the proper time for the system Refer to Servo Lock page 241 and Servo Unlock page 241 in 5 3 PLC Interface Area a...

Page 215: ...ion of a position data value of 123 45 Example 2 The following is the configuration of a position data value of 12345 Data Address range Number of words to transfer Position data 0000 to 07CF decimal 0000 to 1999 1 position 0003 hex 2 positions 0006 hex 3 positions 0009 hex 4 positions 000C hex 0 0 0 j 0 j 1 j 2 15 12 11 08 07 04 03 00 A Decimal point position Position data 32 bit signed Rightmost...

Page 216: ...dress CX Motion T Box Error codes System error code 1770 hex 6000 Task 1 error code 1771 hex 6001 Task 2 error code 1772 hex 6002 Task 3 error code 1773 hex 6003 Task 4 error code 1774 hex 6004 X axis error code 1775 hex 6005 Y axis error code 1776 hex 6006 X axis error code 1777 hex 6007 U axis error code 1778 hex 6008 I O monitoring I O monitor data X Y 177B hex 6011 I O monitor data Z U 177C he...

Page 217: ...nce coordinate system present position in pulses X axis 17AA hex 6058 Y axis 17AB hex 6059 Z axis 17AC hex 6060 U axis 17AD hex 6061 Error counter value in pulses X axis 17AE hex 6062 Y axis 17AF hex 6063 Z axis 17B0 hex 6064 U axis 17B1 hex 6065 Workpiece origin shift value X axis 17B2 hex 6066 Y axis 17B3 hex 6067 Z axis 17B4 hex 6068 U axis 17B5 hex 6069 Phase Z margin in pulses X axis 17B6 hex...

Page 218: ...s that for the X axis 1777 6007 R Z axis error code An error code will be set if a Z axis error occurs The data configuration is the same as that for the X axis 1778 6008 R U axis error code An error code will be set if a U axis error results The data configuration is the same as that for the X axis 0 0 0 0 L 1 L 15 0015 00 System error code An error code will be set if a system error occurs Refer...

Page 219: ... 15 1 ON 0 OFF Not used OFF CCW limit input signal Origin proximity input signal Emergency stop input signal Driver alarm input signal Run instruction output Driver alarm reset output Sensor ON output CW limit input signal Bit Name Description General purpose input 2 0 2 to 7 8 9 10 11 12 13 14 15 1 ON 0 OFF Not used OFF CCW limit input signal Origin proximity input signal Emergency stop input sig...

Page 220: ...ion See X axis reference coordinate system present position for the data configuration 17A5 6053 R U axis reference coordinate system present position Outputs the U axis reference coordinate system present position See X axis reference coordinate system present position for the data configuration Address R W Name Description MC221 MC421 If a program is being executed the block number of the progra...

Page 221: ...ate system present position See X axis reference coordinate system present position in pulses for the data configuration 17AE 6062 17AE 6062 R X axis error counter value in pulses 17AF 6063 17AF 6063 R Y axis error counter value in pulses Outputs pulses for the Y axis error counter value See X axis error counter value in pulses for the data configuration 17B0 6064 R Z axis error counter value in p...

Page 222: ...ription MC221 MC421 L 1 L 15 00 15 00 X axis workpiece origin shift value Outputs the shift value between the X axis reference coordinate sys tem origin and the workpiece coordinate system origin The data is 32 bit signed binary data L 1 Leftmost bit L Rightmost bit Range FD9DA601 to 026259FF Hex 39999999 to 39999999 The minimum setting unit is set to 2 for 0 01 the display unit is set to 0 for mm...

Page 223: ...ulses for the data configuration 17BD 6077 R U axis reference coordinate system present position in pulses Outputs pulses for the U axis reference coordinate system present position A wider range of positions is output in comparison to the U axis reference coordinate system in pulses at address 17AD hex 6061 See X axis reference coordinate system present position in pulses for the data configurati...

Page 224: ...s to flash memory R W 17D5 hex 6101 0002 hex Writing position data W 17D6 hex 6102 0006 hex Reading position data W 17D7 hex 6103 0006 hex Setting automatic loading R W 17D8 hex 6104 0002 hex Presetting the present posi tion X axis W 17DE hex 6110 0002 hex Y axis W 17EF hex 6111 Z axis W 17E0 hex 6112 U axis W 17E1 hex 6113 Setting the teaching address Task 1 W 17E2 hex 6114 0002 hex Task 2 W 17E3...

Page 225: ...ion address for transferred position data Specifies the first destination address number in MC Unit internal RAM for the transferred position data Range 0000 to 07CF Hex 0 to 1999 Total number of words written L 0 L 1 L 2 L 3 L 4 L 5 15 12 11 08 07 04 03 00 0 0 0 0 0 0 0 0 Total number of words read First source address for transferred position data First destination word number for transferred po...

Page 226: ...ame as that for setting the task 1 teaching address 17E8 6120 17E8 6120 W Override function selection See note Address R W Name Description MC221 MC421 This parameter is used when batch downloading programs and posi tion data to an MC Unit from the external memory device of a person al computer with CX Motion 0 0 0 0 L 1 L 15 00 15 00 Job number X Job number Specifies a job number within a range f...

Page 227: ...200 Command Area Section 3 6 ...

Page 228: ...sfer 202 4 1 2 Types of Data 203 4 1 3 Using IOWR and IORD Instructions to Transfer Data 204 4 1 4 Transferring Position Data Using the Command Area 206 4 1 5 Data Storage 208 4 2 IOWR and IORD Specifications 209 4 2 1 IOWR INTELLIGENT I O WRITE 209 4 2 2 IORD INTELLIGENT I O READ 213 4 2 3 Transferring Data Using the Command Area 217 4 3 Saving Data 221 4 3 1 Execution 221 4 3 2 Command Specifica...

Page 229: ...ad and write data directly using IOWR IORD instructions in the ladder program The IOWR IORD instructions can be used to read or write data while the CPU Unit is running Note Command Area address 6120 override function selection can be used only with Unit Ver 1 15 or later and with Units whose model number ends in V1 Personal computer CX Motion MC Unit CPU Unit System parameters position data progr...

Page 230: ...Unit Internal Data Configuration for details on the data that can be written and addresses O Possible X Not possible Purpose Description Reading writing specific position data or parameters Reading monitor data IOWR IORD commands are used when One system parameter is to be written read Data for up to four position is to be written read One item in the monitor data is to be read Read writing large ...

Page 231: ...d 4 1 3 Using IOWR and IORD Instructions to Transfer Data Example 1 In the following example position data is written to the MC Unit by executing the IOWR instruction 1 2 3 1 Set the following data for the operands of the IOWR instruction C The first destination address in the MC Unit for the position data S The first word in the CPU Unit e g in DM Area containing the posi tion data to be transfer...

Page 232: ...it number and total number of words for the position data that will be transferred Each parameter requires two words D The first word e g in DM Area where the system parameters will be written in the CPU Unit 2 Execute the IORD instruction 3 The system parameters will be stored in the CPU Unit starting from the word specified for D MC Unit CPU Unit Address System parameter System parameters 2 word...

Page 233: ...items in multiples of three each position requires three words Range 0003 to 1770 hex 3 to 6 000 3 words data item S 1 Always 0000 hex S 2 The first source address of transferred position data Specifies the first source address in the DM or EM area that is storing position data that will be transferred S 3 The transfer source area designation DM or EM Specifies the DM or EM area that is storing po...

Page 234: ...tion unit number and total number of words for the position data that will be transferred The total number of words transferred is 0006 hex transfer data for po sition data Example If the Unit No is 12 D 00060000C 2 Set the following data as the transfer data for position data S 0 Total number of words to read Specify the total number of words for the 1 to 2 000 position data items in multiples of...

Page 235: ...sh memory using the command area to keep the data in the MC Unit per manently Refer to 4 3 Saving Data for more details on storing data in flash memory Once data has been saved it is stored in internal MC Unit flash memory where it will be available the next time MC Unit power is turned ON or the Unit is restarted Position data and system parameters that are simply transferred without being saved ...

Page 236: ...0 to 4095 Counter Area C0000 to 4095 DM Area D00000 to 32767 EM Area E00000 to 32767 DM 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 IOWR C S D IOWR C S D Specifies the first address in the MC Unit to which data will...

Page 237: ... Hex Destination unit number Hex D 1 D Name Symbol ON OFF Error Flag ER The total number of words transferred for D is not between 0000 and 0080 hex The unit number for D is not between 0000 and 005F hex The specified Special I O Unit does not sup port the IOWR instruc tion The specified Special I O Unit has a setting error or Unit error None of the conditions on the left exists Equals Flag The wr...

Page 238: ...1C8 D00100 000C0000 R3 R2 R3 R1 R2 25506 Execution condition Set position data in DM Area as shown below Set the first address of the MC Unit position data to 0456 01C8 Hex corresponds to A0456 Set the address of the first source word of the position data Set the source unit number to 0 and a total of 12 words to be transferred 4 positions 3 words 12 words OUT Work bit OUT Work bit 0002 76D2 020F ...

Page 239: ...he MC Unit cannot pro cess the data The transfer will be completed by the time the Equals Flag turns ON Data writing bit 06 of word n 10 n 18 data write error bit 7 of word n 10 n 18 data reading bit 08 of word n 10 n 18 and data read error bit 09 of word n 10 n 18 will not change when an IOWR instruction DIFU 13 R1 Work bit Set in the expansion DM area the positioning data described below Set the...

Page 240: ...ption C S Specify the destination unit number from which data will be read and the total number of words that will be read Total number of words transferred 0002 to 000C hex Position data 0003 1 position 0006 2 positions 0009 3 posi tions 000C 4 positions hex Command Area 0002 0006 hex System parameters and monitor data 0002 hex Destination unit number CS1W MC421 0000 to 005B hex unit No 0 to 91 C...

Page 241: ...ta words transferred for S is not between 0000 and 0080 hex The unit number data for S is not between 0000 and 005F hex The specified Special I O Unit does not support the IORD instruction The specified Special I O Unit has a setting error or unit error None of the conditions on the left exists Equals Flag The read command was not completed normally The following error has occurred in which case b...

Page 242: ...90 123456 78 387654 32 123 456 D00103 to D00105 D00106 to D00108 D00109 to D00111 DIFU R1 Work bit IORD 01C8 000C0000 D00100 R3 R2 R3 R1 R2 Execution condition OUT Work bit Set the first address in the MC Unit position data to 0456 01C8 Hex corresponds to A0456 Set the source unit number 0 and a total of 15 words to be transmitted i e 3 words x 5 positions Set the address of the first word of the ...

Page 243: ... be turned ON if the MC Unit can process the data The Equals Flag will not be turned ON and the IOWR instruction will not be executed if the MC Unit cannot pro cess the data 3 The specified data is transferred from the MC Unit to the CPU Unit The Equals Flag will turn ON when the transfer has been completed Transfer Time Refer to Section 1 5 Specifications DIFU 13 R1 Work bit IORD 1136 00020000 D0...

Page 244: ...quals Flag will not be turned ON and the IOWR instruction will not be executed if the MC Unit cannot process the data Note If a command e g for program execution is given while data is being pro cessed in step 2 above the command will be executed after the data is pro cessed Example Program Execution after Position Data Transfer The timing chart shows data for task 1 1 2 3 1 Position data is trans...

Page 245: ...words can be transferred at one time when the command area is used The following example will transfer position data for 5 positions to the MC Unit Transfer data IOWR instruction Equals Flag Writing data n 10 bit 06 Program number n 2 Reading program number n 3 bit 07 Starting scanning n 3 bit 02 Program execution Set Format check Data check Data processing Set 1 IOWR instruction 4 Run command 3 2...

Page 246: ...OUT Work bit OUT Work bit Set the transfer data for the position data in DM Area Set the following position data in DM Area Total number of words written 15 Always 0000 First source word address for transferred position data D00200 Area storing position data DM First address for transferred position data A0456 Always 0000 Three words are required for each position Refer to for details 0002 76D2 02...

Page 247: ...data for the position data in DM Area Address that read position data from an MC Unit 17D7 Hex 6103 Set the first source word of the position data Set the source unit number to 0 and a total of 6 words to be transferred transfer data for position data always 6 words Total number of words written 15 Always 0000 First source word address for transferred position data D00200 Area storing position dat...

Page 248: ...a and system parameters to flash memory Data is saved by specifying the address in control code C of the IOWR instruction and transferring the specified data to the MC Unit Writing position data to flash memory Address 6100 17D4 hex Writing system parameters to flash memory Address 6101 17D5 hex Refer to Section 3 6 Command Area for details on the command area 4 3 2 Command Specifications This sec...

Page 249: ...n When task 1 is not being executed in memory Execution Flag OFF and none of the axes is moving Busy Flags OFF then the data will be saved to flash memory Caution Do not attempt to save data to flash memory during program execution or while a motor is operating Doing so can result in unexpected operation Note It normally requires from one to two seconds to save data to flash memory but a maximum o...

Page 250: ...2 Data Transfer Words 226 5 1 3 Flash Memory 227 5 1 4 Restart Flags 227 5 1 5 MC Unit Initialization 227 5 2 Controlling the MC Unit from the CPU Unit 228 5 2 1 Manual and Automatic Modes 228 5 2 2 Manual Mode 230 5 2 3 Automatic Mode 232 5 3 PLC Interface Area 237 5 3 1 PLC Interface Area Lists 237 5 4 Interface Specifics 260 5 4 1 System Controls 261 5 4 2 Controls Common to All Tasks 265 5 4 3...

Page 251: ...rds System parameters Unit parameters Memory control parameters Mechanical specifications pa rameters Coordinate system parameters Feed rate parameters Zone parameters Servo parameters Internal memory data area Address See note 1 Position data Corresponding to A0000 to A1999 Monitor information Error codes I O monitoring Task status Present position Error counter values etc Autoloading Servo Drive...

Page 252: ...s set words are allocated in the CPU Unit s Special I O Unit relay area This area is used to output operation commands to the MC Unit and to receive inputs on the operational status of the MC Unit pages 224 and 225 Data transfer words The words designated in the INTELLIGENT I O WRITE IOWR or INTELLIGENT I O READ IORD instruction When data is transferred between the CPU Unit and the MC Unit only an...

Page 253: ...ELLIGENT I O READ instruction When data is transferred between the CPU Unit and the MC Unit only words for the amount of data transferred are used Refer to Section 4 Data Transfer and Storage for details on the data transfer words CS1W MC221 n CIO 2000 10 unit number I O Word address Output n to n 9 Input n 10 to n 25 n 26 to n 29 Reserved Unit 0 Unit 1 Unit 2 Unit 3 CIO 2000 to CIO 2029 CIO 2010 ...

Page 254: ...it Initial ization Flag will be turned ON When the MC Unit is started up immediately after power to the PLC is turned ON confirm that the Special I O Unit Initialization Flag is OFF before continu ing with operation Note 1 Make sure that the correct data is used 2 Confirm the safety of the equipment before attempting to make changes to the PLC Interface Area settings Bit address Function A50200 to...

Page 255: ...ng charts and ladder programming examples Note 1 Resetting the Error Counter and Servo unlock operations can also be per formed in Automatic Mode 2 Presetting the Present Position is performed using the IOWR instruction Automatic Mode uses G language programs in the MC Unit Function Reference Deceleration Stop 280 Origin Searches 281 Section 10 Reference Origin Returns 282 Jogging 283 Resetting th...

Page 256: ...indicated as follows in the above table A transition in the bit from 0 OFF to 1 ON See note A transition in the bit from 1 ON to 0 OFF See note 1 ON 0 OFF Note Transitions in bits are determined in the MC Unit and are not always detect able when using the DIFU and DIFD instructions in the program in the CPU Unit Name MCU Model Word Bit Description Task 1 Task 2 Task 3 Task 4 Automatic Manual Mode ...

Page 257: ... the Error Counter Name of bit Model PLC Interface Area Bit Description X axis Y axis Z axis U axis Servo unlock MC421 MC221 MC421 MC221 n 11 n 7 n 11 n 7 10 Deceleration Stop 00 Error Counter Reset 04 Origin Search 01 Reference Origin Return 02 Jogging 03 Forced Origin Set 05 Absolute Origin Set 06 Enable MPG 08 Servo lock 09 n 13 n 9 n 15 Increasing priority Decreasing priority n 17 n 17 n 17 St...

Page 258: ...made while the corresponding command on the left side of the table is being exe cuted Busy Flag The Busy Flag is turned ON when a command is being executed and turned OFF when the command is completed Deceleration Stop is the only com mand that can be received while this flag is ON Sequence programs should be written so that other commands will not be executed while the commands that cannot be int...

Page 259: ...ind of ladder program used to execute an MC program This program is the minimum required to execute the MC program Add the program elements needed for your actual application Use work bits for inputs R1 R2 R3 and R4 In the sample program program number P001 is executed in task 1 Change the task and program number if necessary Task Automatic Mode Program number set Program number read Cycle start 1...

Page 260: ... Flag goes ON when the MC program has been completed The Program Execution Flag will go OFF when this flag is turned ON even if the Cycle Start Bit remains ON Related Bits Cycle Start Bit Program Execution Flag Cycle Start Bit Program Execution Completed Flag Program Execution Flag Name of bit Model PLC Interface Area Bit Description Task 1 Task 2 Task 3 Task 4 Program Number MC421 MC221 n 2 n 2 n...

Page 261: ...he DIFU and DIFD instructions in the program in the CPU Unit Automatic Mode Flag MC421 MC221 n 23 n 15 n 27 n 19 n 30 n 34 02 Program Execution Flag 04 Program Execution Completed Flag 05 Cycle Start Received Flag 09 Name of bit Model PLC Interface Area Bit Description Task 1 Task 2 Task 3 Task 4 1 The Unit is in Automatic Mode 0 Mode other than the above 1 Program execution 0 Other than the above...

Page 262: ... R3 n 3 01 DIFU 13 R1 DIFU 13 R2 DIFU 13 R4 n 3 02 MOV 21 0005 n 2 n 3 07 R2 R1 Cycle Start Bit Program P005 is executed in task 1 in this example Program Number Read Bit n 15 09 Pause button Pause Automatic Manual Mode Automatic Manual Mode Bit Work Bit Work Bit n 3 05 n 15 05 Program Execution Completed Flag Program start button n 15 04 Program Execution Flag Work Bit n 22 02 X axis Servo lock O...

Page 263: ...CIO 200307 Task Error Flag n 10 14 CIO 201014 CIO 201814 Automatic Mode Flag n 15 04 CIO 201502 CIO 202302 Program Execution Flag n 15 02 CIO 201504 CIO 202304 Program Execution Completed Flag n 15 05 CIO 201505 CIO 202305 Cycle Start Received Flag n 15 09 CIO 201509 CIO 202309 Automatic Manual Mode CIO 000100 Program start button CIO 000101 Pause button CIO 000102 High level Automatic Manual Mode...

Page 264: ...ed using the DIFU DIFD instructions CS1W MC221 CS1W MC221 PLC Interface Area Outputs CPU Unit to MC Unit n CIO 2000 10 x unit number words Word Contents Bit Description Page n System Controls 00 General Output 1 Brake Output X 1 Output port turned ON 261 0 Output port turned OFF 01 General Output 2 Brake Output Y 1 Output port turned ON 261 0 Output port turned OFF 02 General Output 3 1 Output por...

Page 265: ...1 Optional Input 7 turned ON 265 0 Optional Input 7 turned OFF 08 Optional Input 8 1 Optional Input 8 turned ON 265 0 Optional Input 8 turned OFF 09 Optional Input 9 1 Optional Input 9 turned ON 265 0 Optional Input 9 turned OFF 10 Optional Input 10 1 Optional Input 10 turned ON 265 0 Optional Input 10 turned OFF 11 Optional Input 11 1 Optional Input 11 turned ON 265 0 Optional Input 11 turned OFF...

Page 266: ...t 06 M Code Reset Bit Resets the M code 275 1 M code reset standby Prohibits M code output Maintains status Clears standby status and starts executing the next command 07 Program Number Read Bit 1 Reads the program number 277 08 Not used 09 Teaching Bit Starts teaching 277 10 Teaching Type Bit 1 Present position feedback value 278 0 Target position 11 to 15 Not used CS1W MC221 PLC Interface Area O...

Page 267: ...the next command 07 Program Number Read Bit 1 Reads the program number 277 08 Not used 09 Teaching Bit Starts teaching 277 10 Teaching Type Bit 1 Present position feedback value 278 0 Target position 11 to 15 Not used n 6 X axis Control Bits 00 to 15 Man ual Auto 279 CS1W MC221 PLC Interface Area Outputs CPU Unit to MC Unit n CIO 2000 10 x unit number words Word Contents Bit Description Page Task ...

Page 268: ...Not used 08 Man ual Enable MPG Sync Encoder Starts MPG sync encoder operation 292 1 Continues MPG sync encoder operation Stops MPG sync encoder operation 09 Man ual Servo lock Locks the servo 293 10 Man ual Auto Servo unlock Clears the servo lock Enables normal reception 296 11 Man ual Auto Driver Alarm Reset 1 Turns ON the driver alarm reset output 298 0 Turns OFF the driver alarm reset output 12...

Page 269: ...U Unit to MC Unit n CIO 2000 10 x unit number words Word Contents Bit Description Page Y axis override 0001 to 07CF 4 digit Hex Decimal 0001 to 1999 Decimal 0001 to 1999 0 1 to 199 9 0 1 increments x160 x161 x162 x163 Specifies the override for axis operations This override value is used while the override setting is enabled ...

Page 270: ... Not used 08 Man ual Enable MPG Sync Encoder Starts MPG sync encoder operation 292 1 Continues MPG sync encoder operation Stops MPG sync encoder operation 09 Man ual Servo lock Locks the servo 293 10 Man ual Auto Servo unlock Clears the servo lock 296 11 Man ual Auto Driver Alarm Reset 1 Turns ON the driver alarm reset output 298 0 Turns OFF the driver alarm reset output 12 Man ual Auto Override S...

Page 271: ...0 The Teaching Box is not in enable mode 12 Teaching Box in Protect Mode 1 The Teaching Box is in protect mode 306 0 The Teaching Box is not in protect mode 13 Not used 14 Error Flag 1 An error has occurred 307 Error Reset is ON 0 No error has occurred 15 Autoloading Time Up 1 Communications not possible even after waiting for the monitoring time period set in the system parameters 308 Autoloading...

Page 272: ...Signal is OFF 10 to 12 Not used 13 Teaching Completed 1 Teaching has been completed 316 Teaching command is OFF 14 Teaching Error 1 A teaching error occurred 316 OFF when the next teaching command has been completed normally or teaching address setting has been completed 15 Teaching Address Over 1 The teaching address was too high 317 OFF when the next teaching command has been completed normally ...

Page 273: ... Signal is OFF 10 to 12 Not used 13 Teaching Completed 1 Teaching has been completed 316 Teaching command is OFF 14 Teaching Error 1 A teaching error occurred 316 OFF when the next teaching command has been completed normally or teaching address setting has been completed 15 Teaching Address Over 1 The teaching address was too high 317 OFF when the next teaching command has been completed normally...

Page 274: ...N 323 0 The driver alarm input is OFF 08 Zone 1 Flag 1 Within zone 1 323 0 Outside of zone 1 09 Zone 2 Flag 1 Within zone 2 323 0 Outside of zone 2 10 Zone 3 Flag 1 Within zone 3 323 0 Outside of zone 3 11 Zone 4 Flag 1 Within zone 4 323 0 Outside of zone 4 12 Zone 5 Flag 1 Within zone 5 323 0 Outside of zone 5 13 Zone 6 Flag 1 Within zone 6 323 0 Outside of zone 6 14 Zone 7 Flag 1 Within zone 7 3...

Page 275: ...nput is OFF 08 Zone 1 Flag 1 Within zone 1 323 0 Outside of zone 1 09 Zone 2 Flag 1 Within zone 2 323 0 Outside of zone 2 10 Zone 3 Flag 1 Within zone 3 323 0 Outside of zone 3 11 Zone 4 Flag 1 Within zone 4 323 0 Outside of zone 4 12 Zone 5 Flag 1 Within zone 5 323 0 Outside of zone 5 13 Zone 6 Flag 1 Within zone 6 323 0 Outside of zone 6 14 Zone 7 Flag 1 Within zone 7 323 0 Outside of zone 7 15 ...

Page 276: ... port turned ON 261 0 Output port turned OFF 02 Manual Auto General Output 3 Brake Output Z 1 Output port turned ON 261 0 Output port turned OFF 03 Manual Auto General Output 4 Brake Output U 1 Output port turned ON 261 0 Output port turned OFF 04 Not used 05 Manual Auto Autoloading Error Reset Bit Resets an autoloading error 262 06 Not used 07 Manual Auto Error Counter Function Selection Bit 1 Er...

Page 277: ...1 Optional Input 7 turned ON 265 0 Optional Input 7 turned OFF 08 Manual Auto Optional Input 8 1 Optional Input 8 turned ON 265 0 Optional Input 8 turned OFF 09 Manual Auto Optional Input 9 1 Optional Input 9 turned ON 265 0 Optional Input 9 turned OFF 10 Manual Auto Optional Input 10 1 Optional Input 10 turned ON 265 0 Optional Input 10 turned OFF 11 Manual Auto Optional Input 11 1 Optional Input...

Page 278: ...us Clears standby and starts executing the next command 07 Manual Auto Program Number Read Bit 1 Reads the program number 277 08 Manual Auto Not used 09 Manual Auto Teaching Bit Starts teaching 277 10 Manual Auto Teaching Type Bit 1 Present position feedback value 278 0 Target position 11 to 15 Not used n 4 Control Bits for Task 2 00 to 15 Task 2 program number 0000 to 03E7 4 digit hexadecimal Dec...

Page 279: ...for Task 3 Refer to Control Bits for Task 1 in n 3 266 n 8 Control Bits for Task 4 00 to 15 Task 4 program number 0000 to 03E7 4 digit hexadecimal Decimal 0000 to 0999 Refer to Control Bits for Task 1 in n 2 266 n 9 00 to 15 Control Bits for Task 4 Refer to Control Bits for Task 1 in n 3 266 CS1W MC421 PLC Interface Area Outputs CPU Unit to MC Unit n CIO 2000 10 x unit number words Word Contents B...

Page 280: ...er operation Stops MPG sync encoder operation 09 Manual Auto Servo lock Starts servo lock 293 10 Manual Auto Servo unlock Clears the servo lock Enables normal reception 296 11 Manual Auto Driver Alarm Reset 1 Turns ON the driver alarm reset output 298 0 Turns OFF the driver alarm reset output 12 Manual Auto Override Setting 1 Enables the override setting 299 0 Disables the override setting 13 Manu...

Page 281: ...Decimal 0001 to 1999 Decimal 0001 to 1999 0 1 to 199 9 0 1 increments Refer to X axis Control Bits in n 10 279 n 15 00 to 15 Z axis Control Bits Refer to X axis Control Bits in n 11 280 n 16 U axis Control Bits 00 to 15 U axis override 0001 to 07CF 4 digit hex Decimal 0001 to 1999 Decimal 0001 to 1999 0 1 to 199 9 0 1 increments Refer to X axis Control Bits in n 10 279 n 17 00 to 15 U axis Control...

Page 282: ...sh memory 305 Data transmission to the flash memory has been completed 11 Teaching Box in Enable Mode 1 The Teaching Box is in enable mode 306 0 The Teaching Box is not in enable mode 12 Teaching Box in Protect Mode 1 The Teaching Box is in protect mode 306 0 The Teaching Box is not in protect mode 13 Not used 14 Error 1 An error has occurred 307 Error Reset is ON 0 No error has occurred 15 Autolo...

Page 283: ...10 x unit number words Word Contents Bit Description Page Error code 4 digit Hex x160 x161 x162 x163 Normal 0000 The above is the error code format of the MC Unit An error code is valid while the Error Flag is ON If an error occurs check the error type data to find the type of error such as a system tasks 1 to 4 X axis to U axis error ...

Page 284: ...t Signal is OFF 10 to 12 Not used 13 Teaching Completed 1 Teaching has been completed 316 Teaching command is OFF 14 Teaching Error 1 A teaching error occurred 316 OFF when the next teaching command has been completed normally or teaching address setting has been completed 15 Teaching Address Over 1 A teaching address was too high 317 OFF when the next teaching command has been completed normally ...

Page 285: ...k 1 Status Flags in n 23 310 n 32 Task 4 Status Flags 00 to 15 Task 4 M code 0000 to 03E7 4 digit hex Decimal 0000 to 0999 Refer to Task 1 M code in n 20 309 n 33 00 to 15 Task 4 Executing program number 0000 to 03E7 4 digit hex Refer to Task 1 Executing program number in n 21 310 n 34 00 to 15 Task 4 Executing block number 0000 to 03E7 4 digit hex Refer to Task 1 Executing block number in n 22 31...

Page 286: ...arm input is ON 323 0 The driver alarm input is OFF 08 Zone 1 Flag 1 Within zone 1 323 0 Outside of zone 1 09 Zone 2 Flag 1 Within zone 2 323 0 Outside of zone 2 10 Zone 3 Flag 1 Within zone 3 323 0 Outside of zone 3 11 Zone 4 Flag 1 Within zone 4 323 0 Outside of zone 4 12 Zone 5 Flag 1 Within zone 5 323 0 Outside of zone 5 13 Zone 6 Flag 1 Within zone 6 323 0 Outside of zone 6 14 Zone 7 Flag 1 W...

Page 287: ...n n 38 318 n 45 n 46 U axis Status Flags 00 to 15 U axis present position 32 bit signed data The present position of the reference coordinate system is output The position of the decimal point is determined by the system parameter settings n 42 Rightmost 16 bits n 43 Leftmost 16 bits Refer to X axis present position in n 36 and n 37 318 n 47 00 to 15 U axis Status Refer to X axis Status in n 38 31...

Page 288: ...be effective If the servo is locked changes in the bit status will be ignored Also if the servo is locked for an axis when the brake output is ON changes in the bit status will be ignored as long as the servo remains locked The CS1W MC221 does not have brake outputs X and U Caution If a brake output is being used for a vertical axis and the Brake Output Bit is turned ON for that axis when the serv...

Page 289: ... Autoloading Error Flag n 10 05 n 18 05 turns OFF Autoloading can be controlled using the IOWR instruction Refer to 4 1 Data Transfer and Storage Overview and 6 16 Automatic Loading for details Servo locked Servo unlocked Brake Output X on I O connector Brake Output X n 00 Servo lock n 22 02 n 38 02 Ignored while servo is locked General Output 1 on I O connector General Output 1 n 00 n 00 Conditio...

Page 290: ... 10 05 n 18 05 Autoloading n 10 04 n 18 04 Autoloading Time Up n 10 15 n 18 15 Error detected during autoloading CX Motion received job number and started auto loading operation Communications not restarted with in time up time here 10 s after autoloading was started Possible cable brake noise corrupt data etc Autoloading completed normally DIFU 13 R1 n 05 n 05 R1 Work Bit Condition to reset error...

Page 291: ...the warning value set in the system parameters This warning signal will be received either in the Manual Mode or Automatic Mode An error counter overflow error will occur when the contents of the error counter exceeds 65 535 pulses regardless of the setting of the Error Counter Function Selection Bit Signal Meaning 1 Error counter warning 0 Error counter error detection Output Ports Set for Brake ...

Page 292: ...n executing the OPTIONAL END G74 OPTIONAL SKIP G75 or OPTIONAL PROGRAM Word Bit I O Valid mode MC221 MC421 n 14 Output Manual or Auto Signal Function Resets MC Unit error XXXX Error Reset n 14 Error Flag n 10 14 n 18 14 Error Type Data n 10 00 to 03 n 18 00 to 03 Error Code n 11 n 19 T Another error during this period will not turn the bit ON until the Error Reset Bit is turned OFF 0000 XXXX DIFU ...

Page 293: ...00 to 0999 decimal When the Program Number Read Bit is ON the program numbers in these words will be read when the Cycle Start Bit is turned ON and the program will be executed from the beginning Timing Chart Programming Example Refer to the description of the Cycle Start Bits on page 268 Signal Function 1 Turns ON the optional input 0 Turns OFF the optional input Output condition OUT Optional Inp...

Page 294: ...ram will be stopped if it is being executed The program will be restarted from the block where it was stopped if the mode is switched back to automatic Timing Chart Programming Example Word Task Bit I O Valid mode MC221 MC421 n 3 Task 1 01 Output Manual or Auto n 5 Task 2 n 7 Task 3 n 9 Task 4 Signal Function Any axes operating in Manual Mode will be decelerated to a stop 1 Automatic Mode Any MC p...

Page 295: ...he Cycle Start Bit is OFF the program will be stopped In Pass operation the next block will be executed even if the Cycle Start Bit is OFF but the program will be stopped after the next block has been completed With In position Check OFF Mode as with Pass operation the next block will be executed even if the Cycle Start Bit is OFF but the program will be stopped after the next block has been compl...

Page 296: ...m Number Read Bit n 3 07 Program execution Normal Operation Pass Operation Cycle Start Bit Program execution The Cycle Start Bit is OFF so execution is stopped after N005 has been completed Axis operation Speed Time N003 G01 X100 F100 N004 G01 X300 F200 N005 G01 X400 F100 OFF Stop P001 execution P002 execution ...

Page 297: ... Servo lock ON Y axis Servo lock ON Automatic Manual Mode condition Work Bit The X and Y axes are used in this example Program start input OUT Automatic Manual Mode Bit Work Bit n 3 01 DIFU 13 R2 Work Bit n 15 04 Program Execution Flag DIFU 13 R2 n 15 05 n 22 02 R4 Work Bit n 25 02 n 3 05 Program Execution Flag R1 n 15 04 n 3 05 Pause Program No Setting n 2 n 3 07 n 3 02 OUT Pause OUT Program Numb...

Page 298: ...nds were executed in Manual Mode Examples An origin search was executed Jogging was executed A servo lock was executed c The Cycle Start Bit was turned ON to continue operation after return ing to Automatic Mode For example the following type of operation is possible The program can be temporarily suspended while moving to X10000 and stopped at a position before the demand position e g X500 The mo...

Page 299: ...ingle Block Bit is turned ON during Pass operation the next block will be completed before program execution is paused If the Single Block Bit is ON when decelerating with the OPTIONAL STOP command program execution will be paused after decelerating to a stop Timing Chart Programming Example Note Refer to the programming example for the Cycle Start Bits on page 268 Word Task Bit I O Valid mode MC2...

Page 300: ...Start Bit is disabled as long as the Forced Block End Bit is ON The program won t be executed when the Cycle Start Bit is turned ON if the Forced Block End Bit is ON The Forced Block End Bits have higher priority than Pause Bit n 1 bit 05 If both of these bits go ON at the same time the block end will be ended Keep a Forced Block End Bit ON until the Program Execution Flag turns OFF Timing Chart W...

Page 301: ...he program won t be executed when the Cycle Start Bit is turned ON if the Pause Bit is ON The Pause Bits have a lower priority than the Forced Block End Bits If both of these bits go ON at the same time the block will be ended Keep the Pause Bit ON until the Program Execution Flag turns OFF DIFU 13 R1 n 3 04 n 3 04 R1 n 15 04 n 23 04 Work Bit Block end condition Program Execution Flag Forced Block...

Page 302: ...ned OFF Keep the M Code Reset Bit ON until the M Strobe Flag turns OFF If the M Code Reset BIt is already ON when a block is executed that block s M code won t be output Cycle Start BIt n 3 02 Program execution Pause BIt n 3 05 The Cycle Start Bit has no effect because the Pause Bit is ON Program Execution Flag n 15 04 Program Number Read Bit n 3 07 OFF for continuous operation DIFU 13 R1 n 3 05 R...

Page 303: ...s M500 to M999 will be reset 1 M code output prohibited Program execution will continue if there is no M code waiting to be reset Clears the M code and starts execution of the next command M Code Reset Bit n 3 06 Program execution M Code n 12 n 20 M Strobe n 15 08 n 23 08 DIFU 13 R1 n 3 06 R1 Work Bit OUT Resets the M code Reset condition n 15 08 n 23 08 M Strobe n 3 06 M Code Reset Bit M Code Res...

Page 304: ...read the reference coordinate system position into the position data address according to the Teaching Type Bit specification Target Position or Present Position Feedback Value When a bit is turned ON the present position is read as the position data and then the teaching addresses stored in memory for the axes in the task are incremented The bit must be kept ON until the Teaching Completed Flag t...

Page 305: ... turned ON Maintain the status of the Teaching Type Bit until the Teaching Completed Flag turns ON Timing Chart Programming Example Word Task Bit I O Valid mode MC221 MC421 n 3 Task 1 10 Output Manual or Auto n 5 Task 2 n 7 Task 3 n 9 Task 4 Signal Function 1 Specifies the present position feedback value 0 Specifies the target position Teaching Bit n 3 09 Teaching Completed Flag n 15 13 n 23 13 Te...

Page 306: ...ied in these words are applied whenever the overrides are enabled with the Override Setting Bit The overrides are specified as 4 digit hexadecimal values in the following form The setting must be between 0001 and 07CF hex 0001 to 1999 decimal cor responding to 0 1 to 199 9 Refer to the Override Setting Bits on page 299 for the types of axis feed oper ations for which the overrides are effective Ta...

Page 307: ...received as long as the bit is ON This disabling function can be used when interlocking and is also valid for manual commands that don t involve axis operations Jogging Bit n 7 03 n 11 03 Jogging Direction n 7 13 n 11 13 Override Bit Setting n 7 12 n 11 12 Override n 6 n 10 Override Function Selection 0000 Hex Default Override Function Selection 0001 Hex See note Jogs at designated override 50 0 N...

Page 308: ... Flag is ON The origin search operation will be stopped if the Origin Search Bit is turned OFF while the search is in progress Keep the bit ON until the No Origin Flag turns OFF When the Origin Search Method machine parameter has been set to set the origin at power ON that position will be the origin for manual origin searches Jogging Bit n 7 03 n 11 03 Deceleration Stop Bit n 7 00 n 11 00 Axis Op...

Page 309: ... be returned to even if the origin has not been established The bit is ignored if the Busy Flag is ON Keep the bit ON until the Reference Origin Flag turns ON Axis operation Busy Flag n 22 01 n 38 01 Origin search Origin Search Bit n 7 01 n 11 01 No Origin Flag n 22 03 n 38 03 DIFU 13 R1 DIFU 13 R2 n 7 01 n 11 01 Origin Search BIt R2 n 15 03 Manual Mode Flag n 23 03 Task Error Flag n 15 00 n 23 00...

Page 310: ...tware limits b At the software limits the axis will stop after using up the accumulated pulses in the error counter Mechanical Origin Not Established or Set to Unlimited Axis Mode Jogging can be performed without limit Axis operation Busy Flag n 22 01 n 38 01 Origin return Reference Origin Return Flag n 7 02 n 11 02 Reference Origin Flag n 22 00 n 38 00 DIFU 13 R1 n 7 02 n 11 02 Reference origin r...

Page 311: ...oes stop provided that the Error Counter Reset Bit is still ON The present positions will be updated even when the error counter is reset to 0 The Busy Flag will turn ON when the Error Counter Reset Bit is turned ON and will turn OFF when the Error Counter Reset Bit is turned OFF Signal Function Starts jogging Stops jogging Jogging n 7 03 n 11 03 Jog direction n 7 13 n 11 13 Jog operation Busy Fla...

Page 312: ...Inputs from CPU Unit Outputs from MC Unit Speed reference Error counter pulses Time Jogging enabled It is assumed that the axis activated the clockwise limit switch and struck a mechanical stopper at this point The speed will be immediately reduced to 0 but the pulses in the error counter will remain preventing the Positioning Completed Flag from turning ON The Jogging Bit is turned OFF and the Er...

Page 313: ...g example shows linear interpolation on the X axis in Stop Mode The same functionality and timing is used for linear interpolation for multiple axes or for circular interpolation In this example it is assumed that the error counter warning function has been set for the error counter ...

Page 314: ...is checked when the speed reference for N020 has been output completely If the Error Counter Reset Bit is ON the error counter will be reset to 0 and program execution will be paused as long as the bit re mains ON Program execution is re started from N030 when the Error Counter Reset Bit is turned OFF Error Counter Reset Bit was turned ON during speed refer ence output for N020 Error Counter Funct...

Page 315: ...Pass Mode N000 P000 X N010 G01 X100 F100 Pass Mode default N020 G01 X400 F150 N030 G11 Stop Mode specified N040 G01 X100 F50 etc Speed reference Program execution is restarted when Error Counter Reset Bit is turned OFF Time Error Counter Reset Bit The error counter is reset here The error counter is reset here Speed reference Time Error Counter Reset Bit Pass Mode Stop Mode ...

Page 316: ...or the specified axis assuming that the Error Counter Reset Bit is still ON Wait for the other axes to complete positioning If an Error Counter Reset Bit is ON when all axes have stopped program execution will be paused Turn OFF the Error Counter Reset Bit to start program execution from the next block If the Error Counter Reset Bit is ON when a origin search is completed G28 the error counter wil...

Page 317: ...n won t be set to 0 and an error will occur if the position of the origin is not within the software limits Caution The Forced Origin operation for the absolute encoder axis applies only to the present position registered in the MC Unit The present position registered in the absolute encoder will not be changed Therefore the position will be auto matically updated to the present position registere...

Page 318: ...chine specification parameters and the present posi tion in the MC Unit is set to 0 The current system parameters are then saved in non volatile memory Incremental Encoder If an incremental encoder is being used the current system parameters are saved in non volatile memory and nothing else is performed Timing An Absolute Origin Set Bit is ignored when the Busy Flag is ON Keep the bit ON until the...

Page 319: ... bit is ignored if the Busy Flag is ON Timing Chart ABS Origin Set n 7 06 n 11 06 Busy Flag n 22 01 n 38 01 Present Position n 20 n 21 n 36 n 37 Word Axis Bit I O Valid mode MC221 MC421 n 7 n 11 X axis 08 Output Manual n 9 n 13 Y axis n 15 Z axis n 17 U axis Signal Function Starts MPG sync encoder operation 1 Continues MPG sync encoder operation Stops MPG sync encoder operation Enable MPG Sync Enc...

Page 320: ... if the Busy Flag is ON Keep the bit ON until the Servo lock Flag turns ON and then turn it OFF when the Servo lock Flag turns ON The following can be set for the servo lock operation in system parameters Output port setting general output brake output brake OFF time wiring check wiring check time and wiring check pulses Refer to 3 3 System Parameters for details Caution When using an absolute enc...

Page 321: ... command and turn ON the brake signal releasing the brake The wiring check is started after Tboff expires The wiring check pulses are output clockwise If clockwise movement starts within Ts the pulses are output coun terclockwise If the in position range is reached within Ts the wiring is judged to be nor mal The Busy Flag will not turn OFF until Tboff expires after the Servo lock Bit turns OFF Tb...

Page 322: ...it is turned ON in the CPU Unit to create a position loop and output the RUN command 2 The wiring check is started after Tboff expires 3 The wiring check pulses are output clockwise If clockwise movement starts within Ts the pulses are output coun terclockwise If the in posi tion range is reached within Ts the wiring is judged to be normal 4 The Busy Flag is turned OFF RUN command to Servo Driver ...

Page 323: ...FF the bit when the Servo lock Flag turns OFF Be sure that the servo axis does not fall when the servo is unlocked The following can be set for the servo unlock operation in system parameters Output port setting general output brake output and brake ON time Refer to 3 3 System Parameters for details The timing of the servo lock operation is shown in the following illustrations DIFU 13 R1 n 7 09 n ...

Page 324: ...ock RUN command to Servo Driver Brake signal output Keep the Servo unlock Bit ON until the Servo lock Flag turns OFF Tbon Brake ON time 1 The Servo unlock Bit is turned ON in the CPU Unit to turn OFF the brake signal applying the brake 2 After Tbon expires the posi tion loop is released and the RUN command to the Servo Driver is turned OFF Servo unlock n 7 10 n 11 10 Servo lock ON n 22 02 n 38 02 ...

Page 325: ... Reset Output turns ON as well Keep the bit ON until the Driver Alarm Input turns OFF Timing Chart Programming Example Signal Function Servo unlock operation started n 7 10 n 11 10 OUT Clears the servo lock Servo lock unlock condition Word Axis Bit I O Valid mode MC221 MC421 n 7 n 11 X axis 11 Output Manual or Auto n 9 n 13 Y axis n 15 Z axis n 17 U axis Signal Function 1 Turns ON the Driver Alarm...

Page 326: ...9 but not within the setting ranges given above it will automatically be adjusted to maximum value in the range When the power is turned ON and the override setting isn t enabled with an Override Setting Bit the override will be set to 100 0 automatically Word Axis Bit I O Valid mode MC221 MC421 n 7 n 11 X axis 12 Output Manual or Auto n 9 n 13 Y axis n 15 Z axis n 17 U axis Mode Operation Setting...

Page 327: ...election 0000 Hex Default Override Function Selection 0001 Hex See note Jogs at designated override 50 0 Note Can be used with Unit Ver 1 15 or later and with Units whose model number ends in V1 Unit Ver 1 14 or earlier will use default operation Jogs at 100 regardless of designated override Jogs at designated override 50 0 500 50 0 n 7 13 n 11 13 n 7 03 n 11 03 OUT Sets the override OUT Sets the ...

Page 328: ... The Error Type Data can be used to identify the task and axis for which an error occurred when the Error Flag n 10 14 n 18 14 turns ON An error code will also be stored in n 11 n 19 Word Axis Bits I O Valid mode MC221 MC421 n 7 n 11 X axis 14 15 Output Manual n 9 n 13 Y axis n 15 Z axis n 17 U axis Bit 14 Bit 15 MPG ratio used OFF OFF Ratio 1 in the Feedrate Parameters ON OFF Ratio 2 in the Feedr...

Page 329: ... ladder program The flag will turn OFF when all of the data has been downloaded This flag will turn OFF if the Autoloading Error Reset Bit is turned ON Error code Error Flag n 10 14 n 18 14 Error Type Data n 10 00 n 18 00 Error Code n 11 n 19 Task 2 Error n 19 00 n 27 00 Task 1 Error n 15 01 n 23 00 n 10 01 n 18 01 n 10 02 n 18 02 n 10 03 n 18 03 Word Bit I O Valid mode MC221 MC421 n 10 n 18 04 In...

Page 330: ...m Nonexistence of specified position data Error in MC Unit The Autoloading Time Up Flag will be turned ON if communications are not possible within the monitor time set in the system parameters Word Bit I O Valid mode MC221 MC421 n 10 n 18 05 Input Autoloading command IOWR instruction Autoloading Error Reset n 05 Autoloading Error n 10 05 n 18 05 Autoloading n 10 04 n 18 04 Autoloading Time Up n 1...

Page 331: ...of executing the Position Data Write Command 17D6 hex for the Command Area using the IOWR instruc tion in the ladder diagram Using the IOWR instruction for any address other than 17D6 hex will not affect this flag regardless of the results Timing Chart Refer to the timing chart for the IOWR instruction in 4 2 IOWR and IORD Specifications Data Reception Flag The Data Reception Flag will turn ON whe...

Page 332: ...t for the IOWR instruction in 4 2 IOWR and IORD Specifications Flash Memory Write Flag The Flash Memory Write Flag turns ON while writing data to the MC Unit as a result of executing a Flash Memory Write Command 17D4 or 17D5 hex for the Command Area using the IOWR instruction in the ladder diagram The Error Flag n 10 14 n 18 14 will turn ON if an error occurs while writing to flash memory The Flas...

Page 333: ...rotect Mode Flag is ON when the Teaching Box is in Protect Mode Use this flag as a condition to interlock the ladder program for this mode No operations except the Error Counter Function Selection can be performed from the CPU Unit when this flag is ON Refer to the Teaching Box Operation Manual W320 for more details on the Teaching Box s Protect Mode IOWR execution ER Flag Flag One cycle or less N...

Page 334: ...e and for the following errors The Error Flag will turn ON at the completion of a deceleration stop for other errors Timing Chart The following timing chart shows the status when an error has occurred for task 1 Word Bit I O Valid mode MC221 MC421 n 10 n 18 14 Input 003C Driver alarm input 003E Clockwise overtravel 0043 Clockwise software limit 0048 Emergency stop input 0057 MPG ratio overflow 003...

Page 335: ...toloading Error Reset Flag You can prevent the Autoloading Time Up Flag from turning ON by increasing the Time Up Time or by setting the time to 00 when the time does not need to be monitored Timing Chart Word Bit I O Valid mode MC221 MC421 n 10 n 18 15 Input Signal Meaning 1 The communications interval with the CX Motion has exceeded the Time Up Time while autoloading The Autoloading Error Reset ...

Page 336: ... following form The M code will be valid when the M Strobe Flag is ON Timing Chart Refer to the timing chart for the M Strobe Flags on page 314 Tasks 1 to 4 Executing Program Numbers The program number of the program being executed or being paused in each task will be stored as a 4 digit hexadecimal value between 0000 and 03E7 decimal 0000 and 0999 in the following form Timing Chart Refer to the t...

Page 337: ... The Error Flag n 10 14 n 18 14 will be turned ON when a Task Error Flag is turned ON Timing Chart Refer to the timing chart for the Autoloading Error Flag on page 303 Automatic Mode Flags The Automatic Mode Flag will be ON when the task is in Automatic Mode Always make sure that this flag is ON when starting MC program execution with the Cycle Start Bit The Cycle Start Bit will be ignored if this...

Page 338: ...se commands will be ignored if this flag is OFF This flag won t be turned ON during system initialization even if an Manual Mode Command is received from the CPU Unit The flag will be turned ON when initialization has been completed and the Unit is able to received com mands in Manual Mode Initialization takes about 700 ms Timing Chart Refer to the timing chart for the Automatic Manual Mode Bits o...

Page 339: ...ution Flag turns OFF The Program Execution Flag will turn OFF when the Program Execution Com pleted Flag turns ON The Program Execution Completed Flag will be turned OFF again the next time the MC program is executed This bit will be turned OFF when the mode is switched from Automatic to Manual Mode but it will be turned ON again when the mode is switched back to Automatic Mode Timing Chart Signal...

Page 340: ...de Reset Standby Flag will be ON whether MC program execution has been stopped to wait for an M code to be reset When this flag is ON MC program execution won t continue until the M Code Reset Bit is turned ON and then OFF again The standby status occurs when an M code from 0 to 499 is output The Program Execution Flag will turn ON when the M Code Reset Standby Flag turns ON It is convenient to us...

Page 341: ... Waiting for an M code reset 0 Not waiting for an M code reset 0 Axis operation M strobe M code Waiting for an M code reset Specified value Word Task Bit I O Valid mode MC221 MC421 n 15 n 23 Task 1 08 Input n 19 n 27 Task 2 n 31 Task 3 n 35 Task 4 Signal Meaning 1 There is an M code being output 0 to 999 0 There isn t an M code output M Code Reset Bit n 3 06 Program execution M code output n 12 n ...

Page 342: ...ck execution Timing Chart M Code Reset Bit n 3 06 Program execution M code output n 12 n 20 M Strobe Flag n 15 08 n 23 08 ON so the M code isn t output Word Task Bit I O Valid mode MC221 MC421 n 15 n 23 Task 1 09 Input n 19 n 27 Task 2 n 31 Task 3 n 35 Task 4 Signal Meaning 1 A valid Cycle Start Bit signal has been received 0 The Cycle Start Bit is OFF Cycle Start Bit n 3 02 Cycle Start Received F...

Page 343: ...dress isn t between 0 and 1999 0 to 7CF hex Set the teaching address if both the Teaching Error Flag and the Teaching Address Overflow Flag turn ON at the same time Word Task Bit I O Valid mode MC221 MC421 n 15 n 23 Task 1 13 Input n 19 n 27 Task 2 n 31 Task 3 n 35 Task 4 Signal Meaning 1 Teaching has been completed even if an error has occurred The Teaching Bit has turned OFF Teaching Bit n 3 09 ...

Page 344: ...xes in task must be within the position data range for the task The current teaching address is set in the Command Area the number of axes in the task is set in the unit parameters and the task position data range is set in the memory man agement parameters Note The Teaching Address Overflow Flag will not be refreshed immediately after the IOWR instruction is executed Check the flag status in the ...

Page 345: ... 10 0 Reference Origin Flags A Reference Origin Flag will turn ON when the axis reaches or passes the ref erence origin and is within the in position range specified in the system parameters Teaching Bit n 3 09 Teaching Completed Flag n 15 13 n 23 13 Teaching Address Over n 15 15 n 23 15 Words Axis Bits I O Valid mode MC221 MC421 n 20 n 21 n 36 n 37 X axis 00 to 15 Input n 23 n 24 n 39 n 40 Y axis...

Page 346: ...s ON Timing Chart Word Axis Bit I O Valid mode MC221 MC421 n 22 n 38 X axis 01 Input n 25 n 41 Y axis n 44 Z axis n 47 U axis Signal Meaning Command execution has started in Manual Mode 1 The Manual Mode command is being processed The command s control bit has been turned OFF Reference Origin Return Bit n 7 02 n 11 02 Busy Flag n 22 01 n 38 01 The Busy Flag turns OFF after the Refer ence Origin Re...

Page 347: ...is turned ON and the machine parameter s origin search method isn t set to set origin at power on for an incremental axis Data from the absolute encoder was not read properly for an absolute axis A wiring error feedback pulse error or present position counter overflow resulted when the MC Unit is in origin search operation G29 ORIGIN UNDEFINED was executed The origin will be established and the No...

Page 348: ...xis is operating from the start of the acceleration command to the end of the deceleration command Use the Axis Operating Flag to determine when the axis has stopped after executing a Deceleration Stop Command Timing Chart The following example shows a trapezoidal reference output to the motor Signal Meaning 1 The reference origin has been established 0 The reference origin has not been establishe...

Page 349: ...peration is started the Positioning Completed Flag will be turned OFF at the same time that the Axis Operating Flag is turned ON Use the Positioning Completed Flag as a condition to check when the target position has been reached and the next command can be executed Timing Chart Error Counter Warning Flags The Error Counter Warning Flag are enabled when the Error Counter Func tion Selection is set...

Page 350: ... zone specified in the parameters Signal Meaning 1 The error counter exceeds the error counter warning value 0 The error counter is less than the error counter warning value Word Axis Bit I O Valid mode MC221 MC421 n 22 n 38 X axis 07 Input n 25 n 41 Y axis n 44 Z axis n 47 U axis Signal Meaning 1 The driver alarm input is ON 0 The driver alarm input is OFF Word Axis Bits I O Valid mode MC221 MC42...

Page 351: ...324 Interface Specifics Section 5 4 ...

Page 352: ... Processing 348 6 12 Override Function 349 6 13 Resetting the Error Counter 351 6 14 Servo Lock and Unlock 353 6 14 1 Timing Charts 354 6 14 2 Related System Parameters 355 6 15 Backlash Correction 356 6 15 1 Setting Backlash Correction 357 6 16 Automatic Loading 359 6 16 1 Executing Automatic Loading 360 6 16 2 Related Bits in the PLC Interface Area 362 6 17 Present Position Preset 363 6 17 1 Exe...

Page 353: ...terpolation on 1 2 3 or 4 axes 1 or 2 axes for MC221 The specified axes move simultaneously The feed rate can be specified Automatic G language G01 328 Circular interpolation Positions using two axes following an arc from the specified starting point to the specified end point Automatic G language G02 G03 331 Helical circular interpolation Adds another axis in parallel to circular interpolation Au...

Page 354: ...nlock Releases the position loop at the MC Unit Automatic manual Bit designation 353 Backlash correction Compensates for backlash in the mechanical system Automatic manual Command Area designation CX Motion 356 Automatic loading Downloads G language programs position data and system parameters to the MC Unit from an external memory device connected to a personal computer running CX Motion Automati...

Page 355: ...l If the travel time is shorter than the sum of acceleration time and deceleration time triangular control will occur as shown below The ratio of acceleration time and deceleration time in the triangular control will be the same as the ratio of acceleration time and deceleration time set in the feed rate parameters 6 3 Linear Interpolation Overview Mode Automatic Method G language G01 Positioning ...

Page 356: ...ecified interpo lation feed rate on the composite axial locus Interpolation deceleration time Time required until the speed control voltage drops to zero from the specified interpolation feed rate on the composite axial locus The acceleration time and deceleration time feed rate parameters are set either from the CX Motion or by using IOWR in the ladder program Unlike PTP control linear interpolat...

Page 357: ...e following diagram linear interpolation is executed for one axis only with the Constant Acceleration Mode turned ON Acceleration time Ta Specified interpolation feed rate x interpolation accel eration time maximum interpolation feed rate Deceleration time Td Specified interpolation feed rate x interpolation decel eration time maximum interpolation feed rate Time Interpolation deceleration time In...

Page 358: ... and deceleration times but the speed will become slower than the designated feed rate The ratio between the interpolation acceleration time and the deceleration time for triangular control is equal to the ratio between the preset interpolation acceleration time Ta and the deceleration time Td Td Ta Td Ta 6 4 Circular Interpolation Overview Mode Automatic Method G language G02 G03 Positioning for ...

Page 359: ...cal Circular Interpolation Overview Mode Automatic Method G language G02 G03 Helical circular interpolation adds another axis to circular interpolation It can not be used with CS1W MC221 MC Units For details on using helical circular interpolation with the G language refer to 7 3 3 G02 and G03 CIRCULAR INTERPOLATION With earlier MC Unit models helical circular interpolation was limited to a sin gl...

Page 360: ...olation acceleration time the interpolation deceleration time and triangular control are the same as for linear interpolation With helical circular interpolation the travel time is calculated giving priority to the feed rate along the arc For that reason the feed rate of the supplemental axis may exceed the maximum interpolation feed rate set in the system parameters If this occurs a SUP AXIS SP O...

Page 361: ...e refer to 7 3 14 G31 INTERRUPT FEEDING It is also possible to specify a travel distance at which to stop when there is no interrupt input Operation will normally stop with an error program execution interrupted after positioning but an S option can be used to execute the next block without an error occurring N010 G90 Absolute specification N011 G17 XY circular plane specification N012 G02 X100 Y2...

Page 362: ...h an error program execution interrupted after positioning If the S option is specified however the next block will be executed without an error occurring Example G31 x 100 200 F200 S Note 1 Interrupt feeding can be used to move only one axis Speed control Position control 100 mm travel General input 1 X axis speed 0 200 Time General input 1 X axis speed Speed control Position control 100 mm trave...

Page 363: ... layer is 36000 because one winding is equiv alent to 360 Example Application In this example the wire is wound around a spool on a winding machine The spool is turned in a fixed direction and the traverse axis is operated according to the settings for the traverse function Input number MC221 MC421 General input 1 For X axis interrupt feeding For X axis interrupt feeding General input 2 For Y axis...

Page 364: ...en continuous operations are specified the Stop Mode determines when positioning has been completed and then starts the next operation Pass Mode When continuous operations are specified the Pass Mode proceeds smoothly to the next operation without determining whether the present positioning has been completed In position Check OFF Mode When positioning is executed the In position Check OFF Mode st...

Page 365: ... the axis is controlled as shown below Example N010 G00 X100 Moves X axis to 100 mm point by PTP control N011 G00 X200 Moves X axis to 200 mm point by PTP control Positioning is completed when the error counter pulse falls within the in posi tion zone By using the In position Check OFF function it is also possible to start the next operation without waiting for positioning to be completed In this ...

Page 366: ...rpolation acceleration time or the interpolation deceleration time of the immediately preceding operation Only in case of linear interpolation for one axis acceleration during acceleration or pass operation may be set to a constant speed by selecting the Constant Acceleration Mode When the Constant Acceleration Mode is enabled this mode will be given pri ority for single axis pass operations regar...

Page 367: ...ation time of the immediately preceding operation Note The acceleration deceleration curve including that for arc interpolation will be trapezoidal even if an S curve is specified When the Pass Mode is selected the time required for movements is reduced because there is no need to determine whether positioning has been com pleted In Constant Acceleration Mode The Constant Acceleration Mode is enab...

Page 368: ...cording to the amount of change in the interpo lation feed rate The times can be determined by the following equations Acceleration time Change in interpolation feed rate x Interpolation accel eration time Maximum interpolation feed rate Deceleration time Change in interpolation feed rate x Interpolation decel eration time Maximum interpolation feed rate Block Ends in Pass Mode In Pass Mode the en...

Page 369: ...erations to be per formed This function contrasts with the Stop Mode in which the next positioning oper ation is not started until the present one has been completed To have positioning wait until the present operation is completed before the next one is started execute G11 STOP MODE For details refer to 7 3 7 G13 IN POSITION CHECK OFF MODE When In position Check OFF Mode Is Enabled Speed Time Not...

Page 370: ...per ated even if it is specified In this case the amount of relative movement is 0 Example 3 Operating from One Axis to Two Axes Operation in specified mode X axis Y axis Example 4 Operating from One Axis to Two Axes Operation in specified mode X axis Y axis G01 X100 F200 G01 X200 F400 N0000 P000 XY N001 G91 N002 G01 X100 F200 N003 G01 Y0 F400F400 The Pass Mode is specified but the next operation ...

Page 371: ...erent axes indicates that the axes that are operated are changed as when four axes are used for one task and linear interpolation is executed for the X and Y axes followed by traverse operation for the Z and U axes 2 This indicates cases such as executing ZU plane circular interpolation af ter XY plane circular interpolation 3 This indicates cases such as executing traverse operations after circul...

Page 372: ...ation For details refer to 7 3 22 G69 CHANGE PARAMETER The following parameters can be changed using this function Changeable Servo Parameters 5 Position loop gain 6 Position loop feed forward gain 7 In position 8 Accumulated pulse warning value Changeable Feed Rate Parameters 1 Acceleration time 2 Deceleration time 3 Interpolation acceleration time 4 Interpolation deceleration time Commands where...

Page 373: ... range error 0025 will occur if the travel amount is 0 Case 1 N010 G01 X100 F200 D100 X50 In this case D code 100 is output when the X axis is moved by 50 mm in the direction of the specified position Case 2 N010 G01 X200 F200 M600 X100 In this case M code 600 is output when the X axis is moved by 100 mm in the direction of the specified position Case 3 N010 G01 X100 F200 M700 D30 In this case D30...

Page 374: ...on will occur for the stopover function in the following cases The M code D code will not be output if the stopover is added to the oper ation before reversing operation and the specified position is not reached The M code D code will be output at the beginning of the overlapping sec tion if the stopover is added in the operation after reversing operation and a position in the overlapping area is ...

Page 375: ...g opera tion without stopping the operation For details on the stopover function refer to 6 10 Stopover Function Note This interrupt function can be used only when the MC Unit is mounted to the CPU Backplane It cannot be used if the MC Unit is mounted to an Expansion I O Rack When an interrupt task is used in the CPU Unit a setting must be made in the PLC Setup For details refer to the manual for ...

Page 376: ...ide function can be used for the following G codes G00 PTP CONTROL POSITIONING G01 LINEAR INTERPOLATION G02 G03 CIRCULAR INTERPOLATION G26 REFERENCE ORIGIN RETURN G27 WORKPIECE ORIGIN RETURN G28 ORIGIN SEARCH but only for movement for an origin offset G30 SPEED CONTROL G31 INTERRUPT FEEDING G32 TRAVERSE The following functions can be used in Manual Mode Jog feeding Manual origin return Override in...

Page 377: ...rcular interpolation in either the Pass Mode or the In position Check OFF Mode the speed cannot be changed in real time during operation Setting an Override To execute an override set the override in the PLC Interface Area and turn ON the Override Setting Bit The override will then be applied to subsequent operations PLC Interface Area Even if an override is set for a given axis it will be disable...

Page 378: ...r Manual Mode and it is executed from the PLC Interface Area In the examples shown here the Automatic Mode is used Refer to 5 3 PLC Interface Area for details Stop Mode N000 P000 X N010 G11 Specifies the Stop Mode N020 G01 X100 F100 tN030 G01 X200 F100 N040 G01 X300 F100 Pass Mode N000 P000 X N010 G01 X100 F100 Initial value Pass Mode N020 G01 X400 F150 Address R W Name Description MC221 MC421 17E...

Page 379: ...en jogging origin search and other operations are executed in Manual Mode In the following example linear interpolation is executed in Stop Mode on the X axis The operation and timing would be the same for either linear or circular interpolation using two or more axes N000 P000 X N010 G11 Specifies the Stop Mode N020 G01 X100 F100 N030 G01 X 100 F100 Error counter is reset here Speed reference Tim...

Page 380: ...20 speed reference out put is complete an error counter reset check is started If the error counter re set is ON at this time the error counter will be reset to 0 After this program ex ecution will be temporarily halted until the error counter reset is turned OFF If the error counter reset is not ON this status will be continued until the error counter enters the in position range Time N030 execut...

Page 381: ...urn OFF until the wiring check is completed even if the servo lock is turned OFF Tb0ff Brake OFF time system parameters Ts Wiring check time system parameters 2 After Tboff the wiring check is started 3 If the wiring check pulses are output in the CW direction and travel is normal in that direction within Ts then the wiring check will be performed in the CCW direction The wiring check is judged no...

Page 382: ...gh U if the ports are used for brake signal output L Bit 03 00 Output port 1 X axis Output port 2 Y axis Output port 3 Z axis Output port 4 U axis Address R W Name Configuration Default setting MC221 MC421 X axis Y axis Z axis U axis 107B 4219 1094 4244 10AD 4269 10C6 4294 R Wiring check 107C 4220 1095 4245 10AE 4270 10C7 4295 R Wiring check time 107D 4221 1096 4246 10AF 4271 10C8 4296 R Wiring ch...

Page 383: ...e same machine moved by 100 mm in the reverse direction if there is a 1 mm back lash even though there is no difference in position between the driving axes Backlash correction is a function for pre registering the backlash space within a range of 0 to 10 000 pulses to minimize the positioning errors of machines moving in the forward or reverse direction to the same position as shown in the follow...

Page 384: ... 4 Data Transfer and Storage To use IOWR to set the backlash correction set the backlash correction address in the IOWR control code C and then transfer the backlash correc tion value to the MC Unit X axis Address 11FC hex 4604 Y axis Address 1215 hex 4629 Z axis Address 122E hex 4654 U axis Address 1247 hex 4679 Specifications The following is a basic explanation of the IOWR instruction specifica...

Page 385: ...gging check the Error Flags from the ladder program Operand Description C S D Specifies the first address in the MC Unit to which data will be written X axis Address 11FC Hex 4604 Y axis Address 1215 Hex 4629 Z axis Address 122E Hex 4654 U axis Address 1247 Hex 4679 MC Unit address Hex Specifies the first word in the CPU Unit from which data is to be trans ferred First source word Specify the dest...

Page 386: ...eating exter nal memory devices connected to a personal computer running CX Motion as MC Unit memory The automatic loading function is executed by the IOWR instruction for the Command Area Either Automatic Mode or Manual Mode can be used Any number from 1 to 10 000 can be specified as the job number CX Motion must be used to create MC programs and position data in advance for job numbers that are ...

Page 387: ...or all tasks Then it downloads the program and position data for the specified job number 5 When the downloading has been completed the CPU Unit is notified from the MC Unit While the program and position are being downloaded the Autoloading Bit in the PLC Interface Area turns from OFF to ON and when the downloading is completed normally it turns from ON to OFF 6 16 1 Executing Automatic Loading T...

Page 388: ...8 6104 R W Specifying automatic loading 0FA9 4009 0FA9 4009 R Teaching Box language autoload timeout This parameter is used when batch downloading programs and position data to an MC Unit from the external memory device of a personal computer with CX Motion 0 0 0 0 L 1 L 15 00 15 00 Job No X Job No Specifies a job number within a range from 0001 to 2710 Hex 1 to 10 000 The following contents can b...

Page 389: ... next time the automatic loading is executed If communications are not restarted by the time the Autoloading Time Up set in the Unit parameters has elapsed an error will occur and the Autoloading Execution condition Work bit Work bit Work bit This is the special address 6104 with the function of specifying the job number for automatic loading 17D8 Hex 6104 Specifies the first source word Specifies...

Page 390: ...xecute an origin search It is also possi ble to set the present position as the origin by using the present position pre set function to set the present position to 0 Caution When present position preset is executed for an axis for which an absolute encoder is used only the present position stored in the MC Unit will be preset The present position stored in the absolute encoder will not be preset ...

Page 391: ...he data configuration is the same as that for presetting the X axis present position 17E0 6112 W Presetting the Z axis present position Sets the Z axis present position to any value and establishes the origin The data configuration is the same as that for presetting the X axis present position 17E1 6113 W Presetting the U axis present position Sets the U axis present position to any value and esta...

Page 392: ...onnected to the MPG or sync encoder For the MPG it is used to maintain a ratio of one When it is set for a sync encoder the ratio can be specified as 1 2 or 4 Setting the Electronic Gear Ratio When an MPG is used the electronic gear ratio is the same as it was for pre vious MC Unit models The gear ratio for the MC221 and MC421 is set by CX Motion or by an IOWR instruction There are two ways to cha...

Page 393: ...wn underneath in parentheses Address R W Name Configuration Default setting MC221 MC421 X axis Y axis Z axis U axis 113A 4410 1153 4435 116C 4460 1185 4485 R W MPG ratio numerator 1 electronic gear numerator 1 0000 0001 1 113B 4411 1154 4436 116D 4461 1186 4486 R W MPG ratio denominator 1 electronic gear denominator 1 0000 0001 1 113C 4412 1155 4437 116E 4462 1187 4487 R W MPG ratio numerator 2 el...

Page 394: ...electronic gear pulse for setting 3 The data configuration and range are the same as those for MPG ratio electronic gear numerator 1 denominator 1 0000 0064 100 113F 4415 1158 4440 1171 4465 118A 4490 R W MPG ratio denominator 3 electronic gear denominator 3 0000 0001 1 1140 4416 1159 4441 1172 4466 118B 4491 R W MPG ratio numerator 4 electronic gear numerator 4 Sets the ratio for an MPG electroni...

Page 395: ...05 W00004 MOVL 00000001 D00100 IOWR 113B D00102 00020000 MOVL 0000000A D00102 Execution condition DIFU W00001 work bit This is the numerator address 4410 for the X axis SV1 113A hex 4410 Specifies the first source word for the transfer data Specifies the destination unit number 0 and the number of words of data to be transferred 2 OUT W00002 work bit OUT W00004 work bit SV1 numerator 1 SV1 denomin...

Page 396: ...ing methods The acceleration and deceleration times can also be set from the ladder program using the IOWR instruction Refer to 3 3 4 Data Configuration for System Parameters for addresses Trapezoidal Curve With the trapezoidal curve acceleration is constant during the acceleration time and deceleration time S Curve With the S curve acceleration during the acceleration time and deceleration time c...

Page 397: ...then fall within the acceleration set for the trapezoidal curve allowing the motor to be driven smoothly The S curve used by the MC Unit uses a tertiary function as shown in the fol lowing diagram 6 20 Unlimited Feeding Overview Mode Automatic or Manual Method System parameters CX Motion only The unlimited feeding function makes it possible to control axes for applica tions such as turntables or o...

Page 398: ... can be used to read the parameter settings For addresses refer to 3 3 4 Data Configuration for System Parameters Example 1 In this example the display unit is degrees the minimum setting unit is 0 1 the negative software limit is 00 and the positive software limit is 360 0 The present position will be between 0 0 and 359 9 Example 2 In this example the display unit is degrees the minimum setting ...

Page 399: ...encoder multi turn limit setting Pn205 a gear with a different gear ratio 1 n from the ones above can be used If the absolute encoder multi turn limit setting Pn205 is set to gear ratio 1 because the servolocked present value is equal to the present value on the turntable the present value does not have to be regener ated 6 21 Stopping The MC Unit has various ways of stopping axis operation as sho...

Page 400: ...ked for the specified axis and the other axes in the same task will be decelerated to a stop Emergency Stop Upon input Each axis is stopped immediately upon input There are two methods for stopping accumulated pulse stop and servo off stop The selection is made in the system parameters CCW CW Limit Inputs Upon input Each axis is stopped immediately upon input There are two methods for stopping acc...

Page 401: ...ls With brake output enabled With brake output disabled Voltage output Time If the CW or CCW limit input signal is received 0 V is output for 0 5 s CW limit input Brake output RUN command output Waits for the brake ON time Voltage output Time If the CW or CCW limit input signal is received 0 V is output for 0 5 s CW limit input RUN command output With brake output enabled With brake output disable...

Page 402: ...5 G32 TRAVERSE 412 7 3 16 G50 SELECT REFERENCE COORDINATE SYSTEM 416 7 3 17 G51 SELECT WORKPIECE COORDINATE SYSTEM 417 7 3 18 G53 CHANGE WORKPIECE ORIGIN OFFSET 418 7 3 19 G54 CHANGE REFERENCE COORDINATE SYSTEM PV 419 7 3 20 G60 ARITHMETIC OPERATIONS 420 7 3 21 G63 SUBSTITUTION 421 7 3 22 G69 CHANGE PARAMETER 421 7 3 23 G70 UNCONDITIONAL JUMP 423 7 3 24 G71 CONDITIONAL JUMP 424 7 3 25 G72 SUBROUTI...

Page 403: ...cannot be used in another task Example 4 Tasks and 4 Axes Example 2 2 Tasks and 3 Axes Example 3 2 Tasks and 4 Axes Example 4 1 Task and 2 Axes Tasks and Blocks The MC Unit is capable of storing a total of 2 000 blocks of program The max imum number of blocks that can be executed in each task depends on the number of tasks as shown in the following table These figures include sub routines Note A m...

Page 404: ...counterclockwise direction at the specified interpolation feed rate G04 DWELL TIMER Waits for the specified period of time 395 G10 PASS MODE Performs operations one by one in sequence without deceleration to stop 396 G11 STOP MODE Performs the next operation after completing positioning 398 G13 IN POSITION CHECK OFF MODE Starts the next operation without waiting for positioning to be completed 399...

Page 405: ...ues position data or registers into other position data or registers 421 G69 CHANGE PARAMETER Changes the specified parameter 421 G70 UNCONDITIONAL JUMP Unconditionally jumps to the specified block 423 G71 CONDITIONAL JUMP Jumps to the specified block when the condition is met 424 G72 SUBROUTINE JUMP Calls the specified subroutine 424 G73 SUBROUTINE END Ends the subroutine 425 G74 OPTIONAL END End...

Page 406: ..._F speed reference _M M code Stopover Note 2 _D D code Stopover Note 2 _L number of turns _ optional number DWELL TIMER G04 wait time PASS MODE G10 STOP MODE G11 IN POSITION CHECK OFF MODE G13 CIRCULAR PLANE SPECIFICATION X Y G17 CIRCULAR PLANE SPECIFICATION X Z See note G18 CIRCULAR PLANE SPECIFICATION Y Z See note G19 CIRCULAR PLANE SPECIFICATION X U See note G20 CIRCULAR PLANE SPECIFICATION Y U...

Page 407: ...r type New setting UNCONDITIONAL JUMP G70 Jump destination block number L Number of loops CONDITIONAL JUMP G71 Jump destination block number condition equation SUBROUTINE JUMP G72 subroutine number SUBROUTINE END G73 OPTIONAL END G74 Optional number OPTIONAL SKIP G75 Optional number OPTIONAL PROGRAM STOP G76 Optional number PROGRAM END G79 ABSOLUTE SPECIFICATION G90 INCREMENTAL SPECIFICA TION G91 ...

Page 408: ... data are not assigned together to each task they can be used independently for different tasks The contents of registers are all cleared to zero only when power is turned ON or when a restart is executed Initialize register contents at the beginning of the program by executing an command such as the SUBSTITUTION com mand G63 Registers can contain values from 0 through 1999 An error will occur if ...

Page 409: ...t program number_axes Operands The following table shows the program numbers and axes that can be declared for main programs and subroutines Usage There are two kinds of MC Unit programs main programs and subroutines Main programs are assigned program numbers P000 through P499 and sub routines are assigned program numbers P500 through P999 Every program must begin with a declaration of the program...

Page 410: ...efault settings for these The following defaults will always be set before executing the first block of a G language main program Coordinate system or mode General description Page Coordinate system Reference coordinate system Default setting Axis positions on the reference coordinate system are used 416 Workpiece coordinate system Axis positions on the workpiece coordinate system are used 417 Com...

Page 411: ...n be used with either an M code or a D code but not with both Operands The following table shows the possible settings for the operands Note Refer to 7 4 M Code Outputs for details on M codes and to 7 4 9 D Code Out puts for details on D codes Refer to 7 4 10 Stopover Function for details on the stopover function Description Positions up to four axes simultaneously with PTP control according to th...

Page 412: ...through 19 Inputs from general inputs 1 to 4 Programming Examples The following example shows absolute positioning N010 G90 Absolute specification N011 G00 X100 Y50 M001 The following program is for incremental operation N010 G91 Incremental specification N011 G00 X100 Y50 M001 Note The X and Y axes are operated at the same speed in the above examples 7 3 2 G01 LINEAR INTERPOLATION Performs linear...

Page 413: ...erpolation If the interpolation feed rate is not specified the interpolation will be per formed at the last feed rate used in a G01 G02 or G03 command An error will occur if the interpolation feed rate is not specified and the G01 G02 or G03 command has not been executed before Caution When linear interpolation is performed in Pass Mode and an M code from 0 through 499 or an optional number is spe...

Page 414: ...aximum interpolation feed rate 4000 mm s Y axis maximum interpolation feed rate 3000 mm s Z axis maximum interpolation feed rate 2000 mm s Interpolation feed rate after override calculation 3000 x 100 0 100 0 3000 mm s This exceeds the maximum interpolation feed rate for the Z axis The feed rate in this case would be 2000 mm s When an optional number is specified the axis movement command will be ...

Page 415: ...ate With the CS1W MC421 it is also possible to perform 2 axis circular interpola tion 1 axis linear interpolation helical circular interpolation and 2 axis cir cular interpolation 2 axis linear interpolation In addition the multiturn function can be added to either circular interpolation or helical circular interpo lation for winding machine operations Format G02 G03 _ Axis movement command _ cent...

Page 416: ...es by circular interpolation and one axis by linear interpolation or two axes by circular interpolation and two axes by linear interpolation at the specified feed rate Positioning two axes by circular interpolation and one axis by linear inter polation is referred to as helical circular interpolation Axes that are not being moved by circular interpolation are called supplemental axes Axes that are...

Page 417: ...olation feed rate F Speed reference dLi Supplemental axis travel distance Lc Circumferential length An error will occur if the interpolation feed rate of the supplemental axis exceeds the maximum interpolation feed rate set for the axis When specifying the circle s center coordinate specify the relative distance from the present position the circle s starting point and specify one or two axes An e...

Page 418: ... 100 0 100 0 3000 mm s The interpolation feed rate exceeds the maximum interpolation feed rate for the Y axis 2000 mm s so the interpolation feed rate is set to 2000 mm s Note Internal radius calculations are accurate to seven digits When the radius exceeds 9 999 999 pulses circular interpolation will be performed within the specified circle Keep the radius under 9 999 999 pulses when specifying t...

Page 419: ...te specification N011 G17 Makes X Y the circular plane N010 G02 X100 Y90 I0 J40 F300 The following program shows circular interpolation with radius specification R 0 An arc greater than a semicircle will be drawn when R 0 N010 G90 Absolute specification N011 G17 Makes X Y the circular plane N012 G02 X140 Y50 R 40 F300 Specifies the number of revolutions 10 revolutions in this case Feed pitch for t...

Page 420: ... R 0 N010 G91 Incremental specification N011 G17 Makes X Y the circular plane N012 G02 X40 Y40 R40 F300 The following program shows circular interpolation of a complete circle N010 G90 Absolute specification N011 G17 Makes X Y the circular plane N012 G02 X100 Y10 I0 J40 F500 Starting point present value End point target value Center Center Starting point and end point ...

Page 421: ...N010 G90 Absolute specification N011 G17 X Y circular plane specification N012 G02 X50 Y100 Z20 I 30 J0 F500 Z X plane Start point coordinate P1 50 100 0 End point coordinate P2 50 100 20 Center coordinate O 20 100 0 X Y plane Z X P1 P2 O 100 Y 20 20 50 0 ...

Page 422: ...es from 0 001 to 39 999 999 s can be input for the wait time but settings of 39 999 995 to 39 999 999 will cause an error The accuracy of the timer is approximately 0 02 s For example setting 1 s will result in an actual wait of 1 00 to 1 02 seconds Absolute specification X Y circular plane specification Specifies the number of revolutions 4 revolutions in this case Feed pitch for the first revolu...

Page 423: ... executed The pass operation may not be executed if a G01 G02 G03 or G32 com mand is executed with an extremely short travel time In Pass Mode the next G code command is executed pre read execution without waiting for the completion of a G01 G02 G03 or G32 command that is currently being executed so the execution block number output to the inter face might be different from the actual block number...

Page 424: ... G02 G03 and TRAVERSE G32 which is not possible G04 DWELL TIMER G26 WORKPIECE ORIGIN RETURN G27 REFERENCE ORIGIN RETURN G28 ORIGIN SEARCH G29 ORIGIN UNDEFINED G30 SPEED CONTROL G31 INTERRUPT FEEDING G54 CHANGE REFERENCE COORDINATE SYSTEM PV G79 PROGRAM END M000 to M999 independent commands D000 to D255 The following commands must be executed in Stop Mode Pre reading will be paused G01 G02 G03 G32 ...

Page 425: ...MODE G10 2 IN POSITION CHECK OFF MODE G13 3 REFERENCE ORIGIN RETURN G26 4 WORKPIECE ORIGIN RETURN G27 5 ORIGIN SEARCH G28 Note A reset will be performed and the operating mode will be switched to Pass Mode when a REFERENCE ORIGIN RETURN G26 WORKPIECE ORIGIN RETURN G27 or ORIGIN SEARCH G28 command is executed Programming Example The following programming example demonstrates positioning in Stop Mod...

Page 426: ...N RETURN G27 ORIGIN SEARCH G28 The following commands will pause pre reading and shift any axis that is mov ing to Stop Mode The axis will decelerate to a stop when positioning is com pleted and an in position check will be performed G00 PTP G01 G02 and G03 commands with optional numbers CIRCULAR INTERPOLATION commands G02 G03 with different circu lar plane specifications than those for CIRCULAR P...

Page 427: ...0 F200 7 3 8 G17 to G22 CIRCULAR PLANE SPECIFICATION Specifies the plane in which circular interpolation is to be performed Format G17 G18 See note G19 See note G20 See note G21 See note G22 See note Note G18 to G22 are not available with the CS1W MC221 Operands None Speed reference Time The next operation will not be execut ed until positioning is completed i e until the error counter is within t...

Page 428: ...he following programming example performs circular interpolation in the X Y plane N010 G90 N011 G17 N012 G00 X0 Y50 Z0 N013 G03 X0 Y150 R50 F300 Programming Example 2 The following example performs circular interpolation in the Y Z plane N010 G90 N011 G17 N012 G00 X0 Y0 Z50 N013 G03 Y0 Z150 J0 K100 F300 Code Plane G17 Specifies the X Y plane G18 Specifies the X Z plane G19 Specifies the Y Z plane ...

Page 429: ...d mode settings will be as follows after the return to the reference origin 1 2 3 1 The coordinate system will be set to the reference coordinate system 2 The command mode will be set to absolute specification 3 The operating mode will be set to Pass Mode The settings will not be switched to the ones above if the G26 command is ter minated while in progress by the OPTIONAL END command G74 FORCED B...

Page 430: ...dinate system will be set to the workpiece coordinate system 2 The command mode will be set to absolute specification 3 The operating mode will be set to Pass Mode The settings will not be switched to the ones above if the G27 command is ter minated while in progress by the OPTIONAL END command G74 FORCED BLOCK END or other command The command is also considered to be in progress while waiting for...

Page 431: ...ent position is set to zero and fixed as the ori gin when the origin search method is set For axes in other modes the origin is fixed after the origin search operation is executed Axes using Absolute Encoders As an upgrade to previous models it is now possible to perform an origin search using an absolute encoder just as with an incremental encoder The mode will be as follows after the origin sear...

Page 432: ...e following example sets the X and Y axes to an undefined state N000 P000 XY N001 G00 X0 Y0 Moves the axis to the system origin N002 G29 XY Makes the origin undefined N003 G30 X Y Sets unlimited feeding 7 3 13 G30 SPEED CONTROL AXIS FEEDING Performs the feed rate control of a maximum of four axes Format G30_ axis movement command Operands The following table shows the possible settings for the ope...

Page 433: ... not the origin is estab lished Origin established The software limit will be enabled and the present position will be always refreshed Origin not established The software limit will be disabled The present position will be set to 0 at the start of operation if the axis mode is Normal Feed Mode and always refreshed if the axis mode is Unlimited Feed Mode Programming Example The following example s...

Page 434: ...or when no general input is received to stop with an error program execution interrupted after positioning An S option can also be used to exe cute the next block without an error occurring Refer to the following examples Example 1 Speed Reference 2 Not Specified G31 X100 F200 mm The X axis moves at 200 mm s speed control until General Input 1 is turned ON The X axis then moves for another 100 mm ...

Page 435: ... will be disabled The present po sition will be set to 0 at the start of operation if the axis mode is Normal Feed Mode and always re freshed if the axis mode is Unlimited Feed Mode Note 1 The preceding G01 G02 G03 or G32 command will operate in Stop Mode instead of Pass Mode if this command is executed 2 An error will result if the G31 command is executed if the value of Speed Reference 2 is the ...

Page 436: ...mall 2 A general input is turned ON while the axis is being accelerated 1 3 A general input is turned ON while the axis is being accelerated 2 4 A general input is turned ON while the axis is being accelerated 3 General input ON General input ON Specified speed General input ON Specified speed General input ON Specified speed The axis is decelerated sharply because the movement of the axis is smal...

Page 437: ...ause the speed of the axis is high and the movement of the axis is small 2 A general input is turned ON while the axis is being accelerated 1 3 A general input is turned ON while the axis is being accelerated 2 4 A general input is turned ON while the axis is being accelerated 3 General input ON Speed Reference 1 General input ON Specified speed 1 Specified speed 2 General input ON Specified speed...

Page 438: ... be fed the reference amount at the going speed if an interrupt is input during decelera tion General input ON Specified speed 1 Specified speed 2 The axis is decelerated sharply because the axis travel distance is small and the speed of the axis is high Operation when an interrupt signal is input Operation when no interrupt signal is input Interrupt signal Speed control override enabled Position ...

Page 439: ... for mula Actual travel distance pulse Specified travel distance pulse Feed rate pps x Detection delay s Actual travel distance refers to the distance from the point where the external sensor is enabled to the point where the machine actually stops moving Specified travel distance refers to the distance specified by G31 Feed rate refers to the rate specified by G31 The detection delay is 0 001 s m...

Page 440: ...ool is the X axis and the traverse axis is the Y axis Operand Possible settings Rotating axis X Z Coordinate data 39999999 E00 to E31 A0 to A1999 39999999 E00 to E31 A0 to A1999 Traverse axis Y U Coordinate data 39999999 E00 to E31 A0000 to A1999 Speed reference 0 0001 to 39999999 E00 to E31 A0000 to A1999 M code 000 0 to 999 E00 to E31 A0000 to A1999 D code 000 0 to 255 E00 to E31 A0000 to A1999 ...

Page 441: ...d for example then specify 01800 because 360 deg 5 1 800 deg No winding at the end will be set if the O option is omitted Number of Winding Layers Specifies the number of winding layers Restrictions Number of X axis or Z axis Rotations The maximum distance that the X or Z axis can travel in one revolution without stopping must fall within the following equation Number of windings per layer x Total...

Page 442: ...g Examples Example 1 In this example a traverse operation is executed using aligned windings a traverse width of 100 mm 100 windings per layer and a total of 10 layers 10 layers 100 windings per layer 360 deg x 100 36 000 Movement of each axis X axis Traverse width 10th layer Total 100 x 10 1 000 windings 100 windings per layer Y axis ...

Page 443: ...subsequent axis operations will be processed as reference coordinate data The default setting at the start of program execution will be the reference coordinate system After WORKPIECE ORIGIN RETURN G27 is executed the workpiece coor dinate system will be used Specifies Pass Mode Winds one revolution at the end 0 designation Moves back to the start Moves back one revolution N130 100 windings per la...

Page 444: ...coordinate sys tem After this command is executed the coordinate data in all subsequent axis operations is processed as workpiece coordinate data The origin for the workpiece coordinate system can be set with the system parameters or with G53 The reference coordinate system will be used after REFERENCE ORIGIN RETURN G26 or ORIGIN SEARCH G28 is exe cuted Programming Example The following example sh...

Page 445: ...igin offset set in the system parameters when the main program is executed from the beginning The workpiece origin offset that is set in system parameters will not be updated by executing this command A software limit exceeded error will occur if a specified value exceeds the soft ware limits set in the system parameters Programming Example 1 The following example shows changing the origin of the ...

Page 446: ...o use the present position in the absolute encoder A software limit exceeded error will occur if a specified value exceeds the soft ware limits set in the system parameters Caution If this command is executed just after a G01 G02 G03 or G32 command the interpolation will be performed in Stop Mode not Pass Mode even if Pass Mode has been selected The following example shows this effect Programming ...

Page 447: ...e rounded off Example If G60 A0000 1 2345 x 1 01 is executed then zero will be substituted at A0000 The possible values for the result are as follows 39 999 999 to 0 0001 0 0 0001 to 39 999 999 An error will occur if the first term s data is not within the acceptable range The possible values for the first term are as follows When the first term is position data 39 999 999 to 39 999 999 When the f...

Page 448: ... is position data 39 999 999 to 39 999 999 When the first term is a register 0000 to 1999 Registers are cleared to zero only when the power is turned on so be sure to initialize the register contents when the program is started Programming Example The following example shows substituting 123 45 for A1000 N010 G63 A1000 123 45 7 3 22 G69 CHANGE PARAMETER Changes the setting of the specified paramet...

Page 449: ... will go into effect between G01 G02 G03 and G32 commands following the G69 command Position loop gain position loop feed forward gain in position error counter warning In Stop Mode these values will go into effect with the next G69 command In In position Check OFF Mode these values will go into effect with the next G69 command if an axis operation is not in progress and at the end of the operatio...

Page 450: ...can be nested by calling subroutines containing loops The number of loops in each subroutine is cleared when the subroutine ends Refer to 7 3 25 G72 SUBROUTINE JUMP for details When the number of loops is set indirectly from position data with register specification or position data number specification the number of loops will be 0 if the value of the position data is 0 Non integer position data ...

Page 451: ...mple 0 is substituted for A1000 in block N009 and then incremented by 1 in block N011 after the positioning operation in block N010 At N012 the program jumps back to N010 and repeats blocks N010 to N012 while A1000 10 The program proceeds when A1000 10 7 3 25 G72 SUBROUTINE JUMP Calls the specified subroutine Format G72_ subroutine number Operands The following table shows the possible settings fo...

Page 452: ...ing executed when the specified optional input goes ON Format G74 optional number Operands The following table shows the possible settings for the operands Description If the specified input is received while the block after the one with this com mand is being executed execution of that block will be interrupted and the program will proceed to execute the following block If an axis operation is be...

Page 453: ...PROGRAM END G79 command If the specified optional input is ON already when G74 is interpreted this command will operate just like the OPTIONAL SKIP G75 command Programming Example The following example shows stopping linear interpolation in progress by turn ing ON an optional input N008 G11 N009 G91 N010 G74 3 N011 G01 X100 F100 N012 G01 X100 Operation when the optional input is not received Speed...

Page 454: ...ugh 15 Inputs from the PLC Interface Area 16 through 19 Inputs from general inputs 1 to 4 Program execution will continue normally even if the optional input comes ON while the next block is being executed The OPTIONAL SKIP G75 command will be disabled if the following block contains a SUBROUTINE END com mand G73 or PROGRAM END command G79 Programming Example The following example shows disabling ...

Page 455: ...ed Program execution will continue from the next block when the optional input is reset The source of the optional input depends on the optional number specified as shown below 0 through 15 Inputs from the PLC Interface Area 16 through 19 Inputs from general inputs 1 to 4 Program execution will continue normally if the optional input comes ON while the next block is being executed Operation when t...

Page 456: ...ogram Format G79 Operands None Description This command ends the main program and must be included at the end of the main program When G79 is executed and an axis is in operation the Unit will wait for the axis to be positioned before executing G79 M codes M500 to M999 will be forcibly cleared if they are being output when G79 is executed Operation when the optional input is not ON Speed Time Opti...

Page 457: ...n for axis positioning After this command is executed the coordinate data in axis movement commands is treated as absolute coordi nate data In addition to G90 the absolute coordinate system is put into effect when a REFERENCE ORIGIN RETURN G26 WORKPIECE ORIGIN RETURN G27 or ORIGIN SEARCH G28 command is executed Programming Example The following example shows positioning with absolute coordinate da...

Page 458: ...1 X100 Y20 If positioning with incremental specification is interrupted by a pause com mand the axes will be moved to the original end position after the operation is restarted Also if the axes have been moved or an origin search was per formed after the operation was interrupted the axes will still be moved to the original end position 7 4 M Code Outputs 7 4 1 Introduction M codes consist of info...

Page 459: ...et Bits are pro vided in the PLC Interface Area Description The following list provides a running description of the program execution 1 2 3 1 In block N001 the X axis is moved to 100 mm by linear interpolation 2 In block N002 M code 100 is output after the X axis positioning is complet ed the M strobe is turned ON at the same time to indicate that the M code has been set 3 In the CPU Unit the pro...

Page 460: ...ting for an M code reset input These M codes are cleared when the PROGRAM END command G79 is executed 7 4 3 M Code Examples M codes can be used independently or with G codes such as G00 and G01 that execute axis operations Example The following program just outputs M code 600 M codes over 499 do not interlock N000 P000 X N001 G01 X100 F100 M600 N002 G01 X200 F100 N003 G79 7 4 4 Effect of Mode Chan...

Page 461: ...m mand s optional input is received before they are output G74 3 G00 X500 M100 G01 X1000 Example 3 When the output has been completed and the system is set to wait for the M code reset the M strobe will be turned OFF and the M code will be cleared to release the M code reset G00 X500 M100 Forced Block End X axis operation M Strobe M Code Optional Input 3 X axis operation M strobe M Code Forced Blo...

Page 462: ...leared if the program block that outputs the M code is cleared with the Forced Block End Bit PLC Interface Area or the OPTIONAL END G74 command but previous M codes will not be cleared Example 5 The M strobe and M code will not be output if a Forced Block End signal is received before they are output but a previous M code and M strobe will not be cleared M700 G00 X500 M600 Optional Input 3 X axis ...

Page 463: ... output just before the demand position The output posi tion can be calculated using the following equation Demand position reference speed x pass time 2 The pass time is determined by the Pass Time Mode Selection settings in the system parameters as follows The pass time is the interpolation acceleration time when interpolation ac celeration time is selected The pass time is the interpolation dec...

Page 464: ...n the Stopover func tion is used Refer to 7 4 3 M Code Examples for details on the Stopover func tion M000 to M499 When an M code between M000 and M499 is output the next positioning operation will be performed after positioning to the demand position has been completed in either Pass Mode or In position Check OFF Mode X axis operation MC Unit M strobe M code M Code Reset CPU Unit N000 P000 X N001...

Page 465: ...de Outputs in Pass Mode in Pass Mode for more details 7 4 9 D Code Outputs D Codes A D code is a preset code that is output after positioning has been completed The D code 0 to 255 is output to the CPU Unit as an interrupt task number to executed the interrupt task in the CPU Unit It can also be output during oper ation without stopping operation by using the Stopover Function Refer to 6 10 Stopov...

Page 466: ...sed at a time with a G code for stopovers When a D code is output the CPU Unit determines whether it can receive an interrupt If it cannot receive an interrupt then it will monitor status for 10 ms If reception is still not possible the CPU Unit will output a D code timeout error and stop If a D code is output from more than one task at the same time then out putting the D code for each task will ...

Page 467: ... the X axis Case 2 N010 G01 X200 F200 M600 X100 Outputs D code 600 after moving the axis 100 mm on the X axis Case 1 Notification after Positioning Is Completed Case 2 Pass Mode Operation Speed Notification of interrupt task No 100 to the CPU Unit Notification within 0 to 10 ms Speed Notification of interrupt task No 100 to the CPU Unit Notification within 0 to 10 ms Time Time Case 3 CPU Unit Cann...

Page 468: ...an one axis moves such as in multiturn circular interpolation and traverse operations the Stopover function is executed only once during execution of the G code Stopover Axis Coordinate data travel distance X Y Z U 0 to 39999999 E00 to E32 A0000 to A1999 G00 POSITIONING G01 LINEAR INTERPOLATION G02 CLOCKWISE CIRCULAR INTERPOLATION G03 COUNTERCLOCKWISE CIRCULAR INTERPOLATION G26 REFERENCE ORIGIN RE...

Page 469: ... specified amount from the preceding demand position when the Stopover function is used in Pass Mode or In position Check OFF Mode Example X Y 30 30 N110 G10 Pass Mode specified N120 G01 X130 Y30 F100 Move to X Y 130 30 N130 G01 X130 Y130 M600 Y50 N130 is preread during execution of N120 because the system is in Pass Mode M code 600 is thus output after moving 50 mm from Y30 the demand position fo...

Page 470: ...ved is the same as the next demand position Example N0100 G00 X100 N0110 G00 X200 M500 X100 If the specified distance is 100 mm which is the same as the distance from X100 to X200 then the Stop over function will not be valid after the axis has moved to demand posi tion X200 M code 500 will be output if the travel distance exceeds 100 mm large X axis overshoot before the demand position X200 is ob...

Page 471: ...eed feed Rate Position where you want D code output Reverses just before the demand position in this case and the D code will not be output N010 Stopover function will not be valid X axis Slow Feed Rate Position where you want D code output The D code will be output in reaching the 900 mm position in this case X axis ...

Page 472: ...the Workpiece Origin Offset 450 8 1 6 Changing the Interpolation Acceleration Time 451 8 1 7 Positioning while Calculating Position Data 453 8 1 8 Stopping a Program with a General Input 455 8 1 9 Stopping the Program and Substituting Position Data 455 8 1 10 Positioning a Turntable 457 8 1 11 Positioning with Improved Locus Accuracy in Circular Interpolation 459 8 1 12 Starting Peripheral Devices...

Page 473: ...6 XY N006 G79 Explanation N001 Positions the axes to X100 Y50 by PTP control Absolute positioning default is used because nothing is specified When positioning is completed M code 20 is output and the Unit waits for a reset M code reset standby N002 When the M code reset is received block N002 positions the axes to X250 Y150 by PTP control N003 Waits for 2 seconds N004 Positions the axes to X300 Y...

Page 474: ...XY N001 G91 N002 G01 X300 Y400 F50 16 N003 G71 N005 A1000 1 N004 G70 N002 L20 N005 G79 Explanation N001 Specifies incremental positioning N002 Waits until optional input 16 general input 1 turns ON When it turns ON the X axis is moved by 300 and the Y axis by 400 with linear interpolation at a speed of 50 N003 Checks the content of A1000 and ends the program if it is 1 N004 Jumps to block N002 Blo...

Page 475: ...e the X and Y axes in the pattern shown in the following diagram Programming Example N000 P003 XY N001 G17 N002 G01 X200 Y100 F50 N003 G03 X300 Y200 R100 N004 G01 Y300 N005 G02 X400 Y400 R 100 N006 G79 Explanation N001 Sets the X Y plane as the plane for circular interpolation N002 Moves the axes to X200 Y100 by linear interpolation Block execution General input 1 Axis operation ...

Page 476: ...Addressing with Registers Operation This program uses registers to indirectly specify position data stored in posi tion data addresses and uses this data in positioning operations Programming Example N000 P005 XY N001 G11 N002 G63 E1 100 N003 G63 E2 101 N004 G01 X E1 Y E2 F100 N005 G60 E1 E1 2 N006 G60 E2 E2 2 N007 G75 3 N008 G70 N004 L3 N009 G79 Explanation N001 Specifies Stop Mode N002 through N...

Page 477: ...y repeatedly changing the workpiece origin offset and calling the subroutine Using the workpiece coordinate system is useful particularly for absolute posi tioning operations Register contents 2 First X axis position First Y axis position Second X axis position Second Y axis position E1 A100 E2 A101 E1 A102 E2 A103 Workpiece coordinates Workpiece coordinates Workpiece coordinates Reference coordin...

Page 478: ... positioning operations is performed by lin ear interpolation in Pass Mode P800 N007 Returns to the workpiece origin M code M20 is output and the Unit waits for the M code reset P800 N008 When the reset is received block N008 returns to the reference origin M code M30 is output and the Unit waits for the M code reset P800 N009 When the reset is received block N009 returns to main program P006 P006...

Page 479: ... Moves to X2000 Y 1000 in Pass Mode with an acceleration time of 500 ms N004 Once the pass operation is completed N004 outputs M code M20 and waits for the M code reset N005 Changes the setting of the interpolation acceleration time to 100 ms N006 Moves to X3000 Y1000 by linear interpolation with an acceleration time of 100 ms N007 Moves to X4000 Y1500 in Pass Mode with an acceleration time of 100...

Page 480: ... N002 G63 E00 0 N003 G63 A1000 100 N004 G63 A1001 100 N005 G01 XA1000 YA1001 F20 M10 N006 G01 X0 Y0 F50 N007 G60 A1000 A1000 20 N008 G70 N005 L9 N009 G63 A1000 100 N010 G60 A1001 A1001 30 N011 G60 E00 E00 1 N012 G71 N005 E0 5 N013 G79 Explanation N001 Specifies Stop Mode N002 Initializes register E0 to 0 N003 Substitutes the X axis initial position data into address A1000 N004 Substitutes the Y ax...

Page 481: ... below The loops in the example above will not operate properly A subroutine can also be used for nesting as shown in the following programming example Programming Example 2 N000 P008 XY N001 G11 N002 G63 A1000 100 N003 G63 A1001 100 N004 G72 P700 N005 G63 A1000 100 N006 G60 A1001 A1001 30 N007 G70 N004 L4 N008 G79 Subroutine N000 P700 XY N001 G01 XA1000 YA1001 F20 M10 N002 G01 X0 Y0 F50 N003 G60 ...

Page 482: ...o block N001 repeating blocks N001 through N004 The process can be repeated indefinitely without an overflow because the present value is preset to 0 each time 8 1 9 Stopping the Program and Substituting Position Data Operation This program moves the X axis to X1000 at a speed of 100 by linear interpola tion The movement will be decelerated to a stop by the G74 OPTIONAL END command if the target p...

Page 483: ...3 Moves the X axis with a maximum target position of X1000 The positioning operation will be decelerated to a stop if general input 2 turns ON before posi tioning is completed N004 The stopping position is stored in address A500 N005 Returns to the origin N006 Positions the X axis using the position data stored in address A500 in block N004 N007 Jumps to N005 and repeats the positioning operation ...

Page 484: ... zero and the turntable will be positioned at the target position 3 M code 0001 will be output after positioning is completed Check the M code turn OFF optional input zero and turn the M code reset ON and OFF 4 Repeat steps 1 to 3 Programming Example N000 P000 X 001 002 Target position A0000 reference position program setting A0001 003 Present position used internally A0100 work mem ory A0101 A010...

Page 485: ... and then outputs M code 0001 and turns ON the M strobe and then waits for M code reset from the CPU Unit N026 After the M code reset from the CPU Unit has turned ON and OFF jumps to the process for waiting for optional input zero to turn ON System Parameter Settings The following system parameter settings must be made Minimum setting unit Set for the user s system Axis mode Set to Unlimited Feed ...

Page 486: ...en the axes stop or when the target position is inverted if the feed forward gain in the servo system is increased too much Therefore set the feed forward gain to 20 for linear interpolation only operation and 60 for circular interpolation only operation Programming Example N000 P003 XY N001 G17 N002 G69 6 X20 Y20 N003 G01 X200 Y100 F50 N004 G69 6 X60 Y60 N005 G02 X300 Y200 R100 N006 G69 6 X20 Y20...

Page 487: ... 500 and 750 mm Programming Example N000 P001 XY 001 002 Executes interrupt notification 003 N004 G01 X0 Y0 F100 N005 G75 00 N006 G70 N005 N007 G01 X250 Y250 F1000 N008 G01 X500 Y500 D100 X0 N009 G01 X750 Y750 D101 X0 N010 G01 X1000 Y1000 D102 X0 N011 G79 Explanation This operation creates a ladder program for the following interrupt tasks in the CPU Unit Interrupt Task Number 100 Turns ON the out...

Page 488: ...oning at High Speed This program reads the present position of the workpiece with a visual sensor calculates correction and writes the correction value to the MC Unit After the MC Unit receives the correction it positions the axis accordingly The CPU Unit sends two position data items to addresses A0000 and A0001 using the IOWR instruction and the MC Unit moves the axis immediately Data can be sen...

Page 489: ...Pass Mode default value for interpolated operation it executes N020 without a break N020 Specifies 360 0 x 10 revolutions 3600 0 on the X axis in order to get 10 windings per layer 8 2 Executing MC Programs from the Ladder Program This section describes ladder programs that will execute G language MC pro grams Use the following procedure to execute MC programs 1 2 3 1 Set the MC Unit to Automatic ...

Page 490: ...5 bit 07 n 5 bit 02 3 n 7 bit 01 n 6 n 7 bit 07 n 7 bit 02 4 n 9 bit 01 n 8 n 9 bit 07 n 9 bit 02 n 3 02 n 3 05 R4 DIFU 13 R3 DIFU 13 R2 DIFU 13 R1 n 3 01 Automatic Manual Mode Switch Program Execution Completed Flag Pause button Program start button Program Execution Flag n 15 05 n 22 02 n 25 02 X axis Servo lock ON Flag Y axis Servo lock ON Flag R1 n 15 04 Program Execution Flag Sets the program...

Page 491: ...ion 8 2 Timing Chart Automatic Manual Mode Bit H level R1 Pause condition R2 Program start condition R3 MC program completed Pause Bit n 3 05 Execution condition Cycle Start Bit n 3 02 Program Execution Completed Flag n 15 05 Program Execution Flag n 15 04 ...

Page 492: ...Origin Search Methods and Parameters 468 9 3 1 Origin Search Methods 468 9 3 2 System Parameters 469 9 4 Origin Search Operations 470 9 4 1 Overview 470 9 4 2 CW CCW Deceleration Method and the Initial Origin Search Direction 471 9 4 3 Origin Search Patterns Set by Origin Search Method 472 9 5 Absolute Encoders 479 9 6 Setting the Origin With an Absolute Encoder 480 9 6 1 Procedure 480 9 6 2 Setti...

Page 493: ...be performed by turning the Origin Search Bit ON or by executing G28 ORIGIN SEARCH The origin search operation can also be executed from the Teaching Box Refer to Sections 7 2 to 7 4 for details on performing the origin search oper ation using incremental encoders Refer to 7 3 11 G28 ORIGIN SEARCH for details on performing the origin search operation by executing G28 ORIGIN SEARCH command Refer to...

Page 494: ...the machine 2 Referring to the Servo Driver operation manual connect a new battery 3 Referring to the Servo Driver operation manual set the retained absolute data to zero At this point the origin data of the absolute encoder is differ ent from the origin of the machine 4 Execute servo lock with the MC Unit The present value of the absolute en coder is read by the MC Unit 5 Perform an origin search...

Page 495: ...in at Power ON Mode The origin is automatically set to the motor s position when power is turned ON If origin search is performed in this mode the Unit will search for the position of the motor at power ON Reverse Mode The direction is reversed if a limit signal input is received during the origin search The origin will be established when the phase Z signal goes ON after the ori gin proximity sig...

Page 496: ...rse Mode or One Direction Mode Phase Z detection direction Specifies whether to move in the or direction to detect the Z phase Initial origin search direction Specifies the direction to start an origin search Origin deceleration method Specifies whether to use origin proximity signal input or limit signal input for deceleration near the origin CW CCW decelera tion method Specifies the limit signal...

Page 497: ... signal goes OFF the workpiece origin is es tablished at the position where the phase Z signal goes ON The control voltage drops to zero at this point If the reference origin offset value has been preset the axis is moved for the value preset after retrieving the overriding value with PTP control and the resulting position is established as the reference origin Basic operation and the factors caus...

Page 498: ...operation reverse operation will start after the movement is stopped by a counter pulse It does not decelerate to a stop As shown below with the CS1W MC 421 221 it is possible to select whether reverse operation will start after movement is stopped by a counter pulse or it will be deceler ated to a stop Note There is a sudden change in the speed when the MC Unit is stopped by the counter pulse as ...

Page 499: ...Note The origin search is performed in the direction opposite to the initial origin search direction when both the origin proximity signal input and the CW CCW limit signal input are OFF 9 4 3 Origin Search Patterns Set by Origin Search Method This section provides basic examples of origin search patterns with the origin search method set to Reverse Mode or One direction Mode For details on other ...

Page 500: ...tial origin search direction set to CW Note 1 Reverse operation will start after the movement is stopped by a counter pulse or decelerated to a stop according to the limit signal input 2 This operation will occur when the initial origin search direction is opposite to the phase Z detection direction Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input See note 1 See note 2 ...

Page 501: ...ction set to CW Note 1 Reverse operation will start after the movement is stopped by a counter pulse or decelerated to a stop according to the limit signal input 2 This operation will occur when the initial origin search direction is opposite to the phase Z detection direction Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input See note 2 See note 1 See note 1 See note 1 S...

Page 502: ...se operation will start after the movement is stopped by a counter pulse or decelerated to a stop according to the limit signal input Phase Z signal Speed Error Origin proximity and over travel simultaneously ON See note Error Origin proximity and over travel simultaneously ON See note Error Origin proximity and over travel simultaneously ON Error Origin proximity and over travel simultaneously ON...

Page 503: ...ith no origin proximity signal input Note 1 Reverse operation will start after the movement is stopped by a counter pulse or decelerated to a stop according to the limit signal input 2 This operation will occur when the initial origin search direction is opposite to the phase Z detection direction Phase Z signal Speed CW CCW Limit signal input See note 2 See note 1 See note 1 See note 1 ...

Page 504: ...al and the phase Z detection direction set to CW Note Reverse operation will start after the movement is stopped by a counter pulse or decelerated to a stop according to the limit signal input Phase Z signal Speed Error No origin proximity signal Error Overtravel always ON CW CCW See note Limit signal input Origin proximity signal input ...

Page 505: ...gnal input and the phase Z detection direction set to CW One direction Mode Origin Search 3 This origin search is performed with no origin proximity signal input and with the phase Z detection direction set to CW Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input Phase Z signal Speed CW CCW Limit signal input ...

Page 506: ...om the absolute encoder by changing the SEN signal level from low to high For details on absolute encoder interfaces refer to 9 7 Absolute Encoder Interface Specifications The MC Unit receives absolute data by changing the SEN signal state from OFF to ON when the Run Command Output to the Servo Driver is changed from OFF to ON Applicable Absolute Encoders The following Servomotors are provided wit...

Page 507: ...has been reset Setup Procedure The following setup procedure is for OMRON U series Servo Drivers The procedure for OMRON W series or G series Servo Drivers is different Refer to the OMNUC W Series AC Servomotors Servo Drivers User s Manual Cat No I531 or the OMNUC G Series AC Servomotors Servo Drivers User s Manual Cat No I562 for details 1 2 3 1 Connect the battery and wire the Servo Driver Servo...

Page 508: ...en short circuited for two minutes or more and the short circuiting wire has been removed If the voltage is more than 0 4 V then short circuit the terminals again 6 Reconnect the encoder connector 7 Turn ON the Servo Driver first and then the MC Unit Then initialize the MC Unit 9 6 3 Moving to the Origin Use either of the following methods to move to the origin Perform an origin search Execute jog...

Page 509: ... Absolute Origin Setting for information on how to execute the absolute origin setting from the PLC Interface Area Execute the absolute position setting from the Teaching Box by selecting 5 Absolute origin setting from the extension mode menu Refer to the Teaching Box Operation Manual W320 for details on how to execute ab solute position setting from the Teaching Box Note The above operation can a...

Page 510: ...hase B phase Z and ABS It has the following system configuration With W series models the Absolute Encoder and Servo Driver are connected via serial communications 1 2 3 1 Absolute data is output as serial data from phase A by changing the SEN signal level from low to high 2 Initial incremental pulses are output from phase A and phase B 90 differ ential two phase pulses 3 Output operation 90 diffe...

Page 511: ...or shaft revolution that is set for the divider circuit PE M x R PO PE Present value servo read by encoder M Number of revolutions servo R Number of pulses per encoder revolution PO Number of initial incremental pulses servo read by encoder normally negative value PS Number of initial incremental pulses read at setup normally a negative value which will be then stored in the MC Unit PM Present val...

Page 512: ...ng normal operation the number of revolutions 5 digits from the refer ence position specified at setup is output as serial data in the above format Zero revolutions are output as P 00000 CR or P 00000 CR The number of revolutions exceeding 99999 will not be output correctly In other words after exceeding 99999 the number of revolutions will return to 00000 Data transmission method Asynchronous Bau...

Page 513: ...486 Absolute Encoder Interface Specifications Section 9 7 ...

Page 514: ... position data 10 1 Introduction 488 10 1 1 Teaching Addresses 488 10 2 Setting the Teaching Address 488 10 2 1 Setting the Teaching Address from the Ladder Program 489 10 2 2 Using the Teaching Box 490 10 3 Performing Teaching 490 10 3 1 Performing Teaching from the Ladder Program 491 10 4 Errors during Teaching 492 10 4 1 Teaching Error Flag Timing Chart 492 10 4 2 Teaching Address Over Errors 4...

Page 515: ...From the PLC Interface Area using instructions in the ladder program From the Teaching Box 10 1 1 Teaching Addresses When performing teaching it is necessary to specify the position data address where the present position data will be stored The teaching address is used to specify this position data address Teaching addresses are initial ized to zero when the power is turned ON or the MC Unit is r...

Page 516: ... following data starting at the first source word and execute the IOWR instruction Set the task 1 to 4 teaching address first address to a value from 0000 to 07CF hex 0 to 1999 Operand Description C S D IOWR C S D IOWR C S D Teaching Address for Task 1 Address 17E2 Hex 6114 Teaching Address for Task 2 Address 17E3 Hex 6115 Teaching Address for Task 3 Address 17E4 Hex 6116 Teaching Address for Task...

Page 517: ...Keys to change the posi tion data address displayed in the lower left corner of the screen Refer to the Teaching Box Operation Manual W320 for details 10 3 Performing Teaching Teaching can be performed once the teaching address has been set When teaching is performed in the following example the X axis present position of 30 is stored in position data address A0100 and the Y axis present position ...

Page 518: ...e teaching is performed from the ladder program for task 1 in the CS1W MC221 Turn ON the Teaching Bit for task 1 n 3 bit 09 and keep this bit ON until the Teaching Completed Flag n 15 bit 13 turns ON The timing chart and ladder program for this operation are shown below Timing Chart Example Program Refer to 5 4 Interface Specifics for details 1 2 3 1 2 3 Teaching address Position data 100 102 104 ...

Page 519: ... of the axes will not be stored in the position data addresses and the teaching address will not be changed The teaching address is not within the acceptable range 0 to 1999 The teaching address will not be changed if the value is incorrect Name Model Word Bit Description Task 1 Task 2 Task 3 Task 4 Teaching MC421 MC221 n 3 n 3 n 5 n 5 n 7 n 9 09 Starts teaching Teaching Type MC421 MC221 n 3 n 3 n...

Page 520: ...to 150 and the end address has been set to 180 so a teaching address overflow error will occur when teaching is performed with a teaching address less than 150 or greater than 180 Example 1 In this example the teaching address is less than 150 when teaching is per formed Example 2 In this example the teaching address is just one less than the start address 150 when teaching is performed Teaching B...

Page 521: ...is is set to A181 Example 4 In this example the teaching address is already greater than 180 when teach ing is performed Present position Teaching address Not incremented Data not stored in A0180 either No present position data is stored at all Present position Teaching address Not incremented Position data Acceptable range of addresses No present position data is stored at all ...

Page 522: ...ata saving data and conducting trial operation 11 1 Operation Details 496 11 1 1 Overview 496 11 1 2 Procedure 497 11 2 System Configuration and Wiring 498 11 2 1 System Configuration 498 11 2 2 Checking Operation from the Teaching Box 514 11 3 Considerations When Starting Up the MC Unit 518 11 3 1 Setting the System Parameters 518 11 3 2 Considerations When Starting Up or Making Adjustments 519 1...

Page 523: ...e origin 0 0 2 The X and Y axes are started to move the drill to a position where the first hole 400 200 is to be drilled 3 The robot moves to the next position 100 200 4 The robot moves to the last position 200 400 5 The robot returns to the reference origin 0 0 Manual Mode Operation Servo lock If no other manual command is being executed and if the axes are not already servolocked the X and Y ax...

Page 524: ... Refer to page 506 7 Create compile and save MC programs G language register in the project and save the project using CX Motion Refer to page 508 8 Transfer the system parameters and MC programs G language to the MC Unit and save in the flash memory using the CX Motion Refer to page 509 9 Create a ladder program transfer it to the CPU Unit and save it Refer to 9 Creating Ladder Programs Transferr...

Page 525: ... port RS 232C port Power Supply Unit CPU Switch box Switch input Connection cable Control cable Servo Driver Teaching Box Encoder signal Power signal Servomotor Encoder signal Power signal CCW limit input Origin proximity input CW limit input CW limit input Origin proximity input CCW limit input External input Operation Start Origin Manual Automatic Note The personal computer with CX Programmer an...

Page 526: ...ired items 1 Mounting the MC Unit Mount the MC Unit to the CPU Backplane referring to the system configura tion information above For details refer to 2 2 Installation Name Model CPU Unit SYSMAC CS series CS1H CPU6 E CS1G CPU4 E MC Unit CS1W MC221 Input Unit C200H ID212 Power Supply Unit C200HW PA204 CPU Backplane CS1W BC103 Power supply for input signals DC power supply 24 V Teaching Box CVM1 PRO...

Page 527: ...it s peripheral port built in RS 232C port or Serial Communications Board Unit port Host Link Mode Unit Port at CPU Unit Personal computer Port at per sonal com puter Network type serial communi cations mode Cable model Cable length Remarks CPU Unit Internal peripheral port IBM PC AT or compatible D sub 9 pin male Peripheral bus or Host Link SYS MAC WAY CS1W CN226 2 meters CS1W CN626 6 meters Buil...

Page 528: ...ction Diagram Wire the Y axis in the same way Special MC Unit Cable XW2Z 100J F1 Special MC Unit Terminal Block XW2B 20J6 6 X axis CW CCW origin proximity emergency stop Y axis CW CCW origin proximity emergency stop Pin No Label Normally closed Normally open Emergency stop input CCW limit input Origin proximity input CW limit input 24 VDC COM COM COM COM COM COM ...

Page 529: ...old ing Push button switch self resetting When it is pressed in Manual Mode all axes are servo locked Push button switch self resetting When it is pressed in Automatic Mode the MC program is executed Push button switch self resetting When it is pressed in Manual Mode the MC program is executed Push button switches self resetting When a switch is pressed in Manual Mode jogging is executed in either...

Page 530: ...ol Cable Power Cable and Encoder Cable are all purchased separately Connecting Control Cables The following table shows the available Control Cables Servo Driver R88D UA03L Servo Driver R88D UA03L Connect 24 V power supply Red 24 V Black 0 V MC Unit Connect a battery if using an absolute encoder An absolute encoder is not used in this example Control Cable R88A CPU00 M2 Series Model number Length ...

Page 531: ...CX Programmer Operation Manual W414 or W425 Note It is necessary to create an I O table after mounting the MC Unit Encoder Cable R88A CRU C Power Cable R88A CAU S R88A CAU B with brake Servo Driver R88D UA03L Servomotor R88M U03030L Series Specifications Model Length R88D U Without brake R88A CA003S R88A CA005S R88A CA010S R88A CA015S R88A CA020S 3 meters 5 meters 10 meters 15 meters 20 meters Wit...

Page 532: ...he Device Type Field and select the PLC model from the menu For example if the CPU Unit is the CS1G CPU45 select CS1G 6 Click the Settings button on the right of the Device Type Field Click the Down Arrow at the right of the CPU type field and select the type of CPU Unit from the menu In this example CPU45 is selected 7 Click the OK button The Add PLC Dialog Box will return 8 Set the Network type ...

Page 533: ...ting Projects Adding PLCs CPU Units and then select Edit Add MC The MC Unit Dialog Box will be displayed 2 Input the desired MC Unit name 3 Click the Down Arrow at the right of the MC Type Field and select CS1W MC221 from the menu 4 Set the unit number under Communications Environment Settings to 0 unit number 0 5 Click OK 6 In this operation new parameters are to be created so click No The Pa ram...

Page 534: ...task axis declaration use the X and Y axes for task 1 The following parameters require setting Use default settings for other parameters When no axes are specified set the same values for the X and Y axes Type of parameters Name Set value Machine parameters Minimum unit 0 01 Display unit mm Pulse rate 1 100 Positive negative software limit X axis direction 50 00 X axis direction 600 00 Y axis dire...

Page 535: ...o X200 Y400 at speed 30 N008 Returns the X and Y axes to their reference origins N009 Ends the program Saving and Compiling the MC Program Compiling After creating the program and before transferring it to the MC Unit compile it and check that no errors are generated 1 2 3 1 Select File Properties 2 Select CS1W MC221 for the MC type and click OK 3 Select Tool Compile Saving 1 2 3 1 Select File Sav...

Page 536: ...der programs using CX Programmer The programs required to execute servo lock origin search and jogging in Manual Mode and to execute the MC program in Automatic Mode are given below For details about creat ing ladder programs refer to the CX Programmer Operation Manual W414 or W425 After creating a ladder program be sure to transfer it to the CPU Unit Notation Used in Ladder Program Diagrams Bit f...

Page 537: ... Bit Manual automatic switch Manual Mode Flag Operation switch 000005 10503 000004 X axis Jog Bit X switch X switch DIFU 13 W00002 200713 X axis Busy Flag X axis Servo lock Flag X axis Servo lock Bit 200709 200909 Y axis Servo lock Bit Origin switch 0030 X axis Busy Flag X axis Servo lock Flag Manual Mode Flag X axis No Origin Flag Manual Mode Flag Y axis No Origin Flag Y axis Busy Flag Y axis ser...

Page 538: ...m the procedure using CX Programmer Refer to the CX Programmer Operation Manual W414 or W425 DIFU 13 W00006 DIFU 13 W00007 200903 W00003 000002 W00005 200307 200302 W0000 5 202202 000006 201505 MOV 21 0001 2002 Y axis Jog Bit Program Number Read Bit Cycle Start Bit Continued from previous page Y axis Busy Flag Y axis Servo lock Flag Manual Mode Flag Y switch 000007 200903 000006 Y switch Y axis Jo...

Page 539: ... and the Servo Drive When operating the MC Unit online form a personal computer the power sup ply for the personal computer must be ON first Otherwise an error will occur MC Coordinate Displays Display the MC coordinates in order to check the present position of each axis 1 2 3 1 Select Online MC coordinate display 2 Click Start Servo lock Set the Automatic Manual switch to Manual Servo lock the X...

Page 540: ...ure to confirm cor rect operation for the Y axis Be sure that the present position value does not exceed the set software limit A CW software limit or CCW software limit error will occur MC Program Set the Automatic Manual switch to Automatic Press the Start Button to exe cute the MC program From the MC task display screen use the following pro cedure to display and check the MC program 1 2 3 1 Se...

Page 541: ...aching Box after setting locking the ser vos before executing the MC program and jog operation Changing the Mode to T BOX RESERVED 1 2 3 1 Press the EXT Key 2 Press 1 3 Press the Down Key Pressing the Up and Down Keys switches among the three modes Executing Servo lock 1 2 3 1 Select 2 SERVO LOCK from the Extension Mode Menu 2 Select all the axes 3 Press the YES Key The servos will be locked and t...

Page 542: ...l disappear at that point and the present position is shown as 0 When the origin search operation has been completed for the specified ax es the following screen will be displayed 4 Press the CLR Key The axis selection screen in step one of this procedure will return When an error occurs in the MC Unit or the Servo Driver clear it by means of the following procedures Resetting MC Unit Errors 1 2 3...

Page 543: ...e displayed 2 To execute jogging along the X or Y axes press any of the following four jog keys X Y X Y The specified axis will move in the specified di rection and the present position will be refreshed on the screen Executing Cyclic Execution 1 2 3 1 Press the PROG EXEC Key RT MC UNIT ERROR RESET RT DRIVER 0 ALL AXES 1 X 3 Z 2 Y 4 U ALL AXES RT DRIVER RESET ERROR YES NO The specified axes are di...

Page 544: ...d The menu for selecting the operation mode will be restored The CLR Key is not effec tive during program execution If the status is either END or ERR pressing the CLR Key will return to the restart screen Executing Single block Execution 1 2 3 1 Select 2 SINGLE RUN from the menu 2 Specify the program number In this case the program number is 001 so just input 1 If the program number is already se...

Page 545: ... the table workpiece moves away from the Servomotor with a right hand ball screw connection use either of the following two methods Set the MC Unit parameter rotation direction so that the motor will reverse for a positive voltage and reverse for an encoder increase Set the Servomotor s mode to Reverse Mode For U series Servomotors turn ON bit 0 of Cn 02 Encoder Resolution The encoder resolution p...

Page 546: ...t The error will appear to be cleared by just executing an error reset but internally the old system parameters will remain in effect The program cannot be correctly transferred while this condition persists so when ever a system setup error occurs be sure to turn OFF the power and use the Restart Bit in the CPU Unit to restart the Unit Then transfer the program after the restart Backing Up Data t...

Page 547: ...emory pro tection Operations from the CPU Unit are not possible when the Teaching Box is in any mode other than T BOX LIMITED While operations are being executed from the Teaching Box in T BOX RESERVED or T BOX ENABLED Mode other operations will not be carried out even if commands are given from the CPU Unit For details on Teaching Box operations refer to the Teaching Box Operation Manual W320 ...

Page 548: ... Unit operation 12 1 Troubleshooting Tables 522 12 1 1 Items to Check First 522 12 1 2 Problems and Countermeasures 523 12 2 Error Indicators 531 12 2 1 Errors During Initial Processing 532 12 2 2 Errors During Normal Operation 532 12 3 System Error Codes 532 12 4 Task Error Codes 536 12 5 Axis Error Codes 541 12 6 Error Log 546 ...

Page 549: ... 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 du...

Page 550: ...o Problem Probable causes Items to check Remedy 1 The CPU Unit s RUN indicator does not light when the power is turned ON Power supply lines are wired incorrectly Check the power supply wiring Correct the power supply 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 Repl...

Page 551: ...t turning The servo is not locked Check whether the Servo Driver is operating Check the MC Unit axis status to see whether servo is locked Execute servo lock and then turn the motor Change the ladder program 13 The wiring is incorrect between the MC Unit and the Servo Driver Check the wiring with a tester Change the connecting cables Correct the wiring 14 A run prohibit input such as POT or NOT is...

Page 552: ...ot be received from the ladder program because the Teaching Box is in T BOX ENABLED or T BOX RESERVED Mode Disconnect the Teaching Box and check again Disconnect the Teaching Box or put the Teaching Box into T BOX LIMITED Mode 26 Another axis control bit is ON at the same time Check whether another axis control bit is ON at the same time Try executing origin using the Teaching Box Turn OFF the oth...

Page 553: ...coder lines Correct the wiring 35 The speed reference XOUT YOUT polarity is wrong Check the speed reference wiring Correct the wiring 36 There is eccentricity in the couplings connecting the Servomotor axis and the mechanical 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 r...

Page 554: ... not in the in position range If it is not in the in position range the next operation cannot be started because the preceding operation is not completed Increase the in position width set in the MC Unit parameters 46 The Servo Driver gain is too low Adjust the Servo Driver gain and increase the MC Unit position loop gain 47 The servo speed reference is incorrect Adjust the servo speed reference o...

Page 555: ...or the encoder signals and speed references and whether the cables are shielded Use twisted pair and shielded cable as in the wiring examples 56 The motor axis is vibrating unsteadily The gain adjustment is insufficient The gain is too low Perform autotuning Manually adjust increase the gain 57 The gain cannot be adjusted because the mechanical rigidity is too weak This particularly tends to occur...

Page 556: ...ing 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 70 The RUN signal turns OFF during operation Check whether the Servo Driver s RUN signal is turning OFF during operation Turn ON the RUN signal with the correct timing 71 There is slippage in the mechanical system Check for slippa...

Page 557: ... and Pn51 to 0 Set the MC Unit s machine parameters to forward with plus voltage and forward with encoder increase or to reverse with plus voltage and reverse with encoder increase 78 The speed drops comes to a temporary stop during pass operations The minimum pass time is not assured Calculate the travel time by divid ing the travel distance by the speed and check whether the minimum pass time is...

Page 558: ...but the sign changes Turn OFF Cn 02 bit 0 the servo reverse mode setting Set the MC Unit parame ters to a combination of either of the following Forward with plus voltage and forward with encoder increase or reverse with plus voltage and reverse with encoder increase 82 Self holding is not cleared for the start line of the program as it is shown in the manual Program execution does not end even wh...

Page 559: ...XCCW XCW YCCW YCW Error Probable causes Remedy OFF OFF OFF OFF OFF OFF OFF Watchdog timer timeout error The MC Unit s watchdog timer has timed out Replace the MC Unit OFF OFF ON OFF OFF OFF OFF Setup error One of the following setup errors occurred Illegal unit number Unit number duplication Cyclic initial error Unit number setting error Set the correct unit number and turn ON the power again OFF ...

Page 560: ...ack control is performed while waiting for the brake to turn ON for a servo unlock command and thus the axis will not rotate Deceleration Stop Voltage output Time When an error occurs the axis is decelerated to a stop The servo remains locked Accumulated Pulse Stop Voltage output Time When an error occurs the axis is brought to a stop with the accumulated pulses The servo remains locked Emergency ...

Page 561: ...rameters again turn the Unit s power OFF and then ON again This error can be caused by any of the following The programs were not all deleted in spite of the changed system parameter task configuration The system parameters that were downloaded had a different number of tasks registered The memory data might have been destroyed by noise The PLC MC Unit might have been turned OFF while data was bei...

Page 562: ...s deceleration stop key was pressed Reset the error after checking for any unsafe conditions Deceleration stop 000B 0011 Setup error SYSTEM SET ERROR System parameters with new Unit or machine parameters were downloaded Write the system parameters to the flash memory with the CX Motion or Teaching Box and then turn the power OFF and ON The error can be cleared by an error reset but the Unit will o...

Page 563: ... within the acceptable range The number of transfer data items is not within the acceptable range Example When rewriting a 4 byte parameter 8 or 12 bytes were specified The number of transfer data items is not in 4 byte units Set the correct data and execute the IOWR instruction again Deceleration stop 0010 0016 IOWR data error IOWR DATA ERR The following error occurred in data to be written to th...

Page 564: ...nd write it to the flash memory and then turn the power OFF and ON The program could have been destroyed by any of the following The memory data might have been destroyed by noise The PLC MC Unit might have been turned OFF while data was being written to the flash memory Deceleration stop 0018 0024 Program out of range PROG RANGE OVER Attempted to execute the next block of the program but no block...

Page 565: ... the program or the position data Check the setting for the minimum setting unit parameter in the system parameters Deceleration stop 001E 0030 Divide by zero error ZERO DIVIDE ERR A division by zero occurred when a G60 command ARITHMETIC OPERATIONS was executed Correct the program or the position data Check the setting for the minimum setting unit parameter in the system parameters Deceleration s...

Page 566: ...er OFF and ON The intermediate code error could have been caused by any of the following The memory data might have been destroyed by noise The PLC MC Unit might have been turned OFF while data was being written to the flash memory Deceleration stop 0028 0040 Operating time overflow RUN TIME OVERRUN Attempted to execute a G00 G01 G02 or G03 positioning command but the movement to the specified tar...

Page 567: ...N REVERSE When G31 was executed the direction of travel with no interrupt input did not match the direction of travel with an interrupt input The travel directions were reversed Correct the program so that the travel directions in both of these cases are the same Deceleration stop 0030 0048 Negative number of rotations ROTAT DESIG The number of rotations designated by G02 or G03 is a negative numb...

Page 568: ...art the program execution from the first block The traverse operation can be continued only under the following conditions The traverse operation must have been stopped by a deceleration stop and there must have been no errors gen erated while operation was stopped or the axis must not be able to be moved Deceleration stop 0034 0052 D code timeout D CODE TIME OVR The CPU Unit was notified of the D...

Page 569: ...op or emergency stop Set in the system parameters 0041 0065 No origin signal NO ORIGIN SIGNAL During an origin search the origin proximity input signal went from ON to OFF but then a limit input signal went ON before the phase Z input This error could be caused by a fault phase Z input in the encoder a disconnected or broken encoder cable or placement the origin proximity input signal too close to...

Page 570: ...sition preset was executed from the CPU Unit Check whether the software limit in the system parameters is appropriate An error might occur if circular interpolation is performed very close to the software limit Increase the software limits if they aren t appropriate If they are appropriate correct the program position data or command value from the CPU Unit 0045 0069 Origin not established ORIG NO...

Page 571: ...the ABS INC parameter to 2 absolute encoder for G Series Note A Motion Control Unit with unit version 1 1 or later is required to use the absolute encoder functionality of the OMNUC G Series Deceleration stop 004A 0074 Absolute data error ABS DATA ERROR Absolute value data was properly without any communications error sent from the absolute encoder but the data was illegal Possible causes are as f...

Page 572: ...al in the initial origin search direc tion Also check the location of the axis when the origin search was started Refer to Appendix F Additional Origin Search Patterns for details on how errors occur during origin searches Deceleration stop 0054 0084 Origin proximity reverse error OR PRX REVROT ER The reverse mode origin search cannot be performed because the limit input signal in the direction of...

Page 573: ...ror processing Stop method Error code hex Error Processing 0001 PLC watchdog timer error Follow the instructions in the applicable PLC manual 0002 PLC service monitor error May be caused by the following An end refresh prohibition is set by the CPU Unit The CPU Unit scan time is too short Take the following countermeasures Clear the end refresh prohibition Lengthen the CPU Unit scan time 0006 Othe...

Page 574: ...rror code 004A hex 0317 No origin proximity signal Refer to the axis error code 0042 hex 0318 CW overtravel Refer to the axis error code 003E hex 0319 CWW overtravel Refer to the axis error code 003F hex 031a Bi directional overtravel Refer to the axis error code 0040 hex 031b Present position counter overflow Refer to the axis error code 004D hex 031c Absolute multi turn error Refer to the axis e...

Page 575: ...548 Error Log Section 12 6 ...

Page 576: ...he MC Unit operating in optimum condition It includes instructions on the proper procedure to follow when replacing an MC Unit and precautions to observe when replacing a Servomotor 13 1 Routine Inspections 550 13 1 1 Handling Precautions 551 13 1 2 Procedure for Replacing an MC Unit 551 13 1 3 Precautions When Replacing a Servomotor 552 ...

Page 577: ...range When used in a panel the ambient temperature inside the panel must be checked 0 to 55 C With a thermometer check the ambient temperature 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 con densation With a hygrometer check...

Page 578: ... 2 To retain the status and settings of the MC Unit that is to be replaced use CX Motion to upload the programs position data and system parameters 3 Turn OFF the power supply 4 To facilitate rewiring carefully label the cables that are to be disconnected This is important because the MC Unit has a number of connecting cables from the Servo Driver and unexpected operation may result if they are in...

Page 579: ...ter the replacement To adjust the mechanical origin adjust the reference origin offset value in the machine parameters used in the origin search Absolute Position Setting Parameter When an absolute Servomotor is replaced the absolute encoder s absolute position for the origin will be changed and positioning will not be possible for files with the previous system parameters When replacing an absolu...

Page 580: ... the zones Only set axes and zones are processed Approx 80 µs per zone Create present positions Present position created for each axis MC221 Approx 0 6 ms MC421 Approx 0 8 ms Execute task 4 Execute task 3 Execute task 2 Execute task 1 Commands from the CPU Unit executed Only declared tasks are processed Manual Mode Origin search jogging etc Auto Mode G programs executed Process CX Motion communica...

Page 581: ...using the IOWR instructions Refer to SECTION 4 Data Transfer and Storage for details on using the command area to transfer data The data read write times are listed in the following tables Up to 20 words can be transferred per CPU Unit cycle Longer CPU Unit cycle times will thus increase the data transfer time Conditions All axes are servo locked and stopped The CPU Unit cycle time is 2 ms Data Re...

Page 582: ... or G01 X100 F100 3 The response times for an X Y axis operation are for when all axes are moved e g as in G00 X100 Y100 or G01 X100 Y100 Z100 U100 F100 1 500 words 500 positions 213 ms 253 ms 3 000 words 1 000 positions 400 ms 475 ms Number of words read CS1W MC221 CS1W MC421 Data save time Save specified using IOWR Flash Memory Write Flag Command Conditions 1 task 2 axes 2 tasks 2 axes Cycle Sta...

Page 583: ...Y traverse operation Voltage output General purpose input 1 Response time Command Conditions 1 task 2 axes 2 tasks 2 axes Cycle Start Bit ON Response Time See note 1 All axes stopped X axis operation See note 2 X Y axis operation See note 3 X axis operation G00 PTP CONTROL 7 0 to 11 0 ms 8 1 to 11 5 ms 9 3 to 12 3 ms G01 LINEAR INTERPOLATION 7 6 to 10 4 ms 8 8 to 11 7 ms 6 6 to 11 1 ms G02 G03 CIR...

Page 584: ...1 Analog Voltage Output Delays Controlling Two or Four Axes in One Task The delays in outputting analog voltages for linear interpolation in one task are shown below The CS1W MC221 supports only the X and Y axes Voltage output General purpose input 1 Response time Time Two axis linear interpolation with MC221 Four axis linear interpolation with MC421 T1 30 to 150 µs 30 to 210 µs T2 30 to 210 µs T3...

Page 585: ...cial I O Units mounted in PLC 1 25 to 3 25 ms Note If the CPU Unit is already processing an interrupt when the MC Unit attempts to send an interrupt the MC Unit will wait up to 10 ms If the interrupt is still not accepted the MC Unit will generate a D code tim eout error G Code Interpretation Time The time required to interpret a G code command line that does not require movement is shown in the f...

Page 586: ...sitioning operation is performed after output to the reference value for the deceleration curve without waiting for an in position check to be performed If the operation time is shorter than the minimum operation time however Stop Mode operation will be used in the same way as it is in Pass Mode The minimum operation time in In position Check OFF Mode is the same as it is in Pass Mode Operation Ti...

Page 587: ...The time given for the origin proximity input signal is the time required until deceleration of the origin search operation is begun The time given for general purpose inputs is the time required to start fixed length feeding using the input signal Speed Positioning time Time Pass Mode N010 G01 X100 F15000 N020 G01 X300 F200 In position check performed The stop time will be 4 ms after the present ...

Page 588: ...ks are used or if circular interpolation traverse operations or linear interpolation is being performed The above times assume that the CPU Unit cycle time is 2 ms and that the Teaching Box is not connected Data MC221 MC421 M code without zones 5 to 14 ms 6 6 to 34 ms Present positions without zones 5 to 14 ms 6 6 to 34 ms Zone Flags 5 to 14 ms 0 08 ms x number of zones 6 6 to 34 ms 0 08 ms x numb...

Page 589: ...562 Performance Appendix A ...

Page 590: ...ets the X U plane as the plane for circular interpolation G21 See note CIRCULAR PLANE SPECIFICATION Y U Sets the Y U plane as the plane for circular interpolation G22 See note CIRCULAR PLANE SPECIFICATION Z U Sets the Z U plane as the plane for circular interpolation G26 REFERENCE ORIGIN RETURN Moves to the reference origin G27 WORKPIECE ORIGIN RETURN Moves to the workpiece origin G28 ORIGIN SEARC...

Page 591: ...ed optional input is ON G75 OPTIONAL SKIP Skips the block after this command when the specified optional input is ON G76 OPTIONAL PROGRAM STOP Pauses the program when the specified optional input is ON G79 PROGRAM END Ends the main program G90 ABSOLUTE SPECIFICATION Positions with absolute coordinates when performing axis operations G91 INCREMENTAL SPECIFICATION Positions with relative coordinates...

Page 592: ...OFF 01 General Output 2 Brake Output Y 1 Output port turned ON 261 0 Output port turned OFF 02 General Output 3 1 Output port turned ON 261 0 Output port turned OFF 03 General Output 4 1 Output port turned ON 261 0 Output port turned OFF 04 Not used 05 Autoloading Error Reset Bit Reset an autoloading error 262 06 Not used 07 Error Counter Function Selection Bit 1 Error counter warning 263 0 Error ...

Page 593: ...7 1 Optional Input 7 turned ON 265 0 Optional Input 7 turned OFF 08 Optional Input 8 1 Optional Input 8 turned ON 265 0 Optional Input 8 turned OFF 09 Optional Input 9 1 Optional Input 9 turned ON 265 0 Optional Input 9 turned OFF 10 Optional Input 10 1 Optional Input 10 turned ON 265 0 Optional Input 10 turned OFF 11 Optional Input 11 1 Optional Input 11 turned ON 265 0 Optional Input 11 turned O...

Page 594: ...t 06 M Code Reset Bit Resets the M code 275 1 M code reset standby Prohibits M code output Maintains status Clears standby status and starts executing the next command 07 Program Number Read Bit 1 Reads the program number 275 08 Not used 09 Teaching Bit Starts teaching 277 10 Teaching Type Bit 1 Present position feedback value 278 0 Target position 11 to 15 Not used CS1W MC221 PLC Interface Area O...

Page 595: ...ng the next command 07 Program Number Read Bit 1 Reads the program number 277 08 Not used 09 Teaching Bit Starts teaching 277 10 Teaching Type Bit 1 Present position feedback value 278 0 Target position 11 to 15 Not used n 6 X axis Control Bits 00 to 15 Man ual Auto 279 CS1W MC221 PLC Interface Area Outputs CPU Unit to MC Unit n CIO 2000 10 x unit number words Word Contents Bit Description Page Ta...

Page 596: ...l Not used 08 Man ual Enable MPG Sync Encoder Starts MPG sync encoder operation 292 1 Continues MPG sync encoder operation Stops MPG sync encoder operation 09 Man ual Servo lock Locks the servo 293 10 Man ual Auto Servo unlock Clears the servo lock Enables normal reception 296 11 Man ual Auto Driver Alarm Reset 1 Turns ON the driver alarm reset output 298 0 Turns OFF the driver alarm reset output ...

Page 597: ... CPU Unit to MC Unit n CIO 2000 10 x unit number words Word Contents Bit Description Page Y axis override 0001 to 07CF 4 digit Hex Decimal 0001 to 1999 Decimal 0001 to 1999 0 1 to 199 9 0 1 increments x160 x161 x162 x163 Specifies the override for axis operations This override value is used while the override setting is enabled ...

Page 598: ... 08 Man ual Enable MPG Sync Encoder Starts MPG sync encoder operation 292 1 Continues MPG sync encoder operation Stops MPG sync encoder operation 09 Man ual Servo lock Locks the servo 293 10 Man ual Auto Servo unlock Clears the servo lock Enables normal reception 296 11 Man ual Auto Driver Alarm Reset 1 Turns ON the driver alarm reset output 298 0 Turns OFF the driver alarm reset output 12 Man ual...

Page 599: ...6 0 The Teaching Box is not in enable mode 12 Teaching Box in Protect Mode 1 The Teaching Box is in protect mode 306 0 The Teaching Box is not in protect mode 13 Not used 14 Error Flag 1 An error has occurred 308 Error Reset is ON 0 No error has occurred 15 Autoloading Time Up 1 Communications not possible even after waiting for the monitoring time period set in the system parameters 308 Autoloadi...

Page 600: ...t Signal is OFF 10 to 12 Not used 13 Teaching Completed 1 Teaching has been completed 316 Teaching command is OFF 14 Teaching Error 1 A teaching error occurred 316 OFF when the next teaching command has been completed normally or teaching address setting has been completed 15 Teaching Address Over 1 The teaching address was too high 317 OFF when the next teaching command has been completed normall...

Page 601: ...t Signal is OFF 10 to 12 Not used 13 Teaching Completed 1 Teaching has been completed 316 Teaching command is OFF 14 Teaching Error 1 A teaching error occurred 316 OFF when the next teaching command has been completed normally or teaching address setting has been completed 15 Teaching Address Over 1 The teaching address was too high 317 OFF when the next teaching command has been completed normall...

Page 602: ...s ON 323 0 The driver alarm input is OFF 08 Zone 1 Flag 1 Within zone 1 323 0 Outside of zone 1 09 Zone 2 Flag 1 Within zone 2 323 0 Outside of zone 2 10 Zone 3 Flag 1 Within zone 3 323 0 Outside of zone 3 11 Zone 4 Flag 1 Within zone 4 323 0 Outside of zone 4 12 Zone 5 Flag 1 Within zone 5 323 0 Outside of zone 5 13 Zone 6 Flag 1 Within zone 6 323 0 Outside of zone 6 14 Zone 7 Flag 1 Within zone ...

Page 603: ...3 0 The driver alarm input is OFF 08 Zone 1 Flag 1 Within zone 1 323 0 Outside of zone 1 09 Zone 2 Flag 1 Within zone 2 323 0 Outside of zone 2 10 Zone 3 Flag 1 Within zone 3 323 0 Outside of zone 3 11 Zone 4 Flag 1 Within zone 4 323 0 Outside of zone 4 12 Zone 5 Flag 1 Within zone 5 323 0 Outside of zone 5 13 Zone 6 Flag 1 Within zone 6 323 0 Outside of zone 6 14 Zone 7 Flag 1 Within zone 7 323 0...

Page 604: ... Auto General Output 3 Brake Output Z 1 Output port turned ON 261 0 Output port turned OFF 03 Manual Auto General Output 4 Brake Output U 1 Output port turned ON 261 0 Output port turned OFF 04 Manual Auto Not used 05 Manual Auto Autoloading Error Reset Bit Resets an autoloading error 262 06 Not used 07 Manual Auto Error Counter Function Selection Bit 1 Error counter warning 263 0 Error counter er...

Page 605: ...7 1 Optional Input 7 turned ON 265 0 Optional Input 7 turned OFF 08 Manual Auto Optional Input 8 1 Optional Input 8 turned ON 265 0 Optional Input 8 turned OFF 09 Manual Auto Optional Input 9 1 Optional Input 9 turned ON 265 0 Optional Input 9 turned OFF 10 Manual Auto Optional Input 10 1 Optional Input 10 turned ON 265 0 Optional Input 10 turned OFF 11 Manual Auto Optional Input 11 1 Optional Inp...

Page 606: ...tatus Clears standby and starts executing the next command 07 Manual Auto Program Number Read Bit 1 Reads the program number 277 08 Manual Auto Not used 09 Manual Auto Teaching Bit Starts teaching 277 10 Manual Auto Teaching Type Bit 1 Present position feedback value 278 0 Target position 11 to 15 Not used n 4 Control Bits for Task 2 00 to 15 Task 2 program number 0000 to 03E7 4 digit hexadecimal ...

Page 607: ...ts for Task 3 Refer to Control Bits for Task 1 in n 3 266 n 8 Control Bits for Task 4 00 to 15 Task 4 program number 0000 to 03E7 4 digit hexadecimal Decimal 0000 to 0999 Refer to Control Bits for Task 1 in n 2 266 n 9 00 to 15 Control Bits for Task 4 Refer to Control Bits for Task 1 in n 3 266 CS1W MC421 PLC Interface Area Outputs CPU Unit to MC Unit n CIO 2000 10 x unit number words Word Content...

Page 608: ...coder operation Stops MPG sync encoder operation 09 Manual Auto Servo lock Starts servo lock 293 10 Manual Auto Servo unlock Clears the servo lock Enables normal reception 296 11 Manual Auto Driver Alarm Reset 1 Turns ON the driver alarm reset output 298 0 Turns OFF the driver alarm reset output 12 Manual Auto Override Setting 1 Enables the override setting 299 0 Disables the override setting 13 M...

Page 609: ...x Decimal 0001 to 1999 Decimal 0001 to 1999 0 1 to 199 9 0 1 increments Refer to X axis Control Bits in n 10 279 n 15 00 to 15 Z axis Control Bits Refer to X axis Control Bits in n 11 280 n 16 U axis Control Bits 00 to 15 U axis override 0001 to 07CF 4 digit hex Decimal 0001 to 1999 Decimal 0001 to 1999 0 1 to 199 9 0 1 increments Refer to X axis Control Bits in n 10 279 n 17 00 to 15 U axis Contr...

Page 610: ...lash memory 305 Data transmission to the flash memory has been completed 11 Teaching Box in Enable Mode 1 The Teaching Box is in enable mode 306 0 The Teaching Box is not in enable mode 12 Teaching Box in Protect Mode 1 The Teaching Box is in protect mode 306 0 The Teaching Box is not in protect mode 13 Not used 14 Error 1 An error has occurred 307 Error Reset is ON 0 No error has occurred 15 Auto...

Page 611: ...00 10 x unit number words Word Contents Bit Description Page Error code 4 digit Hex x160 x161 x162 x163 Normal 0000 The above is the error code format of the MC Unit An error code is valid while the Error Flag is ON If an error occurs check the error type data to find the type of error such as a system tasks 1 to 4 X axis to U axis error ...

Page 612: ...rt Signal is OFF 10 to 12 Not used 13 Teaching Completed 1 Teaching has been completed 316 Teaching command is OFF 14 Teaching Error 1 A teaching error occurred 316 OFF when the next teaching command has been completed normally or teaching address setting has been completed 15 Teaching Address Over 1 A teaching address was too high 317 OFF when the next teaching command has been completed normally...

Page 613: ...Task 1 Status Flags in n 23 310 n 32 Task 4 Status Flags 00 to 15 Task 4 M code 0000 to 03E7 4 digit hex Decimal 0000 to 0999 Refer to Task 1 M code in n 20 309 n 33 00 to 15 Task 4 Executing program number 0000 to 03E7 4 digit hex Refer to Task 1 Executing program number in n 21 310 n 34 00 to 15 Task 4 Executing block number 0000 to 03E7 4 digit hex Refer to Task 1 Executing block number in n 22...

Page 614: ... alarm input is ON 323 0 The driver alarm input is OFF 08 Zone 1 Flag 1 Within zone 1 323 0 Outside of zone 1 09 Zone 2 Flag 1 Within zone 2 323 0 Outside of zone 2 10 Zone 3 Flag 1 Within zone 3 323 0 Outside of zone 3 11 Zone 4 Flag 1 Within zone 4 323 0 Outside of zone 4 12 Zone 5 Flag 1 Within zone 5 323 0 Outside of zone 5 13 Zone 6 Flag 1 Within zone 6 323 0 Outside of zone 6 14 Zone 7 Flag ...

Page 615: ...tatus Refer to X axis Status in n 38 318 n 45 n 46 U axis Status Flags 00 to 15 U axis present position 32 bit signed data The present position of the reference coordinate system is output The position of the decimal point is determined by the system parameter settings n 42 Rightmost 16 bits n 43 Leftmost 16 bits Refer to X axis present position in n 36 and n 37 318 n 47 00 to 15 U axis Status Ref...

Page 616: ...e axis or axes used for task 2 The data configuration is the same as that of the task axis declaration for task 1 0000 0000 0 0FA4 4004 R Task axis declaration for task 3 Specifies the axis or axes used for task 3 The data configuration is the same as that of the task axis declaration for task 1 0000 0000 0 0FA5 4005 R Task axis declaration for task 4 Specifies the axis or axes used for task 4 The...

Page 617: ...port 3 Z axis Output port 4 U axis 0 0 0 0 0 0 L 1 L 15 0015 03 00 11 08 MPG sync encoder Sync encoder ratio Specifying MPG sync encoder Specifies whether to use an MPG or a sync encoder X 0 MPG X 1 Sync encoder Sync encoder ratio Specifies the sync encoder ratio X 0 ratio of 4 X 1 ratio of 2 X 2 ratio of 1 0 0 0 0 0 0 L 1 L 15 0015 03 00 Specifies the pass time mode Acceleration mode Specifying t...

Page 618: ...osition data number for task 4 The data configuration and range is the same as that for task 1 0000 0000 0 100B 100B 4107 R Last position data number for task 4 0000 07CF 1999 100C 4108 100C 4108 R Reserved for the system These addresses are reserved for the system 100D 4109 100D 4109 R Reserved for the system Address R W Name Description Default setting Top L 1 Bottom L MC221 MC421 MC221 MC421 0 ...

Page 619: ... 15 0015 03 00 Display unit Axis mode Axis Mode Specifies the Axis Feed Mode 11 08 X 0 Normal Feed Mode X 1 Unlimit ed Feed Mode Display unit Specifies unit displayed by CX Motion Specifies the rotation direction of the motor X 0 CW with positive voltage X 1 CCW with positive voltage 0 0 0 0 0 0 0 X L 1 L 15 0015 03 00 Specifies machine movement with emergency stop input or CW CCW limit switch inp...

Page 620: ...or the encoder 0 0 0 0 0 0 0 X L 1 L 15 0015 03 00 X 0 ratio of 4 X 1 ratio of 2 X 2 ratio of 1 Specifies the polarity of the encoder X 0 CW with increments X 1 CCW with decrements 0 0 0 0 0 0 0 X L 1 L 15 0015 03 00 0 0 0 L 1 L 15 0015 03 00 Pulse rate denominator 0 0 0 L 1 L 15 0015 03 00 Pulse rate numerator Specify the numerator and denominator of the pulse rate Range 00000001 to 000186A0 Hex ...

Page 621: ... direction will be opposite the Z phase detection direction only if the origin proximity signal input and CW CCW limit signal input all turn OFF X 0 Same as the phase Z detection direction X 1 Opposite the phase Z detection direction Phase Z Detection Direction Specifies the phase Z detection direction 0 Positive 1 Negative Origin Search Direction Phase Z detection direction 0 0 0 0 0 0 L 1 L 15 0...

Page 622: ...R W Name Description Default setting Top L 1 Bottom L MC221 MC421 X Y Z U Specifies the wiring check time within a range of 0 to 99 x 10 ms Range 00 to 63 Hex 0 to 99 x 10 ms 0 0 0 L 1 L 15 0015 03 00 Wiring check time 07 0 0 0 Specifies the number of pulses to check the wir ing within a range of 0 to 999 pulses Range 000 to 3E7 Hex 0 to 999 pulses 0 0 0 L 1 L 15 0015 03 00 Number of wiring check ...

Page 623: ...d rate 0003 0D40 200000 1131 4401 114A 4426 1163 4451 117C 4476 R Maximum interpola tion feed rate Specifies the upper limit of the interpolation feed rate There is no difference in data configuration range or unit between the maximum interpola tion feed rate and maximum feed rate 0003 0D40 200000 L 1 L 15 00 15 00 Reference origin offset Specifies the offset of the reference origin The data is 32...

Page 624: ...4457 1182 4482 R W Decelera tion time Sets the deceleration time to reduce the feed rate to zero from the maximum feed rate The data configuration range and units are the same as that for acceleration time 0000 0064 100 1138 4408 1151 4433 116A 4458 1183 4483 R W Interpola tion accel eration time Sets the acceleration time to obtain the maxi mum interpolation feed rate There is no difference in da...

Page 625: ...The data configuration and range are the same as that for MPG ratio electronic gear numerator 1 denominator 1 0000 0064 100 113F 4415 1158 4440 1171 4465 118A 4490 R W MPG ratio denomi nator 3 electronic gear denomi nator 3 0000 0001 1 Address R W Name Description Default setting Top L 1 Bottom L MC221 MC421 X Y Z U 0 0 0 0 L 1 L 15 00 15 00 MPG ratio numerator 1 electronic gear numerator 1 0 0 0 ...

Page 626: ...ting 4 The data configuration and range are the same as that for MPG ratio electronic gear numerator 1 denominator 1 0000 00C8 200 1141 4417 115A 4442 1173 4467 118C 4492 R W MPG ratio denomi nator 4 electronic gear denomi nator 4 0000 0001 1 1142 4418 115B 4443 1174 4468 118D 4493 R W Reserved for the system These addresses are reserved for the system 1143 4419 115C 4444 1175 4469 118E 4494 R W R...

Page 627: ...Zone 7 Zone 6 Zone 5 L Zone 4 Zone 3 Zone 2 Zone 1 Valid timing Valid timing Sets timing for validating zone settings X 0 Vali dates a zone at the end of the origin search X 1 Validates a zone whether or not the origin search is completed Zone 1 to 8 Validates or invalidates zone 1 to zone 8 settings Bits 00 to 07 correspond to zones 1 to 8 00 01 02 03 04 05 06 07 Sets the negative or positive dir...

Page 628: ...19E 4510 11B7 4535 11D0 4560 11E9 4585 R W Zone 5 positive direction setting 119F 4511 11B8 4536 11D1 4561 11EA 4586 R W Zone 6 negative direction setting Sets the negative or positive direction range of zone 6 The data configurations ranges and units for the negative and positive direction set values are the same as those for zone 1 0000 0000 0 11A0 4512 11B9 4537 11D2 4562 11EB 4587 R W Zone 6 p...

Page 629: ...nge 0000 to FDE8 Hex 0 to 65000 pulses 0 0 0 0 L 1 L 15 0015 00 Error counter warning value Sets to check the in position Range 0000 to 2710 Hex 0 to 10000 pulses 0 0 0 0 L 1 L 15 0015 00 In position Sets the position loop gain Range 01 to FA Hex 1 to 250 1 s 0 0 0 L 1 L 15 0015 03 00 Position loop gain 07 0 0 0 Sets the position loop FF gain Range 00 to 64 Hex 0 to 100 0 0 0 L 1 L 15 0015 03 00 P...

Page 630: ...124B 4683 R W Reserved for the system These addresses are reserved for the system 1201 4609 121A 4634 1233 4659 124C 4684 R W Reserved for the system These addresses are reserved for the system Data Address range Position data 0000 to 07CF decimal 0000 to 1999 Address R W Name Description Default setting Top L 1 Bottom L MC221 MC421 X Y Z U 0 0 0 j 0 j 1 j 2 15 12 11 08 07 04 03 00 A Decimal point...

Page 631: ...e as that for the X axis 1777 6007 R Z axis error code An error code will be set if a Z axis error occurs The data configuration is the same as that for the X axis 1778 6008 R U axis error code An error code will be set if a U axis error results The data configuration is the same as that for the X axis 0 0 0 0 L 1 L 15 0015 00 System error code An error code will be set if a system error occurs Re...

Page 632: ...3 14 15 1 ON 0 OFF Not used OFF CCW limit input signal Origin proximity input signal Emergency stop input signal Driver alarm input signal Run instruction output Driver alarm reset output Sensor ON output CW limit input signal Bit Name Description General purpose input 2 0 2 to 7 8 9 10 11 12 13 14 15 1 ON 0 OFF Not used OFF CCW limit input signal Origin proximity input signal Emergency stop input...

Page 633: ...tion See X axis reference coordinate system present position for the data configuration 17A5 6053 R U axis reference coordinate system present position Outputs the U axis reference coordinate system present position See X axis reference coordinate system present position for the data configuration Address R W Name Description MC221 MC421 If a program is being executed the block number of the progr...

Page 634: ...inate system present position See X axis reference coordinate system present position in pulses for the data configuration 17AE 6062 17AE 6062 R X axis error counter value in pulses 17AF 6063 17AF 6063 R Y axis error counter value in pulses Outputs pulses for the Y axis error counter value See X axis error counter value in pulses for the data configuration 17B0 6064 R Z axis error counter value in...

Page 635: ...escription MC221 MC421 L 1 L 15 00 15 00 X axis workpiece origin shift value Outputs the shift value between the X axis reference coordinate sys tem origin and the workpiece coordinate system origin The data is 32 bit signed binary data L 1 Leftmost bit L Rightmost bit Range FD9DA601 to 026259FF Hex 39999999 to 39999999 The minimum setting unit is set to 2 for 0 01 the display unit is set to 0 for...

Page 636: ...position in pulses for the data configuration 17BE 6078 17BE 6078 R Number of X axis multiturns in pulses 17BF 6079 17BF 6079 R Number of Y axis multiturns in pulses Outputs 32 bit signed binary pulses for the reference coordinate system present position See the number of X axis multiturns in pulses for the data configuration 17C0 6080 R Number of Z axis multiturns in pulses Outputs 32 bit signed ...

Page 637: ...en L 0 L 1 L 2 L 3 L 4 L 5 15 12 11 08 07 04 03 00 0 0 0 0 0 0 0 0 First source word number for transferred position data Transfer source area designation DM or EM First destination address for transferred position data This parameter can transfer a maximum of 2 000 positions to an MC Unit at one time It executes by specifying the address 17D6 Hex with the first oper and of the IOWR instruction Th...

Page 638: ...es the first source address number in MC Unit internal RAM for the transferred position data Range 0000 to 07CF Hex 0 to 1999 First destination word number for transferred position data Specifies the first word number of the DM or EM area that will store the trans ferred position data Transfer destination area designation Specifies the DM or EM area for storing position data that will be transferr...

Page 639: ...E4 6116 W Setting the task 3 teaching address Sets the start address for task 3 teaching The data configuration is the same as that for setting the task 1 teaching address 17EE5 6117 W Setting the task 4 teaching address Sets the start address for task 4 teaching The data configuration is the same as that for setting the task 1 teaching address 17E8 6120 17E8 6120 W Override function selection See...

Page 640: ...618 18 and 19 Cycle Start Bit and M Code Reset Bit 618 20 and 21 Cycle Start Bit Forced Block End Bit M Code Reset Bit and M code output 619 22 Automatic Manual Mode Bit and M code output 619 23 and 24 Cycle Start Bit Pause Bit M Code Reset Bit and M code output 620 25 Cycle Start Bit Forced Block End Bit and M code output 620 26 Cycle Start Bit Forced Block End Bit Task Error Flag and Task Error ...

Page 641: ...lock End Bit Even though the Cycle Start Bit is turned ON MC program execution is not started because the Forced Block End Bit is ON Operation will begin if the Forced Block End Bit is turned OFF and the Cycle Start Bit is turned OFF and then ON again 5 Cycle Start Bit and Forced Block End Bit When the Cycle Start Bit and Forced Block End Bit are turned ON at the same time the Forced Block End Bit...

Page 642: ... is restarted when the Cycle Start Bit is turned ON again 8 Cycle Start Bit and Forced Block End Bit The Forced Block End Bit is turned ON to cancel execution of block N002 and stop program execution Even though the Cycle Start Bit is turned ON again the Forced Block End Bit is still ON so program execution is not restarted 9 Cycle Start Bit and Forced Block End Bit The Forced Block End Bit is tur...

Page 643: ...d Block End Bit and Pause Bit The Forced Block End Bit and Pause Bit are turned ON at the same time but the Forced Block End Bit takes precedence so execution of block N002 is cancelled 12 Cycle Start Bit Forced Block End Bit and Pause Bit Program execution is paused with the Pause Bit The Forced Block End Bit signal is ignored Program execu tion will continue when the Cycle Start Bit is turned ON...

Page 644: ...program execution is paused with the Pause Bit the Unit is switched to Manual Mode by turning OFF the Automatic Manual Mode Bit 15 Automatic Manual Mode Bit Cycle Start Bit and Forced Block End Bit Program execution is stopped by turning OFF the Automatic Manual Mode Bit The Forced Block End Bit is ignored Cycle Start Bit Operation Pause Bit Automatic Manual Mode Bit Cycle Start Bit Operation Paus...

Page 645: ...in 18 Cycle Start Bit and M Code Reset Bit Program execution is started by the Cycle Start Bit The next operation G01 is executed without outputting M code 100 because the M Code Reset Bit is ON 19 Cycle Start Bit and M Code Reset Bit The Cycle Start Bit is invalid while the Unit is waiting for an M code reset When the M Code Reset BIt is turned OFF the standby status is cleared and the status of ...

Page 646: ...y stopped so program execution is not restarted when the M Code Reset Bit is turned OFF 21 Cycle Start Bit Forced Block End Bit M Code Reset Bit and M Code Output The program is stopped and the M code is cleared when the Forced Block End Bit goes ON 22 Automatic Manual Mode Bit and M Code Output The M code is not cleared when the Unit is switched to Manual Mode Forced Block End Bit Operation M Cod...

Page 647: ...M Code Reset Bit are turned ON at the same time the Pause Bit becomes valid Program execution is paused but the M code is not cleared When the program is restarted the M code will be output because it was ON originally 25 Cycle Start Bit Forced Block End Bit and M Code Output The Forced Block End Bit is turned ON while the Unit is standing by for an M code reset cancelling the block Pause Bit Oper...

Page 648: ...ly 28 Automatic Manual Mode Bit Cycle Start Bit Jogging Bit and Manual Mode Flag The Automatic Manual Mode Bit is turned OFF while the program is being executed switching the Unit to Man ual Mode Switching to Manual Mode causes the program to stop and axes to decelerate to a stop but the Manual Mode Flag is OFF while the axes are decelerating so the Jogging Bit signal is invalid The Manual Mode Fl...

Page 649: ...s cancelled by turning ON the Forced Block End Bit The optional input is turned OFF at the same time that the Forced Block End Bit is turned ON so in the end the input has no effect 31 Cycle Start Bit Forced Block End Bit and Optional Input While the block after the OPTIONAL END command G74 is being executed the block is cancelled by turning ON the Forced Block End Bit The optional input and Force...

Page 650: ...art Bit is turned ON The status of the optional input is checked when the OPTIONAL PROGRAM STOP command G76 is executed and the program is stopped because the optional input is ON 34 Cycle Start Bit and Optional Input Program execution is restarted when the Cycle Start Bit is turned ON The status of the optional input is read due to the execution of the OPTIONAL END command G74 and G04 is cancelle...

Page 651: ... and Optional Input The OPTIONAL PROGRAM STOP command G76 is cancelled by the Forced Block End Bit The optional input is turned OFF at the same time but this is ignored and program execution is stopped 37 Forced Block End Bit and Optional Input The Forced Block End Bit takes precedence if it is turned ON at the same time as the optional input in the block after an OPTIONAL END command G74 The Unit...

Page 652: ...d M Code Output Turning ON the Forced Block End Bit cancels the M100 block waiting for an M code reset The down differenti ation of the M Code Reset Bit is ignored 40 Pause Bit and Optional Input Operation is stopped if the Pause Bit is turned ON during execution of the OPTIONAL SKIP command G75 The optional input is ignored Operation M Code Reset Bit Forced Block End Bit M Code Operation M Code R...

Page 653: ...ositioning operation is stopped by turning ON the Pause Bit in the block after the OPTIONAL END command G74 The optional input is ignored even if it goes OFF at the same time The program is not ended Execution of command G00 is continued when the program is restarted 43 Pause Bit M Code Reset Bit and M Code Output The program is stopped by the Pause Bit The M Code Reset Bit is ignored so the M cod...

Page 654: ...Reset Bit and M Code Output The M code command in the block after the OPTIONAL END command G74 is stopped by the optional input The M code is cleared and the next block is executed immediately The M Code Reset Bit is ignored Operation M Code Reset Bit Optional Input M Code ...

Page 655: ...628 Control Bit Flag Timing Charts Appendix E ...

Page 656: ...gin search direction is oppo site to the phase Z detection direction the origin search will be performed in the CCW direction For operation details refer to SECTION 9 Establishing the Origin Reverse mode Origin Search 1 This origin search is performed with an origin proximity signal input and both phase Z detection direction and initial origin search direction set to CW Note Operation will vary de...

Page 657: ... an origin proximity signal input and both phase Z detection direction and initial origin search direction set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input See note See note See note See note ...

Page 658: ...itial origin search direction set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input Error No origin signal See note Error No origin signal See note Error No origin signal See note Error No origin proximity signal See note See note Error No origin proximity signal See note ...

Page 659: ...irection set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input Error No origin signal See note Error No origin signal See note Error No origin signal See note Error No origin proximity signal See note Error No origin proximity signal See note Error No origin proximity signal See note See no...

Page 660: ...irection set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed Limit signal input Origin proximity signal input CW CCW Error No origin signal See note Error No origin signal See note Error No origin signal See note Error No origin proximity signal See note Error No origin proximity signal See note See note Error No origin proximity signal See no...

Page 661: ...irection set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed Limit signal input Origin proximity signal input CW CCW Error No origin signal See note Error No origin signal See note Error No origin signal See note Error No origin proximity signal See note Error No origin proximity signal See note See note Error No origin proximity signal See no...

Page 662: ...ion and initial origin search direction set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed Limit signal input Origin proximity signal input Error No origin proximity signal See note Error No origin proximity signal See note See note Error No origin proximity signal See note Error No origin proximity signal See note ...

Page 663: ...rection set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed Limit signal input Origin proximity signal input Error No origin signal See note Error No origin signal See note Error No origin proximity signal See note Error No origin proximity signal See note See note Error No origin proximity signal See note Error No origin proximity signal See ...

Page 664: ...tting of the limit signal input Phase Z signal Speed Limit signal input Origin proximity signal input Error Origin proximity and over travel simultaneously ON See note Error Origin proximity and over travel simultaneously ON See note Error Origin proximity and over travel simultaneously ON See note Error Origin proximity and over travel simultaneously ON See note Error Origin proximity and over tr...

Page 665: ...Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed Limit signal input Origin proximity signal input Error No origin proximity signal See note Error No origin proximity signal See note See note Error No origin proximity signal See note Error No origin proximity signal See note Error Origin proximity and over travel simultaneously ON Error Origin proximi...

Page 666: ...ut Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed Limit signal input Origin proximity signal input Error See note Error No origin proximity signal See note Error No origin proximity signal See note Error Origin proximity and over travel simultaneously ON Origin proximity and o ver travel simultaneously ON See note Error No origin proximity signal S...

Page 667: ...ion and initial origin search direction set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed Limit signal input Origin proximity signal input Error No origin proximity signal See note Error No origin proximity signal See note Error No origin proximity signal See note Error No origin proximity signal See note See note ...

Page 668: ...an error will result as shown below When the interval between the CW limit signal input and the origin proximity signal is short an error will result as shown below Phase Z signal Speed Limit signal input Origin proximity signal input Error Overtravel reverse error Phase Z signal Speed Limit signal input Origin proximity signal input Error Origin proximity reverse error ...

Page 669: ...h is performed with no origin proximity signal input and both phase Z detection direction and initial origin search direction set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed Limit signal input See note See note See note See note ...

Page 670: ...with an origin proximity signal input and the phase Z detection direction set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed Error No origin proximity signal Error Overtravel already ON CW CCW See note Limit signal input Origin proximity signal input ...

Page 671: ...with an origin proximity signal input and the phase Z detection direction set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input See note Origin proximity signal input Error No origin proximity signal Error Overtravel already ON ...

Page 672: ...etection direction set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input See note Origin proximity signal input Error No origin proximity signal Error No origin proximity signal Error Overtravel already ON See note Error No origin signal Error No origin signal Error No origin signal ...

Page 673: ...tion set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input Error No origin proximity signal Error Overtravel already ON Error No origin proximity signal Error No origin signal See note Error No origin signal See note Error No origin signal See note See note See note ...

Page 674: ...tion set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input Error No origin proximity signal Error Overtravel already ON Error No origin proximity signal See note See note Error No origin signal See note Error No origin signal See note Error No origin signal See note ...

Page 675: ...ion set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input Error No origin proximity signal Error Overtravel already ON Error No or Error No origin proximity signal Error No or See note Error No or See note See note See note igin signal igin signal igin signal See note ...

Page 676: ...the phase Z detection direction set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input Error No origin proximity signal Error Overtravel already ON Error No origin proximity signal Error No origin proximity signal See note See note See note ...

Page 677: ...et to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input Error No origin proximity signal Error Overtravel already ON Error No origin proximity signal Error No origin proximity signal Error No or Error No or See note See note See note See note igin signal See note igin signal ...

Page 678: ... setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input Error Overtravel already ON See note See note See note See note Error Origin proximity and over travel simultaneously ON Error Origin proximity and over travel simultaneously ON Error Origin proximity and over travel simultaneously ON Error Origin proximity and over travel simultaneously...

Page 679: ...Z signal input Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input Error Overtravel already ON Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal Error Overtravel always ON ver See note See note See note Error Origin proximity and o travel simultaneou...

Page 680: ...ion set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input See note Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal Error Overtravel already ON See note See note Error Origin proximity and over travel simultaneously ON ...

Page 681: ... the phase Z detection direction set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input Origin proximity signal input Error No origin proximity signal Error No origin proximity signal Error No origin proximity signal Error Overtravel already ON See note See note See note ...

Page 682: ...ch is performed with no origin proximity signal input and the phase Z detection direction set to CW Note Operation will vary depending on the setting of the limit signal input Phase Z signal Speed CW CCW Limit signal input Error No origin proximity signal Error Overtravel already ON See note ...

Page 683: ...656 Origin Search Patterns Appendix F ...

Page 684: ...of 500 kpps The maximum rotation speed will thus be limited according to the encoder divider rate W series Servo Drivers Encoder Divider Rate Encoder Divider Rate Pn201 and Applicable Maximum Speeds r min PRM No Parameter name Description Default Unit Setting range Cycling power Pn201 Encoder Divider Rate Sets the number of pulses output by the Servo Driver 1000 Pulses unit 16 to 16384 Required En...

Page 685: ...658 Encoder Divider Rate and Rotation Speed for OMRON Servo Drivers Appendix G ...

Page 686: ...pendix H MC Program Coding Sheet The following page can be copied for use in coding MC programs When coding programs be sure to specify all G codes and operands These will be necessary when inputting programs ...

Page 687: ...gram Number Date Page Block No G Code Operands Comments N 0 N 1 N 2 N 3 N 4 N 5 N 6 N 7 N 8 N 9 N 0 N 1 N 2 N 3 N 4 N 5 N 6 N 7 N 8 N 9 N 0 N 1 N 2 N 3 N 4 N 5 N 6 N 7 N 8 N 9 N 0 N 1 N 2 N 3 N 4 N 5 N 6 N 7 N 8 N 9 N 0 N 1 N 2 N 3 N 4 N 5 N 6 N 7 N 8 N 9 ...

Page 688: ...661 Appendix I System Parameter Settings The following pages can be copied for use in recording system parameter settings ...

Page 689: ...ber of axes 1 to 4 Number of tasks 1 to 4 Task 1 axes Any combination of X Y Z and U Task 2 axes Task 3 axes Task 4 axes Parameter Setting Setting range Start address End address Task 1 position data 0000 to 1999 Task 2 position data Task 3 position data Task 4 position data Parameter Setting X axis Y axis Z axis U axis Reference origin offset Workpiece origin offset ...

Page 690: ...io 1 2 or 4 Encoder polarity Forward or reverse by an increase in the encoder Pulse rate numerator denominator set separately 1 to 100 000 Maximum motor speed 1 to 32 767 r min Negative software limit Positive software limit 39 999 999 to 39 999 999 Origin search method Origin mode limit reverse mode or one direction mode Phase Z detection direction Positive or negative Origin search start directi...

Page 691: ...tio electronic gear ratio 2 denominator 1 to 10 000 MPG ratio electronic gear ratio 3 numerator 10 000 to 10 000 MPG ratio electronic gear ratio 3 denominator 1 to 10 000 MPG ratio electronic gear ratio 4 numerator 10 000 to 10 000 MPG ratio electronic gear ratio 4 denominator 1 to 10 000 Parameter Setting Setting range Zone 1 specification Enable or disable zone 1 settings Zone 1 valid timing Val...

Page 692: ...d Zone 5 Negative direction SV 39 999 999 to 39 999 999 Positive direction SV Zone 6 specification Enable or disable zone 6 settings Zone 6 valid timing Valid after origin search or valid even if origin search has not been completed Zone 6 Negative direction SV 39 999 999 to 39 999 999 Positive direction SV Zone 7 specification Enable or disable zone 7 settings Zone 7 valid timing Valid after orig...

Page 693: ...etting range X axis Y axis Z axis U axis Error counter warning 0 to 65 000 pulses In position 0 to 999 pulses Position loop gain 5 to 150 1 s Position loop FF gain 0 to 100 Backlash compensation value 0 to 10 000 pulses Brake ON time 0 to 10 000 ms Brake OFF time 0 to 10 000 ms ...

Page 694: ...667 Appendix J Position Data Coding Sheet The following page can be copied to record the data stored in position data addresses ...

Page 695: ...A 22 A 23 A 24 A 25 A 26 A 27 A 28 A 29 A 30 A 31 A 32 A 33 A 34 A 35 A 36 A 37 A 38 A 39 A 40 A 41 A 42 A 43 A 44 A 45 A 46 A 47 A 48 A 49 A 50 Address Data Comments A 51 A 52 A 53 A 54 A 55 A 56 A 57 A 58 A 59 A 60 A 61 A 62 A 63 A 64 A 65 A 66 A 67 A 68 A 69 A 70 A 71 A 72 A 73 A 74 A 75 A 76 A 77 A 78 A 79 A 80 A 81 A 82 A 83 A 84 A 85 A 86 A 87 A 88 A 89 A 90 A 91 A 92 A 93 A 94 A 95 A 96 A 9...

Page 696: ...tic Manual Mode Bit 229 axes 30 376 declaring 382 program 382 status flags 247 248 259 260 axis configuration 156 axis mode 159 axis parameters 151 B backlash 18 correction 327 backlash correction 356 setting 169 Backplane 16 mounting Units 104 block diagram 28 blocks 31 block ends in Pass Mode 341 block numbers 34 conditional jump 424 current block number 193 245 258 end 425 executing single bloc...

Page 697: ... 244 255 overall structure for CPU Unit 224 transferring and saving times 554 transferring using command area 206 217 transferring with IOWR IORD 204 transfers to from CPU Unit 223 types 203 data formats 20 DC relay 129 deceleration curve 327 deceleration stop 230 deceleration stops 243 253 254 deceleration time 154 164 demand positions 20 dimensions 16 106 direction 15 141 159 display unit 159 do...

Page 698: ...38 G language arguments 34 codes 35 command list 377 commands by purpose 37 executing from ladder program 462 formats 378 program structure 30 programming examples 34 445 See also G language commands symbols 380 general input stopping program 455 G language commands G00 POSITIONING 384 G01 LINEAR INTERPOLATION 385 G02 and G03 CIRCULAR INTERPOLATION 388 G04 DWELL TIMER 395 G10 PASS MODE 396 G11 STO...

Page 699: ...ion time 558 IORD 30 203 204 224 execution timing 216 specifications 213 IOWR 30 203 204 224 execution timing 212 setting backlash correction 357 specifications 209 specifications for command area 221 J M jogging 230 243 253 254 direction 253 254 feed rate 164 jumps 423 424 ladder programs executing G language programs 462 teaching 489 491 lags 23 LINEAR INTERPOLATION G01 385 linear interpolation ...

Page 700: ...5 in position flag 247 248 259 260 moving to origin 481 offsets 450 presetting 466 setting 230 setting absolute origin 243 253 254 setting offsets 418 teaching 466 undefining 405 workpiece coordinate system 418 origin returns 402 403 ORIGIN SEARCH G28 404 origin search 472 patterns 472 settings 468 origin searches 230 243 253 254 404 466 deceleration and direction 471 deceleration method 162 direc...

Page 701: ...n 482 replacing servomotors 552 safety xxii servolock 235 Servomotor 130 startup 518 stopover function 443 system configuration 104 wiring 128 present positions 20 193 196 changing 419 monitoring 190 presetting 327 presetting using command area 199 resetting 243 253 254 present value reference coordinate system 419 processing flow 553 PROGRAM END G79 429 Program Execution Completed Flag 233 Progra...

Page 702: ... 13 servo parameters 155 descriptions 185 details 169 servo system semi closed loop 12 servomotors 15 runaway 130 wiring precautions 130 setting unit minimum 20 159 software limits 20 161 solenoid 129 Special I O Units 19 specifications 16 SPEED CONTROL AXIS FEEDING G30 405 speed reference 17 starting operation 239 240 251 252 startup 495 startup time 23 554 555 status axis status 247 248 259 260 ...

Page 703: ...ations 236 servolock unlock 354 transferring data 26 29 201 trapezoidal curves 369 TRAVERSE G32 412 traverse operation 3 10 326 412 application 462 reversal time 560 trial operation 512 triangular control 328 linear interpolation 331 troubleshooting 521 wiring check 139 U UNCONDITIONAL JUMP G70 423 unit number setting 103 unit parameters 151 152 descriptions 171 unlimited feeding 10 updating from ...

Page 704: ...aphic Page 56 Text added to graphic Page 64 Note added to graphic Page 65 Entire page removed Page 70 Note added under first table Page 99 Sentence added above table Pages 119 303 Information on driver alarm input added Page 130 Changes made to first table Page 131 Sentence added above table Page 135 Addresses changed in 3 places Page 138 Changes made to bottom 4 rows of table Page 139 Column adde...

Page 705: ...rch 2004 Extensive corrections and changes to add V1 models 04 February 2008 Added descriptions and corrected mistakes Added unit version 1 1 Added information for OMNUC G series Servo Drivers Revision code Date Revised content ...

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