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Omron CS1W-NC113 - REV 02-2008, Manual

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Omron CS1W-NC113 - REV 02-2008 Manual Download Page 243

233

SECTION 10

Program Examples

This section provides examples of programs for using the Position Control Unit.

10-1 Operating Procedures for Program Examples

234

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10-2 Memory Operation

236

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10-2-1 Checking Positioning Operations

236

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10-2-2 Repeat Operation

241

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10-2-3 Cancelling Positioning

245

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10-3 Direct Operation

251

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10-3-1 Positioning with Positions in the DM Area

251

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10-3-2 Inching

254

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10-4 Linear Interpolation

257

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10-4-1 Two-axis Linear Interpolation

257

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10-5 Origin Search

263

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10-5-1 Origin Search Using Limit Input

263

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10-6 Override

266

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10-6-1 Changing Speed During Pulse Output

266

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10-7 Transferring and Saving Data

269

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10-7-1 Copying Data

269

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Summary of Contents for CS1W-NC113 - REV 02-2008

Page 1: ...CS1W NC113 213 413 133 233 433 Position Control Units ...

Page 2: ...iv ...

Page 3: ...ans word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for any thing else 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 operation of the product 1 2 3...

Page 4: ...vi ...

Page 5: ...9 3 1 Nomenclature and Functions 20 3 2 Installation 22 3 3 External I O Circuitry 25 3 4 Wiring 33 3 5 Connection Examples for Different Types of Motor Driver 41 3 6 Connection of Unused Axes 52 3 7 Servo Relay Unit 52 SECTION 4 Data Areas 55 4 1 Overall Structure 56 4 2 Common Parameter Area 61 4 3 Axis Parameter Area 65 4 4 Operating Memory Area 82 4 5 Operating Data Area 86 4 6 Memory Operatio...

Page 6: ...y Operation 171 8 1 Outline 172 8 2 Memory Operation Procedure 175 8 3 Setting Data for Memory Operation 176 8 4 Positioning Sequences 178 8 5 Completion Codes 184 8 6 Linear Interpolation 188 8 7 Transferring Positioning Sequences 192 8 8 Timing Chart for Memory Operation 194 8 9 Acceleration Deceleration 197 8 10 Sample Program 200 SECTION 9 Other Operations 203 9 1 Jogging 205 9 2 Teaching 206 ...

Page 7: ...ition and Resetting After Errors 303 11 7 Error Display at the CPU 306 11 8 Reading Error Information with CX Position 306 SECTION 12 Maintenance and Inspection 307 12 1 Inspection 308 12 2 Routine Inspections 309 12 3 Handling Precautions 310 12 4 Procedure for Replacing a PCU 310 Appendices A Performance Characteristics 313 B Estimating Times and Pulses for Acceleration Deceleration 319 C Common...

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

Page 9: ...st read this section and understand the information contained before attempting to set up or operate a Position Control Unit 1 Intended Audience xiv 2 General Precautions xiv 3 Safety Precautions xiv 4 Operating Environment Precautions xv 5 Application Precautions xvi 6 Conformance to EC Directives xviii 6 1 Applicable Directives xviii 6 1 1 Concepts xviii 6 1 2 Conformance to EC Directives xviii ...

Page 10: ...reference during operation WARNING It is extreme important that Position Control Units and related devices be used for the specified purpose and under the specified conditions especially in applications that can directly or indirectly affect human life You must consult with your OMRON representative before applying Position Control Units and related devices to the above mentioned applications 3 Sa...

Page 11: ... no adverse effects will be caused by extending the cycle time Otherwise the input signals may not be readable Caution Confirm the safety of the destination node before transferring a program to the node or changing the contents of I O memory Doing either of these without con firming safety may result in injury Caution Do not save data into the flash memory during memory operation or while the mot...

Page 12: ...ation of the PC the PCU or the system or could damage the PC or PCU Always heed these precautions Fail safe measures must be taken by the customer to ensure safety in the event of incorrect missing or abnormal signals caused by broken signal lines momentary power interruptions or other causes Interlock circuits limit circuits and similar safety measures in external circuits i e not in the Programm...

Page 13: ... system before attempting any of the following Not doing so may result in an unexpected operation Changing the operating mode of the PC Force setting force resetting any bit in memory Changing the present value of any word or any set value in memory Resume operation only after transferring to the new CPU Unit the contents of the DM Area HR Area and other data required for resuming operation Not do...

Page 14: ...CUs comply with EC Directives To ensure that the machine or device in which an PCU is used complies with EC directives the PCU must be installed as follows 1 2 3 1 The PCU must be installed within a control panel 2 Reinforced insulation or double insulation must be used for the DC power supplies used for the communications and I O power supplies 3 PCUs complying with EC Directives also conform to ...

Page 15: ...1 CS1W NC413 System Configuration Example 4 1 3 Basic Operations 5 1 3 1 Position Control 5 1 3 2 Speed Control 7 1 3 3 Other Operations 7 1 4 List of Functions 8 1 5 Specifications 9 1 5 1 Basic Specifications 9 1 5 2 Performance Specifications 10 1 6 Comparison with Existing Models 11 1 7 Control System Principles 13 1 7 1 Data Flow 13 1 7 2 Control System Principles 14 1 7 3 Basic Positioning S...

Page 16: ...r interpolation is possible for all axes Either open collector output or line driver output is available for any number of control axes Choose the most appropriate model according to the number of controlled axes and the desired output type A stepping motor driver and a pulse train input type servo motor drive can be connected to the PCU It is possible to set different operating modes for differen...

Page 17: ...an be performed The PCU is compatible with the Windows based NC Support Tool CX Position that enables setting of the PCUs in a Windows environment Using the CS1 series single port multi access function creation and transfer of parame ters and data for PCUs as well as operation monitoring are possible from the same environment as the software used for CPU Unit ladder programming CX Programmer 1 2 S...

Page 18: ...edicated terminal block External input signals CCW limit CW limit Origin Origin proximity Emergency stop External interrupt 24 VDC power supply for I F CCW limit CW limit Origin Origin proximity Emergency stop External interrupt 24 VDC power supply for I F Pulse output Pulse output Stepping Motor Drives Stepping Motors or Servo Motor Drives Servo motors Connection to peripheral port External input...

Page 19: ... can be executed with either an absolute value i e to an absolute position from the origin or with an incremental value i e to a relative position from the present position There are two methods for positioning memory operation and direct operation Interrupt feeding in which operation proceeds for a specified amount after an interrupt input is also possible With direct operation positions and spee...

Page 20: ...ng those positioning sequences by number Depending on the comple tion code that is set positioning sequences can be executed using independent positioning automatic positioning or continuous positioning In the following illustrations 0 1 2 and 3 indicate positioning sequence numbers Speed 0 1 2 3 Independent Positioning Automatic Positioning Continuous Positioning Positioning Sequences Executed in...

Page 21: ...axis at a designated speed and then stops it The teaching operation takes the present position for the specified positioning sequence Present position Origin Specified positioning sequence number When the override is enabled during positioning the target speed is changed to the override speed Speed A x 1 5 A Override setting 150 Time Override enable 0 1 The PRESENT POSITION PRESET command changes ...

Page 22: ... amount before stopping 209 Memory operation Absolute relative movement Continuously performs absolute or relative positioning according to positioning sequences previously set in the PCU 172 Linear interpolation Continuously performs positioning by linear interpolation according to positioning sequences previously set in the PCU 188 Interrupt feeding Performs interrupt feeding according to positi...

Page 23: ...n 76 Initial pulse Starts pulse output in a short time in response to an operating command from the CPU Unit 81 Stop function Detects an error either at the CPU Unit or the PCU and stops pulse output either with or without a deceleration curve 231 Release prohibit error reset Releases the pulse output prohibit status and at the same time clears the error code to 0 303 1 5 Specifications 1 5 1 Basi...

Page 24: ...d High speed or proximity speed can be set Origin detection method May be set to stop upon origin input signal after proximity input signal has turned ON to stop upon origin input signal after proximity input signal has turned OFF to stop upon origin input signal without using proximity input signal or to stop upon origin input signal after limit input signal has turned OFF N O Normally open N C N...

Page 25: ...tputs and direction outputs can be switched Either error counter reset or origin adjustment command outputs can be selected depending on the mode Pulse output distribution period 1 axis operation 4 ms Linear interpolation 8 ms Response time Refer to Appendix A Data Performance Characteristics Self diagnostic function Flash memory check memory loss check CPU bus check Error detection function Overt...

Page 26: ...o 500 000 pps set in pps units 1 to 500 000 pps set in units of the smallest multiplication factor specified CPU Unit scan timeover for END refresh 0 5 ms max per PCU 2 6 to 4 5 ms per PCU CPU Unit scan timeover due to IOWR IORD instruction 1 ms max per instruction 2 4 to 62 ms per instruction Time between startup instruction from the ladder program and pulse output 2 ms max at optimum conditions ...

Page 27: ...t Rotary encoder Tachogenerator Servo motor drive Pulse train Power amplifier Pulse train Stepping motor drive I O interface Memory Pulse genera tor Magnetizing dis tribution circuit Servo motor Positioning output External input Stepping motor Error counter Power amplifier I O connector I O interface Pulse genera tor I O connector MPU ...

Page 28: ... Design The following diagram and parameters illustrate a simplified positioning system M Reduction ratio P Feed screw pitch mm revolution V Feed velocity of object being positioned mm s θs Stepping angle per pulse degree pulse P Stepping motor Reduction gear Object being positioned N M V Feed screw pitch The travel distance per pulse sent to the motor driver is called the pulse rate and is calcul...

Page 29: ...15 SECTION 2 Basic Procedures This section gives an overview of the procedures required to use the Position Control Unit 2 1 Basic Operational Flow 16 ...

Page 30: ... the CPU Unit When operating according to the axis parameters in the CPU Unit s DM Area Set the axis parameters for the PCU in the CPU Unit s DM Area When operating according to the axis parameters saved in the PCU Set the axis parameters saved in the PCU Enable the set parameters by either turning the power OFF and ON or by restarting the PCU Continued on next page See note 3 Read the axis parame...

Page 31: ...te the sequence data to the PCU Save the written sequence data in the PCU 2 1 Section Basic Operational Flow 17 Flow of operation Reference Programming and test operation Section 6 Defining the Origin Section 7 Direct Operation Section 8 Memory Operations Section 9 Other Operations Debugging Section 11 Troubleshooting Operation Section 10 Program Examples Maintenance Section 12 Maintenance and In ...

Page 32: ...ting the Unit 23 3 2 3 Precautions When Handling the PCU 24 3 2 4 Dimensions 24 3 3 External I O Circuitry 25 3 3 1 Connector Pin Arrangement 25 3 3 2 External I O Connector Arrangement 28 3 3 3 I O Circuitry 29 3 3 4 I O Electrical Specifications 32 3 4 Wiring 33 3 4 1 Output Connection Examples 33 3 4 2 Connecting Input Signals 37 3 4 3 Connecting Origin and Positioning Completed Input Signals 3...

Page 33: ... switch Sets the unit number for the PCU X Y axis connector X axis connector Z U axis connector Connect to stepping motor drive or servo motor drive Controls 2 axes X Y axis connector Connect to stepping motor drive or servo motor drive Con trols 2 axes Note The orientation of connectors for 2 axis and 4 axis PCUs is the opposite to that of the C200HW NC213 413 connectors ...

Page 34: ...h as incorrect cable type for the Y axis or faulty data Not lit None of the above has occurred Z Orange Lit Pulses are being output to the Z axis either forward or reverse g Flashing An error has occurred such as incorrect cable type for the Z axis or faulty data Not lit None of the above has occurred U Orange Lit Pulses are being output to the U axis either forward or reverse g Flashing An error ...

Page 35: ...950 to CIO 2959 n to n 1 n 2 to n 4 CS1W NC113 NC133 NC213 NC233 CS1W NC113 NC133 CIO 2000 to CIO 2019 CIO 2020 to CIO 2029 CIO 2030 to CIO 2039 CIO 2040 to CIO 2049 CIO 2930 to CIO 2949 CIO 2940 to CIO 2959 Setting not possible n to n 1 n 2 to n 3 n 4 to n 5 n 6 to n 7 n 8 to n 10 n 11 to n 13 n 14 to n 16 n 17 to n 19 I O Output Input Word address Axis X axis X axis I O Output Input Word address...

Page 36: ...Tighten the screw on the bottom with a Philips head screwdriver Provide enough space around the PCU to enable easy mounting and dismounting and to ensure good ventilation as shown below Duct PCU Duct Philips head screwdriver 20 mm min Backplane 20 mm min Note Tighten the screw at the bottom of the PCU to a torque of 0 4 N m 4 To remove the PCU use a Philips head screwdriver to loosen the screw at ...

Page 37: ... I O wiring high voltage lines and power lines in separate ducts Wire clippings tend to get scattered around during wiring so leave the label in place on top of the PCU to prevent any clippings from getting inside the PCU Once the wiring has been completed be sure to remove the label to provide ventilation Remove the label after completing the wiring 3 2 4 Dimensions CS1W NC113 NC133 NC213 NC233 N...

Page 38: ...nal I O Circuitry 25 Mounted Dimensions Connecting cable Approx 230 Backplane 117 3 3 External I O Circuitry 3 3 1 Connector Pin Arrangement CS1W NC413 433 CS1W NC213 233 CS1W NC113 133 X Y axis Z U axis X Y axis X axis ...

Page 39: ...ut B10 OUT Error counter reset output origin adjustment command output A11 OUT Error counter reset output with 1 6 kΩ resistance Origin adjustment command output with 1 6 kΩ resistance B11 OUT Error counter reset output with 1 6 kΩ resistance Origin adjustment command output with 1 6 kΩ resistance A12 IN Positioning completed input signal B12 IN Positioning completed input signal A13 Not used B13 ...

Page 40: ...16 IN Origin input signal 5 V A17 Not used B17 Not used A18 Not used B18 Not used A19 IN Interrupt input signal B19 IN Interrupt input signal A20 IN Emergency stop input signal B20 IN Emergency stop input signal A21 IN Origin proximity input signal B21 IN Origin proximity input signal A22 IN CW limit input signal B22 IN CW limit input signal A23 IN CCW limit input signal B23 IN CCW limit input sig...

Page 41: ...t signal or the 5 V origin input signal 3 3 2 External I O Connector Arrangement The connectors that are included with this PCU are solder type connectors Use wires with cross sectional areas of 0 2 mm2 or less Be careful not to short circuit neighboring terminals when soldering Cover the soldered part of the wire with insulation tubing Wiring Power Lines Insulator Lead Connector Connector Pin Num...

Page 42: ... power supply 24 VDC Output GND 24 VDC CW pulse pulse output with 1 6 kΩ resistance CW pulse output CCW pulse direction output with 1 6 kΩ resistance CCW pulse direction output Error counter reset output with 1 6 kΩ resistance Origin adjustment command output with 1 6 kΩ resistance 1 6k Ω 1 2W 1 6 kΩ 1 2W Note Output switching depends on the axis parameter settings Refer to 4 3 Axis Parameter Area...

Page 43: ...PCU s internal components Also be sure to use the CW CCW output method when using pulse output terminals with limit resistance Open collector output Open collector output with 1 6 kΩ series resistance Output 7 to 30 mA Output transistor Output 7 to 16 mA Add bypass resistance for loads less than 7 mA 24 VDC power supply PCU Driver 6 mA 1 mA Bypass resistance 7 mA Circuit example Outputs Line Drive...

Page 44: ...tact 680 Ω 4 7 kΩ 1 2W Emergency stop N C contact see note 680 Ω 4 7 kΩ 1 2W Origin proximity input N O N C contact see note 680 Ω 4 7 kΩ 1 2W CW limit input N O N C contact see note 680 Ω 4 7 kΩ 1 2W CCW limit input N O N C contact see note 680 Ω 4 7 kΩ 1 2W Origin input signal 24 V N O N C contact see note 150 Ω Origin input signal N O N C contact see note Origin common Line driver output For de...

Page 45: ...Am26LS31 0 s a N C contact 1 ms max Item Specification Open collector output Maximum switching capacity 30 mA at 4 75 to 26 4 VDC NPN open collector 16 mA Terminals with 1 6 kΩ limit resistance Minimum switching capacity 7 mA at 4 75 to 26 4 VDC NPN open collector Leakage current 0 1 mA max Residual voltage 0 6 V max pulse output 1 0 V max error counter reset output Line driver output Corresponds ...

Page 46: ... considered 2 Due to distortions in pulse waveforms as a result of connecting cable imped ance pulse widths during actual usage may be smaller than those shown in the above table 3 4 Wiring This section provides motor drive connection examples When actually connect ing a motor drive be sure to first check the specifications of the motor driver to be used The maximum length of the wiring between th...

Page 47: ...tor drive for 5 VDC input Approx 12 mA Approx 12 mA A8 B8 A6 B6 24 VDC power supply For example R 220 Ω A2 B2 Note In this example the 1 6 kΩ resistors of the PCU are used to allow a 24 VDC power supply to be used with a motor drive rated at 5 VDC When wiring your system carefully note the current required by the motor drive in order to avoid damaging the input circuitry of the motor drive Outputt...

Page 48: ...utput 24 VDC input CW pulse output CCW pulse output 1 6 kΩ 1 6 kΩ A1 B1 Motor drive for 5 VDC input A7 B7 A5 B5 24 VDC power supply A2 B2 5 VDC power supply Position Control Unit line driver output CCW pulse or direction output 5 VDC input CW pulse or pulse CW CCW output 5 VDC power supply Motor drive for 5 VDC input Outputting CW and CCW Pulses Example 2 ...

Page 49: ...t open collector output When voltage level output is used the level is L for output ON and H for output OFF In this example a motor drive with a line receiver input is used and either CW and CCW pulses or pulse and direction signals are output Motor drive line receiver input specifications Position Control Unit line driver output 5 VDC input CW pulse or pulse CW CCW output CCW pulse or direction o...

Page 50: ...a switching capacity of at least 5 mA for each input With N C inputs be sure to connect a power supply for unused terminals and turn them on This section shows examples of connecting interrupt emergency stop and CW CCW limit input signals The input section has both N O and N C inputs Either can be used depending on the axis parameter settings For details regarding axis parameters refer to 4 3 Axis...

Page 51: ...kΩ 1 2W 4 7 kΩ 1 2W Switch N O contact Switch N C contact Switch N O N C contact Switch N O N C contact Switch N O N C contact Position Control Unit 3 4 3 Connecting Origin and Positioning Completed Input Signals The examples below show input connections when open collector sensor output and the encoder s Z phase line driver output are used Use a sensor with no chattering such as a photoelectric s...

Page 52: ...ignal 5 V Line Driver Input Position Control Unit OMRON R88D WT Servo Motor Drive 20 4 7 kΩ 150 Ω 680 Ω A16 B16 A14 B14 19 z z The positioning completed input signal is also used as an origin search com pleted signal in modes 2 and 3 Adjust the setting of the servo motor drive so that this signal always turns off while the servo motor is operating and on when the motor is stopped An origin search ...

Page 53: ...pulse output power supply to improve noise resistance Do not use a 24 VDC or 5 VDC power supply for pulse output in common with the power supply for other I O Use shielded cable for control lines Connect the shielded cable to the frame ground at both the PCU and the drive Attach a surge absorber to all inductive loads such as relays solenoids and solenoid valves DC Diode for surge absorption AC Su...

Page 54: ...th the PCU and the drive Example 1 Mode 0 Connection This example shows the use of a stepping motor with an external sensor signal connected to the origin input signal A14 A20 A2 A6 CW CCW CCW N C contact Position Control Unit open collector Origin Input signal CCW limit input signal CW limit input signal CW output with 1 6 kΩ resistance 24 VDC Example DFU1514W stepping motor drive made by Orienta...

Page 55: ...ergency stop input signal 08 to 15 0 m 5 00 to 03 0 Mode 0 04 to 07 0 Reverse mode 1 08 to 11 1 Takes origin input signal after origin proximity input signal is received 12 to 15 0 Search direction CW Note m is the beginning DM word allocated when the unit number is set Origin Search Operation The origin search operation is completed with the rising edge of the origin input signal after the rising...

Page 56: ... A22 A20 19 20 24 VDC 7 Z Z R88M W Servo Motor Position Control Unit open collector 24 V power supply for output Error counter reset output Origin proximity input signal CCW limit input signal CW limit input signal Emergency stop input signal N C contact 8 11 12 CW CW CCW CCW N O contact OMRON R88D WTjjjj Servo Motor Drive A21 24 VDC Input common A8 N C contact 40 RUN 47 24VIN 24 V GND for output ...

Page 57: ...y stop input signal error counter reset signal output 08 to 15 0 m 5 00 to 03 1 Mode 1 04 to 07 0 Reverse mode 1 08 to 11 0 Takes origin input signal after rising and falling edge of origin proximity signal 12 to 15 0 Motor direction CW Note m is the beginning DM word allocated when the unit number is set Origin Search Operation The origin search operation stops on the rising edge of the first Z p...

Page 58: ...utput CW output CCW output CCW output Shell Position Control Unit line driver 5 V GND for pulse output 5 V power supply for pulse output 24 V power supply for output 24 V GND for output Error counter reset output Origin input signal Example OMRON R88D WTjjjj Servo Motor Drive N C contact Shield ...

Page 59: ... motor is stopped An origin search operation cannot be completed if the positioning completed input signal from the servo motor drive is not properly connected or set W series Servo Motor Drive Position Control Unit open collector 24 V power supply for output 24 V GND for output Origin input signal Input common R88M W Servo motor CCW output with 1 6 kΩ resistance 19 47 40 20 7 RUN ECRST Z Z Error ...

Page 60: ...8 to 15 0 m 5 00 to 03 2 Mode 2 04 to 07 0 Reverse mode 1 08 to 11 0 Takes origin input signal after rising and falling edge of origin proximity input signal 12 to 15 0 Search direction CW Note m is the beginning DM word allocated when the unit number is set Origin Search Operation The origin search operation stops on the rising edge of the first Z phase signal after the origin proximity signal ha...

Page 61: ...or Drive R88M UE Servo Motor Position Control Unit open collector 24 V power supply for output Error counter reset output Example OMRON R88D UEPjjj Servo Motor Drive N C contact 24 V GND for output 24 V origin input signal CW output CCW output Shield Positioning completed input signal 24 VDC ...

Page 62: ...ol Unit line driver Error counter reset output Example OMRON R88D UEPjjj Servo Motor Drive N C contact 24 V origin input signal Shield Positioning completed input signal 5 V GND for pulse output 5 V power supply for pulse output 24 V power supply for output 24 V GND for output CW output CW output CCW output CCW output 24 VDC 5 VDC ...

Page 63: ...when the motor is operating and ON when it is stopped 24 V power supply for output 24 V GND for output Origin adjustment command output Input common R88M H Servo Motor Position Control Unit open collector 24 VDC CCW output 11 19 36 15 RUN Origin proximity input signal CCW limit input signal CW limit input signal Emergency stop input signal CW output N C contact 34 14 33 CW CW CCW CCW 24 VDC Positi...

Page 64: ...and falling edge of origin proximity signal 12 to 15 0 Search direction CW Note m is the beginning DM word allocated when the unit number is set Origin Search Operation The origin search operation begins after the origin proximity signal has risen and fallen and the origin adjustment command is output to the servo motor drive after deceleration has ended The positioning completed signal is then in...

Page 65: ...t used X axis used Y axis not used When there is an unused axis connect the emergency stop input signal N C contact and the CW CCW limit input signals N C N O switchable for that axis so that they are ON If the parameters are at their default settings the CW CCW limit input signals are N C contact inputs and so connect an input power supply and keep power ON If the emergency stop input signal and ...

Page 66: ...W2B jjJ6 j Servo Relay Unit Connection Compatibility CS1W NC113 NC213 NC413 PCU Cable connected to PCU Servo Relay Unit Cable connected to Servo Relay Unit Servo Drive CS1W NC113 XW2Z jjjJ A6 XW2B 20J6 1B f C200H NC112 XW2Z jjjJ B1 R88D UPjjj jjj for C200H NC112 XW2Z jjjJ B2 R88D MTjjj XW2Z jjjJ B3 R88D Hjjj XW2Z jjjJ B4 R88D UTjjj jjj R88D WTjjjj XW2Z jjjJ A8 XW2B 20J6 1B XW2Z jjjJ B5 R88D UEPjjj...

Page 67: ...jjj CS1W NC433 jjj for C200H NC211 XW2Z jjjJ B2 R88D MTjjj XW2Z jjjJ B3 R88D Hjjj XW2Z jjjJ B4 R88D UTjjj jjj R88D WTjjjj XW2Z jjjJ A13 XW2B 40J6 2B XW2Z jjjJ B5 R88D UEPjjj The cable length for PCU Connecting Cables is indicated in the jjj 050 0 5 m 100 1 m The cable length for Servo Drive Connecting Cables is indicated in the jjj 100 1 m 200 2 m When using the CS1W NC413 433 2 Servo Relay Units ...

Page 68: ... Structure 56 4 1 1 Data Areas 58 4 2 Common Parameter Area 61 4 2 1 Outline 62 4 2 2 Details 62 4 3 Axis Parameter Area 65 4 3 1 Outline 65 4 3 2 Details 67 4 3 3 Operation Modes 71 4 4 Operating Memory Area 82 4 4 1 Outline 83 4 5 Operating Data Area 86 4 5 1 Outline 86 4 6 Memory Operation Data 89 4 6 1 Outline 89 4 7 Zone Data Area 92 4 7 1 Zone Function 92 4 7 2 Zone Data Settings 92 ...

Page 69: ... O refresh Power up or restart See note 1 Data transfer Operating commands Commands Settings Operating data Command execution Status flags Operating data Status data Common parameters Axis parameters Memory operation data Positioning sequences Zones Save data Flash memory Result PCU s internal memory Speeds Positions Acceleration times Deceleration times Dwell times Note The user can select by mea...

Page 70: ...s for memory operation It also contains PCU status data see note such as present positions and the number of the currently executed positioning sequence CPU Unit s DM or EM area determined by common parameter setting Data is updated with every I O refresh The set data is enabled and used with the startup of each operation Memory operation data Refer to 4 6 Memory Operation Data This area is for se...

Page 71: ... 0022 m 62 003E m 90 005A Maximum speed 2 words m 8 0008 m 36 0024 m 64 0040 m 92 005C Initial speed 2 words m 10 000A m 38 0026 m 66 0042 m 94 005E Origin search high speed 2 words m 12 000C m 40 0028 m 68 0044 m 96 0060 Origin search proximity speed 2 words m 14 000E m 42 002A m 70 0046 m 98 0062 Origin compensation 2 words m 16 0010 m 44 002C m 72 0048 m 100 0064 Backlash compensation 1 word m ...

Page 72: ...JOG 10 Direction designation 11 TEACH 12 RELEASE PROHIBIT ERROR RESET 13 Error counter reset output origin adjustment command output 14 Override Enable 15 STOP n 1 n 1 n 3 n 1 n 3 n 5 n 7 00 to 07 Not used 08 FORCED INTERRUPT 09 to 11 Not used 12 WRITE DATA 13 READ DATA 14 SAVE DATA 15 Not used n 2 n 4 n 7 n 8 n 11 n 14 n 17 00 to 03 Not used 04 Waiting For Memory Operation Flag 05 Positioning Com...

Page 73: ... Number of write words 1 word I 1 I 1 I 1 Write source area 1 word I 2 I 2 I 2 Write source word 1 word I 3 I 3 I 3 Write destination address 1 word I 4 I 4 I 4 Number of read words 1 word I 5 I 5 I 5 Read source address 1 word I 6 I 6 I 6 Read destination area 1 word I 7 I 7 I 7 Read destination word 1 word I 8 I 8 I 20 I 8 I 20 I 32 I 44 Position 2 words I 10 I 10 I 22 I 10 I 22 I 34 I 46 Speed ...

Page 74: ...E5 22E5 32E5 42E5 Dwell time numbers 1 to 19 1 word Zone Data Area refer to page 92 PCU internal address Name Data size X axis Y axis Z axis U axis 12F8 22F8 32F8 42F8 Zone 0 CCW 2 words 12FA 22FA 32FA 42FA Zone 0 CW 2 words 12FC 22FC 32FC 42FC Zone 1 CCW 2 words 12FE 22FE 32FE 42FE Zone 1 CW 2 words 1300 2300 3300 4300 Zone 2 CCW 2 words 1302 2302 3302 4302 Zone 2 CW 2 words 4 2 Common Parameter ...

Page 75: ...rea If 000D user specified DM Area words or 0X0E user specified EM Area words is set for the operating data area designation specify the beginning word of the area to be allocated as the operating data area in hexadecimal m 2 Axis parameter designation Designate the location of the data to be used as axis parameters Select one from the following Axis parameter data saved in the PCU s flash memory ...

Page 76: ...s being used as PC file memory If the DM Area words allocated to Special I O Units 00 or user specified DM Area words 0D are designated as the location of the operating memory area set the bank designation to 0 00 Any other setting will result in an operating data area specification error error code 0010 Note Do not set a bank number for a bank that is being used as PC file memory If a bank that i...

Page 77: ...ion for the word address in the above table is shown below 15 00 08 07 Axis designation Parameter designation m 2 The following settings are available Word m 2 0X00 0X01 X 0 to 9 A to F The meanings of each of the settings are given below Parameter Designation Word m 2 Bits 00 to 07 Specify the axis parameters to use during PCU operation The following settings are available 00 The PCU will operate...

Page 78: ...ds allocated to Special I O Units X axis parameter area words m 4 to m 31 Z axis parameter area words m 60 to m 87 The default settings will be used for the Y and U axes 4 3 Axis Parameter Area The axis parameters are used for settings that include the pulse output type input signal logic and operation modes for axes subject to PCU control 4 3 1 Outline The axis parameter settings used will be sel...

Page 79: ...al and origin input signal Error counter reset output control when emergency stop signal is input Origin undefined designa tion when emergency stop signal or limit signal is input 67 m 5 0005 m 33 0021 m 61 003D m 89 0059 Operation mode selection Sets the operation mode used for the motor driver and specifies the origin detection method 69 m 6 0006 m 7 0007 m 34 0022 m 35 0023 m 62 003E m 63 003F ...

Page 80: ...m 78 004E m 79 004F m 106 006A m 107 006B Origin search deceleration time rightmost word leftmost word Specifies the time taken to go from maximum speed to initial speed 79 m 24 0018 m 52 0034 m 80 0050 m 108 006C Positioning monitor time Specifies the time to monitor for the positioning completed signal from the motor driver when positioning has been completed 80 m 25 0019 m 26 001A m 53 0035 m 5...

Page 81: ...ut 1 N O input 06 Origin input signal type Specifies the origin input signal contact 0 N C input 1 N O input 07 Emergency stop input Specifies the operation for when the emergency stop signal is input 0 Only stop pulse output 1 Stop pulse output and output the error counter reset signal enabled for operation modes 1 and 2 08 Origin undefined designation This setting specifies whether or not the or...

Page 82: ...Example 0 0 6 0 default setting Output pulse method CW CCW output Limit input signal type N C contact Origin proximity input signal type N O contact Origin input signal type N O contact Emergency stop input Only stop pulse output Origin undefined designation Stop pulse output and retain prior status Operation Mode Selection The word address and enable timing for the operation mode selection settin...

Page 83: ... Operation This setting specifies the origin search operation Setting Explanation 0 Reverse mode 1 Always detects origin in designated origin search direction Reverses at limit input 1 Reverse mode 2 Always detects origin in designated origin search direction Error stop at limit input 2 Single direction mode Detects origin while operating in designated origin search direction Does not reverse Erro...

Page 84: ...l output PCU Position Control Unit SMD Stepping motor driver Set mode 0 when using a stepping motor drive A sensor is connected to the ori gin input signal connector pin numbers A14 A15 and B14 B15 The response time for the origin input signal is 0 1 ms N O contact setting OS OPI X axis PCU Pulses SMD 24 VDC IC Set mode 1 when using a servo motor drive and connecting a line driver input and a erro...

Page 85: ...r modes 1 to 3 the servo motor drive used is an OMRON R88D Servo Motor Drive Set the servo motor drive so that the servo motor drive s positioning completed signal is OFF during motor operation and ON while the motor is stopped If this setting is not made positioning may become impossible without the positioning completed signal in the operating memory area turning ON Maximum Speed The word addres...

Page 86: ...than the maximum speed set here Initial Speed The word address and enable timing for the initial speed setting is shown below Word PCU internal address Name Enable timing NC1j3 NC2j3 NC4j3 X axis Y axis Z axis U axis m 8 0008 m 36 0024 m 64 0040 m 92 005C Initial speed rightmost word With operating command m 9 0009 m 37 0025 m 65 0041 m 93 005D Initial speed leftmost word co a d The bit configurat...

Page 87: ...on refer to 6 4 Origin Search Operation Origin Search Proximity Speed The word address and enable timing for the origin search proximity speed set ting is shown below Word PCU internal address Name Enable timing NC1j3 NC2j3 NC4j3 X axis Y axis Z axis U axis m 12 000C m 40 0028 m 68 0044 m 96 0060 Origin search proximity speed rightmost word With origin search operation command m 13 000D m 41 0029 ...

Page 88: ... compensation value rightmost word Hex The origin compensation value can be set to any value in the following range C0000001 to 3FFFFFFF Hex 1 073 741 823 pulses The default setting is 00000000 0 This setting specifies the amount of compensation in pulse units after the origin input signal is detected by an origin search operation The origin compensation value is set in the range 1 073 741 823 to ...

Page 89: ...ing command m 18 0012 m 46 002E m 74 004A m 102 0066 Backlash compensation speed leftmost word The bit configuration for the word addresses in the above table are shown below 15 00 00 15 Backlash compensation speed leftmost word Hex Backlash compensation speed rightmost word Hex The backlash compensation speed can be set to any speed in the following range 00000000 to 0007A120 Hex 0 to 500 000 pps...

Page 90: ...eration and deceleration The following 3 parameters along with the acceleration and deceleration time data determine the rate of acceleration deceleration for axes and based on this rate the acceleration deceleration time until the target speed is reached is determined Refer to the diagram below Acceleration Deceleration curve Maximum speed Initial speed Speed pps Maximum speed Target speed Initia...

Page 91: ...eceleration time in the axis parameters will be used With S curve acceleration deceleration the acceleration deceleration rate changes with time If a smaller initial acceleration deceleration rate is desired the amount of mechanical vibration can be reduced using the S curve setting and increasing the acceleration deceleration rate This is possible however only as long as the maximum acceleration ...

Page 92: ...most word Hex Origin search acceleration time rightmost word Hex The origin search acceleration time can be set to any time in the following range 00000000 to 0003D090 Hex 0 to 250 000 ms The default setting is 00000064 100 This setting specifies the time in ms taken to go from the initial speed to the maximum speed when performing origin search The origin search acceleration time is set in the ra...

Page 93: ...eleration is applied if decelera tion time 0 is selected in memory operation For details of the acceleration decel eration settings refer to the description of the acceleration deceleration curve axis parameter on page 77 Positioning Monitor Time The word addresses and enable timing for the positioning monitor time setting is shown below Word PCU internal address Name Enable timing NC1j3 NC2j3 NC4...

Page 94: ...re limit leftmost word With operating command The bit configurations for the word addresses in the above table are shown below 15 00 00 15 CCW software limit leftmost word Hex CCW software limit rightmost word Hex 15 00 00 15 CW software limit leftmost word Hex CW software limit rightmost word Hex The software limits can be set to any values in the following range C0000001 to 3FFFFFFF Hex 1 073 74...

Page 95: ...ive that runs the servo motor or the stepping motor If it is set to a value greater than the maximum input response frequency then this will cause position errors due to the drive miscounting pulses Example The pulse output when performing jog operation with a parameter setting for maximum speed of 500 kpps default setting acceleration time set to 0 s decel eration time set to 0 s and speed set to...

Page 96: ...ce number designated in the operating data area is enabled or disabled for beginning operation Section 8 Memory Operation 01 START At the rising edge when this bit turns ON memory operation starts 02 INDEPENDE NT START At the rising edge when this bit turns ON memory operation starts The completion code is treated as terminating except for when it is set to bank end 03 Direct opera tion com mands ...

Page 97: ...n this bit turns ON error counter reset output origin adjustment command output turns ON 9 7 Error Counter Reset Output and Origin Adjustment Command Output 14 Override enable This bit enables or disables the override function 9 6 Override 15 STOP At the rising edge when this bit turns ON positioning is decelerated to a stop 9 5 Deceleration Stop NC4j3 NC2j3 NC1j3 n 1 n 1 1 n 3 n 3 n 5 n 7 00 to 0...

Page 98: ... Flag ON when the origin is not established Section 6 Defin ing the Origin 07 Origin Stop Flag ON when stopped at the origin g g 08 Zone 0 Monitor Flag ON when within the zone 0 range 4 7 Zone Data Area 09 Zone 1 Monitor Flag ON when within the zone 1 range 10 Zone 2 Monitor Flag ON when within the zone 2 range 11 Teaching completed Turns ON when teaching is completed 9 2 Teaching 12 Error Flag Tu...

Page 99: ...ends on the completion code set for memory operation For details refer to Section 8 Memory Operation 4 5 Operating Data Area The operating data area is used for setting the data for operating commands out put to the PCU When an operating command is output to the PCU from the operating memory area the PCU executes the command based on the settings in the operating data area 4 5 1 Outline CPU Unit m...

Page 100: ...Operation Reference Output CPU Unit to PCU I Operating data for data transfer Number of write words Specifies the number of words written from the CPU Unit to the PCU Section 5 Transferring and U o CU I 1 da a a s e Write source area Specifies the area containing the data to be written from the CPU Unit to the PCU a s e g a d Saving Data I 2 Write source word Specifies the beginning word of the da...

Page 101: ...4j3 NC2j3 NC1j3 I 12 I 12 I 12 I 24 I 24 I 36 I 48 Acceleration time rightmost Acceleration Specifies the acceleration deceleration times for direct operation JOG and ORIGIN NC4j3 NC2j3 NC1j3 I 13 I 13 I 13 I 25 I 25 I 37 I 49 Acceleration time leftmost JOG and ORIGIN RETURN NC4j3 NC2j3 NC1j3 I 14 I 14 I 14 I 26 I 26 I 38 I 50 Deceleration time rightmost Deceleration NC4j3 NC2j3 NC1j3 I 15 I 15 I ...

Page 102: ...e memory operation data is used for setting the data for memory operation commands output to the PCU The memory operation data settings must be made in the PCU s internal memory before commands are sent When a memory operation command START INDEPENDENT START is sent to the PCU from the operating memory area the PCU executes the command based on the memory operation data settings Settings for memor...

Page 103: ...312B 4129 412A 412B Sequence 99 63 Hex The settings are the same as for sequence 0 112C 112D 212C 212D 312C 312D 412C 412D Speed 0 00 Hex rightmost word Speed 0 00 Hex leftmost word 2 words 15 00 00 15 Speed 0 leftmost word Speed 1 rightmost word Sets speed 0 in pps units The speed can be set in the range 1 to 1 000 000 pps as unsigned 32 bit hexadecimal data using 2 words Setting range 00000001 t...

Page 104: ... 32D0 32D1 42D0 42D1 Not used Not used Leave set to 0000 0000 0000 12D2 12D3 22D2 22D3 32D2 32D3 42D2 42D3 Deceleration time 1 1 Hex rightmost word Deceleration time 1 1 Hex leftmost word 2 words 15 00 00 15 Deceleration 1 leftmost word Deceleration 1 rightmost word Sets deceleration time 1 in ms units The deceleration time can be set in the range 0 to 250 000 ms as unsigned 32 bit hexadecimal dat...

Page 105: ...et both a CW side value and a CCW side value for each zone used as shown in the following diagram These values are the zone data Once the settings have been made operation will proceed in the following way regardless of whether an origin has been established or not Zone Monitor Flag ON 1 CCW side value Present position CW side value Zone Monitor Flag OFF 0 Any status other than the above Zone data...

Page 106: ...leftmost word 2 words Sets the CCW CW side values for zone 0 in pulse units The values can be set in the range 1 073 741 823 to 1 073 741 823 pulses as signed 32 bit hexadecimal data using 2 words Setting range C0000001 to 3FFFFFFF Hex 1 073 741 823 to 1 073 741 823 12FC 12FD 22FC 22FD 32FC 32FD 42FC 42FD Zone 1 CCW side rightmost word Zone 1 CCW side leftmost word The settings are the same as for...

Page 107: ...ting Data 106 5 2 5 Example of a Write Data Program 107 5 3 Reading Data with the READ DATA Bit 108 5 3 1 Outline 108 5 3 2 Data Settings Required for Reading Data 109 5 3 3 Timing Chart for Reading Data 110 5 3 4 Data Reading Program Example 111 5 4 Writing Data with IOWR 113 5 4 1 Outline 113 5 4 2 IOWR INTELLIGENT I O WRITE 114 5 4 3 Flags 114 5 4 4 Precautions when Using IOWR 115 5 4 5 IOWR Pr...

Page 108: ... the READ DATA Bit Large amounts of data can be changed and data can be read by turning ON a data transfer bit using for example OUT in the ladder program PCU CPU Unit Writing parameters and data Reading parameters and data Ladder program WRITE DATA Data transfer bits READ DATA 2 Writing and reading data to and from the PCU using the IOWR and IORD instructions Refer to 5 4 Writing Data with IOWR a...

Page 109: ...n the power is turned OFF or the PCU is restarted the contents of the memory will revert to whatever was saved previously Saved to CX Position s FD or HD CPU Unit PCU Save Transfer Transfer Save Internal memory Parameters Positioning sequences Speeds Positions Acceleration times Deceleration times Dwell times Zones Save Power up or restart Flash memory Parameters Positioning sequences Speeds Posit...

Page 110: ...ed ON or when the PCU is restarted a choice is available by using the axis parameter designation setting in the DM Area common param eters refer to 4 2 Common Parameter Area between sending the axis parame ters automatically from the DM Area to the PCU or using the axis parameters saved in the PCU At power on or restart When axis parameter designation m 2 01 PCU Internal memory Flash memory Axis p...

Page 111: ...times Dwell times 22F8 to 2303 Zones Zones 3000 to 312B For Z Axis Positioning sequences 312C to 31F3 s Speeds 31F4 to 32BB Positions 32BC to 32CF Acceleration times 32D0 to 32E3 Deceleration times 32E4 to 32F7 Dwell times 32F8 to 3303 Zones 4000 to 412B For U Axis Positioning sequences 412C to 41F3 s Speeds 41F4 to 42BB Positions 42BC to 42CF Acceleration times 42D0 to 42E3 Deceleration times 42E...

Page 112: ...by the data check the correct data should be sent again If data transfer is completed successfully the error is cleared If the data is stored or the instruction to activate is executed without the correct data being re sent the error will be cleared but the data after the error will not be transmitted In this situation an abnormal operation may result Caution The Intelligent I O Write IOWR and Int...

Page 113: ...efresh PCU Data check Error Error cleared Transfer Error Not Output to CPU Unit Transfer data containing illegal data Error flag Error code Transferred using data transfer bit or IOWR instruction 5 1 6 Data Transfer Priority As mentioned in 5 1 1 Transferring Data parameters and data can be trans ferred to the PCU using the 3 methods shown below If these 3 methods are used in combination a situati...

Page 114: ... the data for one axis from the CPU Unit or CX Position while a data transfer function is being executed the status column in the table on the data for another axis from the CPU Unit or CX Posi tion If data transfer functions are executed from the CPU Unit at the same time depending on the processing in the PCU it may be necessary to transpose rows and columns in the above table to identify the ki...

Page 115: ...ith the WRITE DATA Bit This section explains the procedures for writing to the PCU data allocated to the operating memory area using WRITE DATA word n 1 bit 12 A program exam ple is also provided Note 1 Take care not to turn OFF the power supply or restart the PCU while a data transfer is in progress The PCU will not operate normally unless all data is transferred If there is an interruption the d...

Page 116: ...umber of write words Write source area Write source word Write destination address Data WRITE DATA Operating memory area n 1 12 The n in the CIO Area is the beginning word of the operation memory area and is determined when the unit number is specified The m in the DM Area is the beginning word of the common parameter area and is determined when the unit number is specified The I in the EM or DM A...

Page 117: ...g Data Beginning Words of Operating Memory Area Operating Data Area and Parameter Areas The beginning words of the operating memory area the operating data area and common parameter area used for a PCU are determined or set according to the following Beginning word of the operating memory area n CIO 2000 10 unit num ber Beginning word of the common parameter area m D20000 100 unit num ber Beginnin...

Page 118: ...ange 0000 to 7FFF Hex Word 0 to 32767 Write destination address I 3 00 to 15 15 00 Specifies the beginning address of the area in the PCU to which parameters and data are written For details of the PCU s internal addresses refer to Section 4 Data Set tings 5 2 4 Timing Chart for Writing Data Writing data is possible even during axis operation It is not possible to write data and read data at the s...

Page 119: ... CIO 2019 The beginning word of the operating data area is D00400 The beginning word address for the data transfer area is D00500 and the data to be sent is as follows Data Address transfer destination DM transfer source Setting Speed 0 112C 112D 00500 00501 03E8 0000 1 000 pps Speed 1 112E 112F 00502 00503 157C 0000 5 500 pps CPU Unit CIO Area Operating memory Area Common parameter area Operating...

Page 120: ...will result in a multiple start error error code 8000 2 When transferring data using READ DATA the data must be transferred in data units Data transfer should not start or end part way through the data For example with X axis sequence 0 the data unit becomes three words in addresses 1000 to 1002 If the transfer is started or ended part way through a read transfer words error error code 8320 or rea...

Page 121: ...ettings Required for Reading Data Beginning Words of Operating Memory Area Operating Data Area and Parameter Areas The beginning words of the operating memory area the operating data area and common parameter area used for a PCU are determined or set according to the following Beginning word of the operating memory area n CIO 2000 10 unit num ber Beginning word of the common parameter area m D2000...

Page 122: ...d in bits 00 to 07 Setting range 00 to 0C banks 0 to C Read destination word I 7 00 to 15 15 00 Specifies the beginning word of the area in the CPU Unit s DM or EM Area in which parameters and data are stored Setting range 0000 to 7FFF Hex Words 0 to 32767 5 3 3 Timing Chart for Reading Data Reading data is possible even during axis operation It is not possible to write and read data at the same t...

Page 123: ...with the WRITE DATA Bit are read The conditions to be set are the same as those for the data writing example The beginning word of the DM Area where the read data is to be stored is D00500 CPU Unit CIO Area Operating memory area Common parameters Operating data area READ DATA 200113 Data transfer PCU NC413 unit number 0 Data area Speed 0 Speed 1 ...

Page 124: ...ber of words to be read from PCU to 4 Set the read destination beginning address for PCU data area to 112C transfer source Set the area where the read data is to be stored to 000D DM Area Set the beginning word address of the DM Area where the read data is to be stored to 01F4 500 transfer destination READ DATA Contents of DM Area after read is completed D00500 0 3 E 8 D00501 0 0 0 0 D00502 1 5 7 ...

Page 125: ... number of transfer words Data Sequence 1 1 Hex Sequence 99 63 Hex CPU Unit Refer to 5 4 2 IOWR Intelligent I O Write or the Programmable Controller s operation manual for details on how to set the operands for the IOWR instruc tion 1 2 3 1 Set IOWR C Beginning address of the data area in the PCU where the data is to be stored S Beginning word address of the area in the CPU Unit in which the data ...

Page 126: ...to 32767 EM Area with bank desig nation 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 W Specify the destination unit number to which data will be transferred and the total number of words to transfer The settable ranges are as follows W 1 0001 ...

Page 127: ...g is outside the range of PCU addresses The number of transfer words is set to 0 Another write process is being executed Data is being saved to flash memory The has just been turned ON or restarted and is still performing initial processing 5 4 4 Precautions when Using IOWR IOWR is an instruction which transfers all specified data with a single execution Therefore it increases the cycle time for t...

Page 128: ...her data 1 1 word When changing position data and executing memory operation it is possible to transfer the data to the PCU and send the instruction to start operation within one cycle Method 2 The data is written to the data area only after it has all been received in a receive buffer Up to 128 words of data can be transferred in one operation If the number of words to be transferred is greater t...

Page 129: ...urce where the position data is set OUT R5 work bit OUT R4 work bit START Set the destination unit number 2 and the number of transfer words 100 64 Hex DIFU R1 Write switch MOV 0000 D00216 R3 202000 202001 Sequence Number Enable Sets 0 for the sequence number Unit NC113 Unit number 2 Beginning word of operating data area D00200 Busy Flag 200213 In the above ladder diagram when the first IOWR instr...

Page 130: ...ected in the CPU Unit For details refer to 5 1 Transferring and Saving Data 5 4 5 IOWR Program Example A sample program is provided below for writing the indicated speed data to the PCU The beginning word address of the transfer data is to be D00500 and the other settings are as indicated The data will be transferred to the PCU desig nated as unit number 2 Data Address transfer destination DM tran...

Page 131: ...Data with IORD 5 5 1 Outline This section outlines how to read positioning sequences from a PCU Using IORD 128 words of data in consecutive addresses can be read at one time Refer to 5 4 Writing Data with IOWR for an outline 5 5 2 READ DATA Procedure Refer to 5 5 3 IORD INTELLIGENT I O READ or the Programmable Control ler s operation manual for details on how to set the operands for IORD 1 2 3 1 S...

Page 132: ...store the data that will be read Refer to the CS1 manuals for more details First destination word Area Range CIO Area I O Area etc 0000 to 6143 Work Area W000 to 511 Holding Bit Area H000 to 511 Auxiliary Area A448 to 959 Timer Area T0000 to 4095 Counter Area C0000 to 4095 DM Area D00000 to 32767 EM Area E00000 to 32767 EM Area with bank designa tion En_00000 to 32767 n 0 to C Indirect DM EM addre...

Page 133: ...of transfer words is set to 0 Another write process is being executed Data is being saved to flash memory The has just been turned ON or restarted and is still performing initial processing 5 5 5 Precautions when Using IORD IORD is an instruction which transfers all specified data with a single execution Therefore it increases the cycle time for the ladder program by the time required to transfer ...

Page 134: ...r program that refers to the ER Flag and Error Flag word n 8 bit12 DIFU R1 IORD 112C 00040002 D00500 R3 R2 R1 R2 R3 Set the beginning address transfer source of the speed data to be trans ferred from the PCU to 112C Hex Set the unit number of the transfer source to 2 Hex and the number of transfer words to 4 Hex Set the beginning word transfer destina tion of the area in the CPU Unit where the spe...

Page 135: ...wing types of data can be saved in the flash memory Axis parameters Positioning sequences Speeds Acceleration and deceleration times Dwell times Zones Note The data for the number of axes for the particular PCU being used is all saved at once Parameters and other data that have been saved to flash memory are read to the PCU s internal memory when the PCU is powered up or restarted If the parame te...

Page 136: ... to do so will result in a multiple start error error code 8000 It is also not possible to save data while pulses are being output The following diagram is a timing chart for saving data SAVE DATA n 1 bit14 Data Transferring Flag n 8 bit 14 Normally 1 to 2 s 30 s max When the data saving operation has been completed the Data Transferring Bit word n 8 bit14 is turned from ON to OFF 5 7 Transferring...

Page 137: ... CX Position 125 Note Do not carry out transfer operations from more than one CX Position for the same PCU at the same time There is a probability of the data transfer not being completed successfully and of abnormal operation resulting ...

Page 138: ... 3 2 Axis Parameter Area 131 6 3 3 Operating Memory Area 132 6 4 Origin Search Operation 132 6 4 1 Operation Pattern Settings for Origin Search 132 6 4 2 Details of Parameters 133 6 4 3 Operation Mode Settings 136 6 4 4 Origin Search Operation and Origin Detection Direction Settings 141 6 4 5 Operation Pattern With Origin Compensation 145 6 5 Origin Search Timing Charts 146 6 5 1 Without Origin Co...

Page 139: ...put signals an origin proximity input signal and an origin input signal A photoelectric sensor or the Z phase signal from an encoder can be used as the origin input signal PRESENT POSITION PRESET The origin can be determined by forcibly setting the position at which the motor is stopped to the desired value In addition the PCU also features the following origin reset function which can be used to ...

Page 140: ...n attempt to perform absolute positioning is made a present position unknown error error code 5040 will be generated Note If an attempt to execute TEACH is made a present position unknown error error code 5040 will be generated 6 2 Origin Search Procedure The data settings required to perform origin search for the X axis are given here as an example 1 2 3 1 Set the common parameters Refer to 4 2 C...

Page 141: ...6 3 1 Beginning Words of Operating Memory Area Operating Data Area and Parameter Areas The beginning words of the operating memory area operating data area and common parameter area used for a Position Control Unit PCU are determined or set according to the following Beginning word of the operating memory area n CIO 2000 10 unit num ber Beginning word of the common parameter area m D20000 100 unit...

Page 142: ...eversal 2 Origin proximity input signal not used 3 Limit input signal used instead of origin proximity input signal Origin search direction 0 CW 1 CCW Maximum speed m 6 m 34 m 62 m 90 00 to 15 rightmost 15 00 Leftmost 15 00 Rightmost speed m 7 m 35 m 63 m 91 00 to 15 leftmost Set range 0 to 7A120 Hex Initial speed m 8 m 36 m 64 m 92 00 to 15 rightmost Set range 0 to 7A120 Hex 0 to 500 000 pps Only...

Page 143: ... one of these settings 6 3 3 Operating Memory Area The origin search is started when the ORIGIN SEARCH Bit is turned ON Name Model Operating memory area Bit Details NC113 NC213 NC413 X axis Y axis Z axis U axis ORIGIN SEARCH NC413 NC213 NC113 n n n n 2 n 2 n 4 n 6 06 ORIGIN SEARCH start No Origin Flag NC413 n 8 n 11 n 14 n 17 06 1 No origin 0 Origin Origin Stop Flag NC213 n 4 n 7 07 1 Stopped at o...

Page 144: ... origin search high speed 0 Origin is determined by detecting the rising edge of the origin input signal Not used Not used After the origin has been detected origin search operation is terminated The origin input signal during deceleration is detected An origin input signal error error code 6202 will be generated and operation will decelerate to a stop 1 Turns ON for 20 ms when origin is detected ...

Page 145: ...arch Operation The following 3 modes are available for origin search operation Origin search operation Reversal modes Reversal mode 1 Reversal mode 2 Single direction mode There are two patterns possible for origin search operation the origin search direction and the opposite direction Direction reversed when input is received from the limit signal in the origin search direction Operation is stopp...

Page 146: ...rsal and for the limit signal input in the opposite direc tion to the origin search direction when the origin detection method is set to 3 limit input signal used instead of origin proximity input signal Using a switch with contacts may cause the position of the origin to be displaced due to chatter ing When origin search is executed the operation will differ according to whether or not origin pro...

Page 147: ... response time is 0 1 ms N O contact setting In this mode an origin input signal error error code 6202 will be generated if an origin input signal is input during the deceleration from origin search high speed to origin search proximity speed which is initiated by the input of an origin prox imity input signal or a limit input signal if the origin detection method is set to 3 Origin proximity inpu...

Page 148: ...al will be detected immediately after the falling edge of the origin proximity input signal Be sure that the origin proximity input signal dog is long enough i e more than the decelera tion time Origin proximity input signal Pulse output Start Stop Optimum position for origin proximity input signal OFF Stop Start Origin input signal Z phase signal Origin Detection Method 1 If an origin proximity i...

Page 149: ...n the rising edge of the origin proximity input signal and the origin adjustment command is output on the falling edge Positioning stops on the rising edge of the positioning completed input signal from the Servo motor Drive Pulse output Time Positioning completed input signal Origin proximity input signal Busy Flag Origin adjustment command output Start Stop Note When the origin search is complet...

Page 150: ...e start location of the origin search is different or where the deceleration time is short refer to the previously described Mode 1 In Mode 3 if deceleration is not completed when the origin proximity input signal is turned ON and then turned OFF an origin adjustment signal will be output after deceleration is completed Origin Detection Method 1 Deceleration starts on the rising edge of the origin...

Page 151: ...t command output Start Stop Stop Start When deceleration time is long When deceleration time is short Origin Detection Method 3 Deceleration starts on the rising edge of the limit input signal After the signal turns OFF an origin adjustment command output turns ON If the deceleration is insufficient while the limit input signal is ON there will be an error Pulse output Time Origin adjustment comma...

Page 152: ... operation 0 Reversal mode 1 0 Takes origin signal after origin proximity signal turns ON and OFF Note If a reversal is initiated by a limit signal a stop without deceleration will occur and acceleration will occur after reversing Origin proximity input signal Origin input signal Pulse output Origin search high speed Origin search proximity speed Start Stop Stop Start CW limit See note Start Stop ...

Page 153: ...it See note Start Stop Start Stop 0 3 Limit input signal used instead of origin proximity input signal An origin detection method error error code 1607 is generated and settings are not possible Origin detection method Origin search operation 1 Reversal mode 2 0 Takes origin signal after origin proximity signal turns ON and OFF Note A limit signal is input and operation is stopped without decelera...

Page 154: ... result Origin input signal Pulse output Start Stop Stop Start CW limit See note Start Limit Stop Error code 6201 Origin search proximity speed 0 3 Limit input signal used instead of origin proximity input signal An origin detection method error error code 1607 is generated and settings are not possible Origin detection method Origin search operation 2 Single direction mode 0 Takes origin signal a...

Page 155: ...or code 6200 Start 2 Origin proximity input signal not used Note A limit signal is input and operation is stopped without deceleration Origin input signal Pulse output Start Stop CW limit See note Limit Stop Error code 6201 Start CW limit See note Limit Stop Error code 6201 Start Origin search proximity speed Origin input signal Pulse output 3 Limit input signal used instead of origin proximity in...

Page 156: ...ed with respect to pulse output during origin search but it is enabled with respect to the amount of pulse output set for origin compensa tion In this case the origin search proximity speed corresponds to an override setting of 100 Therefore if the override is set to 200 pulse output for the origin compensation value is made at twice the speed of the origin search proximity speed as shown below Pu...

Page 157: ...harts 6 5 1 Without Origin Compensation When Using an Origin Proximity Input Signal Pulse output Origin proximity input signal Origin input signal ORIGIN SEARCH Positioning Completed Flag Origin Stop Flag No Origin Flag Busy Flag Time Start Stop 10 ms max 1 0 1 0 1 0 1 0 ...

Page 158: ...Completed Flag Origin Stop Flag No Origin Flag Busy Flag 0 10 ms max 1 0 1 0 1 0 1 0 Start Stop 6 5 2 With Origin Compensation When Using an Origin Proximity Input Signal Pulse output Time Origin proximity input signal Origin input signal ORIGIN SEARCH Start Stop Positioning Completed Flag Origin Stop Flag No Origin Flag Busy Flag 10 ms max 1 0 1 0 1 0 1 0 ...

Page 159: ... Timing Charts 148 When Not Using an Origin Proximity Input Signal Pulse output Time Origin input signal ORIGIN SEARCH Positioning Completed Flag Origin Stop Flag No Origin Flag Busy Flag 0 10 ms max 1 0 1 0 1 0 1 0 Start Stop ...

Page 160: ...am shows an example of a deceleration stop during an origin search when there is an origin proximity input signal reversal Pulse output Time Origin proximity input signal Origin input signal ORIGIN SEARCH Start Stop Positioning Completed Flag Busy Flag Limit signal input in search direction STOP Start Deceleration Stop Execution Flag No Origin Flag Origin Stop Flag Error counter reset output ...

Page 161: ...e the pulse output prohibition The following diagram shows an example of an emergency stop during an origin search when there is an origin proximity input signal reversal Pulse output Time Origin proximity input signal Origin input signal ORIGIN SEARCH RELEASE PROHIBIT ERROR RESET Emergency stop input Error Flag Positioning Completed Flag Busy Flag Deceleration Stop Execution Flag No Origin Flag O...

Page 162: ...nit PCU are determined or set according to the following Beginning word of the operating memory area n CIO 2000 10 unit num ber Beginning word of the common parameter area m D20000 100 unit num ber Beginning word of the operating data area l is specified in m and m 1 Set the beginning words of the operating data area and designate the axis parameters used with the common parameters as shown below ...

Page 163: ... 9 PRESENT POSITION PRESET word n bit 08 Origin Stop Flag word n 8 bit 07 No Origin Flag word n 8 bit 06 Busy Flag word n 8 bit 13 1 scan min 6 7 Origin Return The origin return operation is used to return the axis to the origin from any posi tion It is executed by the rising edge of the ORIGIN RETURN command Note Execute ORIGIN RETURN when the origin has been established If the origin has not bee...

Page 164: ...te if the software limit function has been disabled by setting the axis parameters so that the CW software limit is less than or equal to the CCW software limit At the time of the command the present position is 0 6 7 2 Timing Chart A timing chart for executing an origin return on the X axis looks like this Pulse output Time ORIGIN RETURN word n bit 07 Initial speed Target speed Deceleration Initi...

Page 165: ... one motor rotation there is a possibility of origin displacement during origin search A simple way of reducing the probability of this is to adjust the motor s mounting angle and the origin prox imity sensor s mounting position so that this value is approximately half a rota tion Origin Search Operation Motor rotation Origin proximity signal Z phase Time This distance is the Z phase margin 6 8 2 ...

Page 166: ...6 8 Section Z phase Margin 155 Calculation of Z phase Margin Motor rotation Origin proximity signal Z phase Origin search operation Time Return using JOG at low speed ...

Page 167: ...peration 161 7 4 1 Starting Direct Operation 161 7 4 2 Direct Operation and the Operating Data Area 161 7 4 3 Multiple Starts With Direct Operation 161 7 4 4 Multiple Start Operating Patterns 161 7 4 5 Starting Direct Operation During Memory Operation 163 7 5 Direct Operation Timing Charts 163 7 6 Acceleration Deceleration 165 7 6 1 Calculation of Basic Acceleration Deceleration Times 165 7 6 2 Ca...

Page 168: ...ord Acceleration time rightmost word Acceleration time leftmost word Deceleration time rightmost word Deceleration time leftmost word Present position rightmost word Present position leftmost word Operating memory area PCU CIO Area Status The positions and speeds set in the operating data area by the MOVL instruction are output to the Position Control Unit PCU automatically at I O refresh time Dat...

Page 169: ...ment Turn the ABSOLUTE MOVEMENT command bit word n bit 03 or the REL ATIVE MOVEMENT command bit word n bit 04 from OFF to ON The operations in 1 and 2 above are required when using a PCU for the first time or when modifying the data in the common parameter area 7 3 Setting Data for Direct Operation A simple explanation of the axis parameter area operating memory area and operating data area settin...

Page 170: ...C2j3 NC1j3 n 4 n 2 n 7 13 1 Busy 7 3 4 Operating Data Area Item Model Operating data area Bit Details X axis Y axis Z axis U axis Position NC4j3 NC2j3 NC1j3 I 8 I 9 I 8 I 9 I 8 I 9 I 20 I 21 I 20 I 21 I 32 I 33 I 44 I 45 00 to 15 rightmost 00 to 15 leftmost 15 00 Leftmost 15 00 Rightmost Setting range C0000001 to 3FFFFFFF 1 073 741 823 to1 073 741 823 pulses Speed NC4j3 NC2j3 NC1j3 I 10 I 11 I 10 ...

Page 171: ...ENT Acceleration time Deceleration time 7 4 3 Multiple Starts With Direct Operation During direct operation relative or absolute movements can be carried out by setting new positions speeds acceleration and deceleration in the operating data area In this event the positioning currently being executed is cancelled and the axis is moved towards the newly designated position Note If data in the opera...

Page 172: ...mand CHANGE POSITION Start First specified position New specified position CW position CW position New command CHANGE POSITION Start First specified position New specified position If the following operations are performed during pulse output the pulse output will stop immediately Pulse output will stop if 0 is specified for a relative positioning operation with the origin not established Pulse ou...

Page 173: ... executed with absolute position data While moving from P2 to P3 stop with a deceleration stop and move to P4 in a direct operation When memory operation is re started the movements are from P4 to P3 to P0 Movements from P0 to P1 to P2 to P3 to P0 are all executed with relative position data While moving from P2 to P3 stop with a deceleration stop and move to P4 in a direct operation When memory o...

Page 174: ...ord n bit 03 Pulse output Speed Time Positioning Completed Flag word n 8 bit 05 Busy Flag word n 8 bit 13 2710 Hex 10000 3E8 Hex 1000 FFFFD8F0 Hex 10000 3E8 Hex 1000 Example 3 Moving to relative position at 10 000 pulses Position I 8 I 9 Speed I 10 I 11 RELATIVE MOVEMENT word n bit 04 Pulse output Speed Time Positioning Completed Flag word n 8 bit 05 Busy Flag word n 8 bit 13 2710 Hex 10000 3E8 He...

Page 175: ...t in the axis parameter area to the maximum speed also set in the axis parameter area Sim ilarly the deceleration time setting is the time it would take to go from the maxi mum speed to the initial speed The actual acceleration and deceleration times i e the times taken to go between the initial speed and the target speed can be calculated from these settings Details of these calculations are give...

Page 176: ...nd deceleration times when a command for a new posi tioning operation is made during direct operation can be calculated in the way shown below Case 1 Speed for the Next Positioning Operation is Faster Actual acceleration time T1 V1 V0 VMAX V0 Ta Actual acceleration time T2 V2 V1 VMAX V0 Ta Actual deceleration time T3 V2 V0 VMAX V0 Td The following axis parameter settings are used Maximum speed VMA...

Page 177: ...V1 V2 VMAX V0 Td 7 6 3 Calculation of Acceleration Deceleration Times when the Speed is Changed During Operation If the speed or the override setting is changed during direct operation the motor will be accelerated or decelerated to the new speed The actual acceleration and deceleration times for this kind of operation can be calculated in the way shown below Case 1 Next Speed is Faster Actual acc...

Page 178: ... If the values have been modified by data transfer for example the results achieved will vary from those given below 7 7 1 Details of Operation The X axis is moved by relative movement at a speed of 15 000 pps to the posi tion at 135 000 pulses The speed is not modified by override Speed Position 135 000 pulses Time Acceleration time 3 ms Deceleration time 3 ms The values set for the acceleration ...

Page 179: ...rea refer to 4 5 Operating Data Area Data Configuration and Operating Data Area Set by the Program Name Configuration DM Contents Position 15 00 Leftmost l 9 15 00 Rightmost l 8 Setting range C0000001 to 3FFFFFFF Hex 1 073 741 823 to 1 073 741 823 pulses 00508 00509 0F58 0002 Speed 15 00 Leftmost l 11 15 00 Rightmost l 10 Setting range 1 to 7A120 Hex 1 to 500 000 pps 00510 00511 3A98 0000 Accelera...

Page 180: ...is used as a work bit DIFU W03000 MOVL 00020F58 D00508 MOVL 00003A98 D00510 MOVL 00000064 D00512 W03000 Start switch Work bit MOVL 00000064 D00514 203004 Set position Set speed Set acceleration time Set deceleration time ABSOLUTE MOVEMENT command Program Example ...

Page 181: ...8 Initial Speed and Target Speed Numbers 184 8 5 Completion Codes 184 8 5 1 Starting Memory Operation 184 8 5 2 Memory Operation In Accordance With Positioning Sequences 185 8 6 Linear Interpolation 188 8 6 1 Using Continuous Completion with Linear Interpolation 190 8 7 Transferring Positioning Sequences 192 8 7 1 PCU s Internal Addresses 192 8 7 2 Transferring 100 Positioning Sequences from the C...

Page 182: ...tion etc Automatically output by I O refresh Sequence No setting Transferred in advance Sequence 0 Sequence 1 Sequence 99 Position 0 Position 1 Position 99 Speed 0 Speed 1 Speed 99 Acceleration time 1 Acceleration time 2 Acceleration time 9 Deceleration time 1 Deceleration time 2 Deceleration time 9 1 2 Operating data area CPU Unit Reference The positioning sequences are sent in advance by data tr...

Page 183: ...ions used are those for the axes designated by the axis designation For data other than position data the data of the axis that started operation is used as the data to be desig nated in the sequence data START X Positioning sequence X Position Y Designated axis Y Designated axis Z Position Z Positioning on Y axis Positioning on Z axis If several axes are designated by the axis designation interpo...

Page 184: ... 17 06 No Origin Flag j NC2j3 n 4 n 7 07 Origin Stop Flag NC2j3 NC1j3 n 4 n 2 n 7 08 Zone 0 Monitor Flag NC1j3 n 2 09 Zone 1 Monitor Flag 10 Zone 2 Monitor Flag 12 Error Flag See note 13 Busy Flag 15 Deceleration Stop Execution Flag Operating Data Area Model Word Bit Name X axis Y axis Z axis U axis NC4j3 NC2j3 NC1j3 n 56 n 57 n 32 n 33 n 20 n 21 n 60 n 61 n 36 n 37 n 64 n 65 n 68 n 69 00 to 15 00...

Page 185: ...for memory operation Example Start X Positioning sequence X Axis designation Y Position Y Origin search X Subsequent origin searches will result in a multiple start error Therefore for memory operation commands for the active axis are treated as multiple starts 8 2 Memory Operation Procedure The procedures for setting data for memory operation are explained below using the X axis as an example 1 2...

Page 186: ...is Parameters and 4 4 Operating Memory Area 8 3 1 Beginning Words of Operating Memory Area Operating Data Area and Parameter Areas The beginning words of the operating memory area operating data area and common parameter area used for a Position Control Unit PCU are determined or set according to the following Beginning word of the operating memory area n CIO 2000 10 unit num ber Beginning word of...

Page 187: ...tion 0 Reversal mode 1 1 Reversal mode 2 2 Single direction mode Origin detection method 0 With origin proximity input signal reversal 1 Without origin proxim input signal reversal 2 Origin proximity input signal not used 3 Limit input signal use instead of origin proximity input signal Origin search direction 0 CW 1 CCW Initial speed m 8 m 9 m 36 m 37 m 64 m 65 m 92 m 93 00 to 15 Rightmost 00 to ...

Page 188: ...positions designated as absolute a pres ent position unknown error error code 5040 will be generated if the origin has not been established 2 If the software limit function set with the axis parameters is disabled CW limit equal to or less than CCW limit and if the designation is made while the origin is established No Origin Flag OFF positioning will be carried out by a relative amount even with ...

Page 189: ...deceleration curve set for the axis specified by the axis des ignation will be used The position set for the axis specified by the axis designation will be used The initial pulse designation for the axis specified by the axis designation will be used Operation for Two Axes or More The data dwell time acceleration time deceleration time initial speed target speed for the starting axis is used Out o...

Page 190: ...me X axis starting axis X axis starting axis Dwell time X axis starting axis X axis starting axis 8 4 2 Axis Designation To designate the axes to be started operated set the bits for those axes to 1 The configuration is as follows 15 12 U axis Z axis Y axis X axis Bit 14 13 For example to start only the X axis set these bits to 0001 To start the X and Z axes for linear interpolation set these bits...

Page 191: ...ion setting itself With the position designation setting specify whether the position used in the positioning sequence is to be used for relative positioning or absolute positioning The configuration is as follows 0 Absolute positioning 1 Relative positioning 07 04 U axis Z axis Y axis X axis Bit 06 05 For example if the axis designation is set to 0111 and the position designation is set to 0001 r...

Page 192: ...opping at the target position If a dwell time is set however then positioning will pause for the duration of the dwell time Target speed Target position passed without stopping Time START Target speed for next sequence 3 Bank end Positioning is stopped after completion When START is next executed positioning starts again with the designated sequence when the Sequence Number Enable Bit turns ON Tar...

Page 193: ... START Specified amount of movement in direction opposite to axis feeding direction Immediate reversal Target speed 8 4 6 Dwell Time Number This setting specifies the dwell time number from 00 to 19 in hexadecimal 00 to 13 Hex The contents of the settings are as follows 00 Dwell time not used 01 to 13 Hex Designate dwell time numbers 1 to 19 The dwell time can be set from 0 01 s to 9 99 s unit 0 0...

Page 194: ...pecify the initial speed and target speed for pulse output by set ting speed numbers from 00 to 99 in hexadecimal 00 to 63 Hex To set an initial speed of 0 set the speed designated with the initial speed number to 0 8 5 Completion Codes The following positioning can be carried out according to the positioning sequence settings 8 5 1 Starting Memory Operation There are two ways of starting memory o...

Page 195: ...dwell time has elapsed Speed Sequence n Terminating completion Waiting for memory operation Sequence n 1 Time Sequence number Sequence Number Enable START or INDEPENDENT START CPU Unit to PCU With automatic completion the position with the same number as this position ing sequence is executed and positioning is paused for the duration of the dwell time Then the position with the same number as the...

Page 196: ...Speed Sequence n Sequence n 1 Time Sequence number Sequence Number Enable Continuous completion START See note Note If a dwell time has been set the position is executed and then there is a pause for the duration of the dwell time before the next positioning sequence n 1 is executed Dwell time CPU Unit to PCU CPU Unit to PCU Even if the completion code is continuous operations can be executed in w...

Page 197: ...r Enable START or INDEPENDENT START Bank end CPU Unit to PCU With speed control completion pulse output is supported at the target speed in this positioning sequence The present position can be calculated even during continuous output The direction of the pulse output is set by the sign for the posi tion data of the same number Therefore depending on the desired direction make the following settin...

Page 198: ...ber Enable START or INDEPENDENT START External interrupt input signal Movement by specified amount Present position is reset to 0 when origin is not fixed CPU Unit to PCU Completion Code 6 Time Speed Sequence n Time Sequence number Sequence Number Enable START or INDEPENDENT START Movement by specified amount in opposite direction from axis feed direction Interrupt input CPU Unit to PCU 8 6 Linear...

Page 199: ...xis is greater than its maximum speed setting the interpolation speed is automatically lowered so that the speed for that axis or axes is equal to the maximum speed setting With this PCU the interpolation speed can be set up to 1 000 pps so as to allow each axis to move simultaneously at its maximum speed 500 pps whilst operat ing according to linear interpolation If a value exceeding 1 000 pps is...

Page 200: ...int Example Sequence No n Axis X Z Completion code Continuous Sequence No n 1 Axis X Y Z Completion code Continuous Sequence No n 2 Axis X Y Z Completion code Continuous Continuous operation is possible Possible temporary stop When using a stepping motor for continuous linear interpolation use the auto matic completion code completion code 1 Interpolation is started with the tar get speed and acce...

Page 201: ... linear interpolation with the completion code set to continuous completion code 2 all axes with interpolation will temporarily stop at the intermediate points When reversing the operation direction of an axis the same period of time will be taken for other axes with interpolation Acceleration Deceleration will not occur for a temporary stop at intermediate points When this operation is executed t...

Page 202: ...ollowing methods First save the memory operation data to the PCU s flash memory using CX Position and then write this data from the flash memory at startup Save the data to the DM or EM Area of the CPU Unit and then using the data transfer function transfer this data to the PCU where it is written to the buffer A simple example of the procedure for transferring positioning sequences to the PCU usi...

Page 203: ...o 22BB Positions Positions 22BC to 22CF Acceleration times Acceleration times 22D0 to 22E3 Deceleration times Deceleration times 22E4 to 22F7 Dwell times Dwell times 22F8 to 2303 Zones Zones 3000 to 312B Z axis data Positioning sequences 312C to 31F3 Speeds 31F4 to 32BB Positions 32BC to 32CF Acceleration times 32D0 to 32E3 Deceleration times 32E4 to 32F7 Dwell times 32F8 to 3303 Zones 4000 to 412...

Page 204: ...RITE DATA Operating data area D00500 D00501 D00502 D00503 012C 000E 0000 1000 Write source area Number of write words Write destination address Write source word Positioning sequences set in EM Area bank 0 E00000 E00001 E00002 E00297 E00298 E00299 Sequence 0 3 words Sequence 99 3 words 200112 8 8 Timing Chart for Memory Operation This section provides timing charts showing START and INDEPENDENT ST...

Page 205: ... is treated as a terminating positioning sequence stopping after a single start regardless of the completion code A bank end operation completion code however will still generate a bank end operation In the following timing chart the completion codes for the positioning sequences are as follows using X axis operation for a 4 axis PCU as an example Sequence 0 Sequence 10 Continuous Sequence 1 Autom...

Page 206: ...pletion code set to terminating or bank end is executed pulse output stops when positioning is completed and then waits for START In the following timing chart the completion codes for the positioning sequences are as follows using X axis operation for a 4 axis PCU as an example Sequence 0 Sequence 3 Continuous Sequence 1 Terminating Sequence 2 Automatic Sequence 4 Bank end Sequence number word n ...

Page 207: ... 3 will be executed according to the new settings Speed Sequence n Completion code continuous Time When positioning sequences with completion code set to continuous are executed continuously the PCU reads the data for up to 3 sequences in advance After the pulse output for the first sequence has stopped i e when the next sequence starts the data for positioning sequence n 3 in this case is read Po...

Page 208: ... VMAX V0 Td The following axis parameter settings are used Maximum speed VMAX pps Initial speed V0 pps The following data specified by data number in the positioning sequence is used Position Speed V1 pps Acceleration time Ta ms Deceleration time Td ms Speed Maximum speed VMAX specified with parameters Speed V1 Maximum speed V0 specified with parameters Actual acceleration time T1 Actual decelerat...

Page 209: ...e is used No 0 Position Speed V1 pps Acceleration time Ta1 ms Deceleration time Td1 ms No 1 Position Speed V2 pps Acceleration time Ta2 ms Deceleration time Td2 ms No 2 Position Speed V3 pps Acceleration time Ta3 ms Deceleration time Td3 ms As can be seen from the equations above the acceleration and deceleration time settings for the current sequence are used until the next sequence starts If the...

Page 210: ...es for Acceleration Deceleration Data Settings Sequence 10 Sequence 11 Axis designation 1 X axis 1 X axis Output code 0 0 Position designation 1 X axis relative positioning 1 X axis relative positioning Completion code 2 Continuous 3 Bank end Dwell time number 00 00 Acceleration time number 5 5 Deceleration time number 6 6 Initial speed number 14 14 Target speed number 15 16 8 10 2 Conditions and ...

Page 211: ...set Hex Address Hex Speed data 20 15 00 Leftmost 15 00 Rightmost Speed data pps 1000 03E8 0000 1154 1155 Speed data 21 Unsigned 32 bit binary data Setting range Speed data pps 3000 0BB8 0000 1156 1157 Speed data 22 Setting range 1 to 7A120 Hex 1 to 500 000 pps 4000 0FA0 0000 1158 1159 Positions Data Data configuration Setting pulse Value set Hex Address Hex Position 10 15 00 Leftmost 15 00 Rightmo...

Page 212: ...ion Sample Program 202 8 10 4 Program Example W030 is used as a work bit Start switch Work bit Busy Flag Setting for sequence 10 Sequence Number Enable START W03000 W03000 201813 000A D00216 201000 201001 201001 ...

Page 213: ...g Memory Area Operating Data Area and Parameter Areas 210 9 3 5 Operating Memory Area Allocation and Operating Data Area Settings 210 9 3 6 Timing Chart 211 9 4 Forced Interrupt 212 9 4 1 Beginning Words of Operating Memory Area Operating Data Area and Parameter Areas 212 9 4 2 Operating Memory Area Allocation and Operating Data Area Settings 212 9 4 3 Timing Chart 214 9 5 Deceleration Stop 214 9 ...

Page 214: ... Axis Parameters 227 9 8 4 Backlash Compensation Operation 227 9 8 5 Backlash Compensation With Linear Interpolation 227 9 9 Software Limit 228 9 9 1 Outline 228 9 9 2 Beginning Words of Operating Memory Area Operating Data Area and Parameter Areas 229 9 9 3 Setting Axis Parameters 230 9 9 4 Operation Timing 230 9 10 Stop Function 231 9 10 1 Outline 231 9 10 2 Stop Methods 232 ...

Page 215: ...ing words of the operating memory area operating data area and common parameter area used for a Position Control Unit PCU are determined or set according to the following Beginning word of the operating memory area n CIO 2000 10 unit num ber Beginning word of the common parameter area m D20000 100 unit num ber Beginning word of the operating data area l is specified in m and m 1 Set the beginning ...

Page 216: ...n time NC4j3 NC2j3 NC1j3 I 14 I 15 I 14 I 15 I 14 I 15 I 26 I 27 I 26 I 27 I 38 I 39 I 50 I 51 00 to 15 rightmost 00 to 15 leftmost If speed is changed during a JOG operation the operation will be carried out using the changed data If the acceleration deceleration time number is changed the changes will be effective with the next JOG command 9 1 5 Timing Chart The following is an example of a timi...

Page 217: ...g 1 2 3 1 Set the operating data area using the parameters 2 Move the axis to the teaching position e g using JOG 3 Set the teaching address in the operating data area 4 Stop the axis and then turn the TEACH Bit from OFF to ON 9 2 3 Beginning Words of Operating Memory Area Operating Data Area and Parameter Areas The beginning words of the operating memory area operating data area and common parame...

Page 218: ...sy Flag NC1j3 n 2 13 1 Busy Operating Data Area Name Model Operating memory area Bit Details X axis Z axis Y axis U axis Teaching address NC4j3 NC2j3 NC13 I 18 I 18 I 18 I 30 I 30 I 42 I 54 00 to 15 15 00 Specify a position 00 to 99 in hexadecimal 0000 to 0063 Hex Teaching address 9 2 5 Timing Chart The following timing chart shows an example of teaching on the X axis for a 4 axis PCU taking the p...

Page 219: ...the positioning sequence completion code is set to interrupt feeding 5 or 6 and then this sequence number is started and the inter rupt input signal is awaited 1 2 3 1 Set the positioning sequence completion code to 5 interrupt feeding in direction of travel or 6 interrupt feeding in opposite direction and write it to the PCU 2 In the positioning sequence set the speed data number and acceleration...

Page 220: ...ing data area and designate the axis parameters used with the common parameters as shown below Word Name Bit Reference m Operating data area designation 00 to 15 Section 4 m 1 Beginning word of operating data area 00 to 15 m 2 Axis parameter designation 00 to 15 9 3 5 Operating Memory Area Allocation and Operating Data Area Settings For details regarding positioning sequences in memory operation s...

Page 221: ... I 24 I 25 I 24 I 25 I 36 I 37 I 48 I 49 00 to 15 rightmost 00 to 15 leftmost 15 00 Leftmost 15 00 Rightmost Setting range 0 to 3D090 Hex 0 to 250 000 ms Deceleration time NC4j3 NC2j3 NC1j3 I 14 I 15 I 14 I 15 I 14 I 15 I 26 I 27 I 26 I 27 I 38 I 39 I 50 I 51 00 to 15 rightmost 00 to 15 leftmost 9 3 6 Timing Chart The following timing chart illustrates interrupt feeding under direct operation usin...

Page 222: ...sition preset If forced interrupt is executed at bank end Procedure for Using Forced Interrupt 1 2 3 1 Set the forced interrupt action in the positioning sequence and transfer it to the PCU 2 When a forced interrupt is required specify the sequence number set in 1 and FORCED INTERRUPT from OFF to ON 9 4 1 Beginning Words of Operating Memory Area Operating Data Area and Parameter Areas The beginnin...

Page 223: ...PT execution Busy Flag NC4j3 NC2j3 NC1j3 n 8 n 4 n 2 n 11 n 7 n 14 n 17 13 1 Busy Operating Data Area Name Model Operating memory area Bit Details X axis Y axis Z axis U axis Positioning sequence NC4j3 NC2j3 NC1j3 I 16 I 16 I 16 I 28 I 28 I 40 I 52 00 to 15 15 00 Positioning sequence Specify the number of the positioning sequence to be executed by the forced inter rupt in the range 0000 to 0063 He...

Page 224: ...mber word I 58 Sequence 10 Sequence 11 Sequence 20 Sequence 21 Time 000A Hex 10 0014 Hex 20 000A Hex 10 000B Hex 11 0014 Hex 20 0015 Hex 21 000A Hex 10 9 5 Deceleration Stop The STOP command brings an active axis to a decelerated stop 9 5 1 Outline of Operation The deceleration stop operation is executed when the STOP Bit is turned ON When a deceleration stop is executed during memory operation th...

Page 225: ...y Flag and the Deceleration Stop Execution Flag while in this state i e the STOP Bit and JOG are ON STOP JOG Pulse output Deceleration Stop Execution Flag CPU PCU CPU PCU 9 5 2 Beginning Words of Operating Memory Area Operating Data Area and Parameter Areas The beginning words of the operating memory area operating data area and common parameter area used for a Position Control Unit PCU are determ...

Page 226: ...n Stop Execution Flag turns ON when the STOP Bit is turned ON When there is no pulse output the Deceleration Stop Execution Flag does not turn ON when the STOP Bit is turned ON 9 5 4 Deceleration Stop During Positioning When a deceleration stop has occurred before the target position has been reached the positioning can be resumed by executing START START STOP Pulse output Speed Sequence 0 Sequenc...

Page 227: ...The STOP Bits of other axes are disabled For example when executing linear interpolation for X axis data with the X and Y axes deceleration stop can only be executed by the Deceleration Stop Bit of the X axis When deceleration stop is executed during interpolation operation both the X and Y axes stop from deceleration When positioning is restarted the target position will vary as shown below accor...

Page 228: ...arting Y axis X axis Re start STOP Interpolation start begins Target position Completion of start For details regarding operation when the target position has been passed for an axis with an absolute position refer to Deceleration Stop During Positioning with Absolute Positions on page 216 When the X Axis and Y Axis Positions are Both Relative When positioning is stopped by a deceleration stop the...

Page 229: ...the Override Enable Bit is ON the target speed is changed by applying the override value that is set in the operating data area The override can be set from 0 to 999 The speeds set for memory operation direct operation jogging and so on are taken to be 100 Target speed Speed setting x Override 100 If the override is greater than the maximum speed for an axis the target speed will be the maximum sp...

Page 230: ...value While changing to another positioning sequence the override value can be changed but the change will only affect the speed once the next positioning sequence starts Override cannot be enabled while decelerating to a stop Speed Sequence n Completion code Continuous Sequence n 1 Completion code Continuous Time Note A 0 override cannot be specified If 0 is specified an override error error code...

Page 231: ...mory Area Allocation and Operating Data Area Settings Operating Memory Area Name Model Operating memory area Bit Details X axis Y axis Z axis U axis Override Enable Bit NC4j3 NC2j3 NC1j3 n n n n 2 n 2 n 4 n 6 14 1 Enable 0 Disable Operating Data Area Name Model Operating data area Bit Data configuration X axis Y axis Z axis U axis g Speed NC4j3 NC2j3 NC1j3 I 10 I 11 I 10 I 11 I 10 I 11 I 22 I 23 I...

Page 232: ...eed is changed by the override while jogging the X axis for a 4 axis PCU Pulse output Speed Time Positioning Completed Flag word n 8 bit 05 Busy Flag word n 8 bit 13 Speed I 10 I 11 Override I 17 Override enable word n bit 14 JOG word n bit 09 3E8 Hex 1000 32 Hex 50 64 Hex 100 96 Hex 150 ...

Page 233: ...search or jogging are executed an error counter reset or origin adjustment command output error error code 8400 will be generated Make sure this bit is OFF before executing the operation Do not turn this bit ON during an origin search If it is turned ON during an origin search while busy an error counter reset or origin adjustment command output error error code 8400 will be generated 3 Used for w...

Page 234: ...etails X axis Y axis Z axis U axis Error counter reset output and origin adjustment command output NC4j3 NC2j3 NC1j3 n n n n 2 n 2 n 4 n 6 13 1 ON 0 OFF Busy Flag NC4j3 NC2j3 NC1j3 n 8 n 4 n 2 n 11 n 7 n 14 n 17 13 1 Busy Pin number Name A10 X Z axis B10 Y U axis Error counter reset output or origin adjustment command output 24 v A11 X Z axis B11 Y U axis Error counter reset output or origin adjus...

Page 235: ... reset output PCU output signal A10 A11 on X axis Example 3 Error counter reset output turned ON during memory operation in mode 2 Pulse output Speed Time Busy Flag word n 8 bit 13 Positioning Completed Flag word n 8 bit 05 No Origin Flag word n 8 bit 06 Error counter reset output PCU output signal A10 A11 on X axis Sequence number word l 16 Sequence Number Enable word n bit 00 START word n bit 01...

Page 236: ...Position on drive side position on driven side Positioning from positive side Driven side Drive side Positioning from negative side Position on drive side position on driven side amount of backlash compensation Same position Positioning from negative side In the above diagram after positioning from the positive side backlash is com pensated for up to the amount of the output of pulses set for the ...

Page 237: ...a area 00 to 15 m 2 Axis parameter designation 00 to 15 9 8 3 Setting Axis Parameters Data Parameter area for each axis Bit Data Configuration NC113 NC213 NC413 g X axis Y axis Z axis U axis Backlash compensation m 16 m 44 m 72 m 100 00 to 15 15 00 Backlash compensation Setting range 0000 to 270F Hex 0000 to 9 999 pulses Backlash compensation speed m 17 m 18 m 45 m 46 m 73 m 74 m 101 m 102 00 to 1...

Page 238: ...terpolation using the X and Y axes Speed Time Y axis X axis Duration of stoppage X axis Time 9 9 Software Limit 9 9 1 Outline In order to prevent damage to external devices due to unexpected positioning operation when there is a malfunction in addition to the CW and CCW limit input signals the PCU also has a function that monitors the position at a software level This function is called the softwa...

Page 239: ...ent position will be changed as long as the posi tion does not go outside the following upper and lower limits For pulse output in CW direction 2 147 483 647 pulses 7FFFFFFF Hex For pulse output in CCW direction 2 147 483 647 pulses 80000001 Hex 9 9 2 Beginning Words of Operating Memory Area Operating Data Area and Parameter Areas The beginning words of the operating memory area operating data are...

Page 240: ...1 823 to 1 073 741 823 pulses If the CCW software limit is greater than or equal to the CW software limit the software limit function will be disabled 9 9 4 Operation Timing The timing with which the software limit function operates will depend on the type of positioning performed 1 2 3 1 In the axis parameter area set the software limits so that CCW software limit CW software limit 2 Establish th...

Page 241: ...he position setting is changed with the start of forced interrupt and the new position is outside the software limit range operation decelerates to a stop to a position within the software limit range Speed control OK OK If the total number of pulses the position output is outside the software limit range operation decelerates to a stop to a position outside the software limit range Interrupt feed...

Page 242: ...immediately Error Emergency stop input signal turns ON ed a e y CPU Unit A command to the operating memory area e g STOP command Operation is stopped according to the deceleration curve Normal operation Operation is stopped by changing to PROGRAM mode from RUN mode or MONITOR mode Load is turned OFF Error counter reset output and origin adjustment command output is turned OFF Operation is stopped ...

Page 243: ... 236 10 2 2 Repeat Operation 241 10 2 3 Cancelling Positioning 245 10 3 Direct Operation 251 10 3 1 Positioning with Positions in the DM Area 251 10 3 2 Inching 254 10 4 Linear Interpolation 257 10 4 1 Two axis Linear Interpolation 257 10 5 Origin Search 263 10 5 1 Origin Search Using Limit Input 263 10 6 Override 266 10 6 1 Changing Speed During Pulse Output 266 10 7 Transferring and Saving Data ...

Page 244: ...C413 NC 433 SYSMAC CS1 series CPU Unit CS1G H CPUjjj Power Supply Unit C200HW PA204 PA204S PA204R PD024 PA20 9R Backplane CS1W BCjj3 Motor drive The following are required Servo motor drive and cabling between the motor and drive Stepping motor drive and cabling between the motor and drive Control cable between the PCU and drive 24 VDC power supply Direct current Tools CS1 series tools such as C20...

Page 245: ...Connected to the ground of the power supply used as the common input through the N C contact switch Note When using the NC2j3 NC4j3 make the above connections as a minimum even for unused axes If this wiring is not done an error will be generated and the PCU will not operate Also be sure to use separate power supplies for the 24 VDC output power sup ply and the common input power supply Backplane ...

Page 246: ...ring and saving data Copying data 269 10 2 Memory Operation 10 2 1 Checking Positioning Operations Overview The operation of each positioning sequence can be tested using INDEPEN DENT START under memory operation Positioning is executed one positioning sequence at a time with INDEPEN DENT START according to the contents of each sequence When using INDEPENDENT START positioning is stopped after the...

Page 247: ...cifies that the axis parameters in the area starting from D20004 will be used for all axes D20018 0000 p speed default setting D20003 0000 Reserved D20019 0000 Acceleration Deceleration curve trapezoid default setting D20004 0060 I O settings default setting D20020 000A Origin search acceleration time 0 to maximum speed D20005 000 Operation mode see note D20021 0000 time 0 to maximum speed 10 ms A...

Page 248: ...s designation Output code 0 Position designation relative 1007 0000 Position designation relative Completion code continuous Dwell time 0 Acceleration time 0 1008 0302 Acceleration time 0 Deceleration time 0 Initial speed 3 Target speed 2 1009 1013 Sequence 3 X axis designation Output code 0 Position designation relative 100A 0000 Position designation relative Completion code bank end Dwell time 0...

Page 249: ...n the above should be set to their default settings 0 The origin search acceleration and deceleration times will be used for accelera tion and deceleration and so this data needs to be set completely to the default settings 0 Dwell times are not used in these programs so this data area needs to be set completely to the default settings 0 Zones are not used in these programs so this data area needs...

Page 250: ...r operation checking Starts under normal operation Executed only when starting the first time Starts under operation checking Starts under normal operation Executed when starting from the second time onwards INDEPENDENT START START Takes the status of the operation start switch Busy Flag DIFU W03000 W03002 W03000 200213 W03001 D00516 200000 W03012 W03013 W03014 W03015 W03001 200002 200001 W03015 W...

Page 251: ...rts Operation starts Speed pps X axis 1 2 3 1 When the operation start switch is turned ON at the origin the program out puts 1 000 pulses CW on the X axis and stops Independent First set the origin to 0 either by performing an origin search or by execut ing PRESENT POSITION PRESET 2 When the operation start switch turns ON positioning is executed using the continuous completion code and the progr...

Page 252: ...eed 500 pps 1F4 Hex D20022 000A Origin search acceleration time maximum speed to 0 D20007 0000 1F4 Hex D20023 0000 time maximum speed to 0 10 ms A Hex D20008 0000 Initial speed default setting D20024 270F Positioning monitor time default setting D20009 0000 D20025 0001 CCW software limit default i D20010 01F4 Origin search high speed 00 1F H D20026 C000 setting D20011 0000 g g p 500 pps 1F4 Hex D2...

Page 253: ... code continuous Dwell time 0 Acceleration time 2 1008 0401 Acceleration time 2 Deceleration time 2 Initial speed 4 Target speed 1 1009 1000 Sequence 3 X axis designation Output code 0 Position designation absolute 100A 0022 Position designation absolute Completion code terminating Dwell time 0 Acceleration time 2 100B 0402 Acceleration time 2 Deceleration time 2 Initial speed 4 Target speed 2 100...

Page 254: ...es 1194 Hex 11FB 0000 p 11FC 03E8 Position 4 1 000 pulses 3E8 Hex 11FD 0000 p 11FE 0000 Position 5 0 pulses 0 Hex 11FF 0000 p Note Addresses other than the above should be set to their default settings 0 Address Setting Contents of settings 12BE 0005 Acceleration time 1 5 ms 5 Hex 12BF 0000 12C0 0014 Acceleration time 2 20 ms 14 Hex 12C1 0000 12D2 0005 Deceleration time 1 5 ms 5 Hex 12D3 0000 12D4...

Page 255: ...wards No Origin Flag Busy Flag W03000 200206 200213 W03001 D00516 DIFU W03000 200000 W03014 W03015 W03001 W03000 200206 200213 W03001 W03014 W03015 W03001 200001 10 2 3 Cancelling Positioning Overview A forced interrupt can be used during memory operation to cancel the current positioning and perform a circumvention in case of an emergency This operation forcibly cancels the current positioning op...

Page 256: ...stops Independent First set the origin to 0 either by performing an origin search operation or by executing PRESENT POSITION PRESET 2 When the operation start switch turns ON positioning is executed using the continuous completion code The program outputs 3 500 pulses CW on the X axis and stops 3 When the operation start switch is turned ON the procedure in 2 above is repeated 4 When the FORCED IN...

Page 257: ...0000 time maximum speed to 0 10 ms A Hex D20008 0000 Initial speed default setting D20024 270F Positioning monitor time default setting D20009 0000 D20025 0001 CCW software limit default i D20010 01F4 Origin search high speed 00 1F H D20026 C000 setting D20011 0000 g g p 500 pps 1F4 Hex D20027 FFFF CW software limit default i D20012 0064 Origin search proximity d 100 6 H D20028 3FFF setting D20013...

Page 258: ... time 2 1008 0401 Acceleration time 2 Deceleration time 2 Initial speed 4 Target speed 1 1009 1013 Sequence 3 X axis designation Output code 0 Position designation relative 100A 0022 Position designation relative Completion code bank end Dwell time 0 Acceleration time 2 100B 0402 Acceleration time 2 Deceleration time 2 Initial speed 4 Target speed 2 100C 1002 Sequence 4 X axis designation Output c...

Page 259: ...0000 p 11FC 03E8 Position 4 1 000 pulses 3E8 Hex 11FD 000 p 11FE 000 Position 5 0 pulses 0 Hex 11FF 000 p Note Addresses other than the above should be set to their default settings 0 Address Setting Contents of settings 12BE 0005 Acceleration time 1 5 ms 5 Hex 12BF 0000 12C0 0014 Acceleration time 2 20 ms 14 Hex 12C1 0000 12D2 0005 Deceleration time 1 5 ms 5 Hex 12D3 0000 12D4 0014 Deceleration t...

Page 260: ...lag Busy Flag Takes the rising edge of the operation start switch Only executed when starting the first time Executed when starting from the second time onwards Takes the rising edge of the forced interrupt switch 200206 DIFU W03000 DIFU W03004 W03001 200206 W03001 200213 W03000 D00516 W03013 W03001 W03002 D00516 W03014 W03015 W03002 W03004 D00516 200108 W03002 W03001 200000 200001 W03004 W03004 2...

Page 261: ...Operation Example The following example shows positioning by ABSOLUTE MOVEMENT com mand using positions on the DM Operation starts Speed pps X axis Operation starts Operation starts Operation starts 1 2 3 1 When the operation start switch is turned ON at the origin positioning is executed to 1500 in the CW direction on the X axis 2 Subsequently as the switch turns ON each time positioning is execu...

Page 262: ...d 100 6 H D20028 3FFF setting D20013 0000 g p y speed 100 pps 64 Hex D20029 0000 Reserved D20014 0000 Origin compensation default i D20030 0000 Reserved D20015 0000 g p setting D20031 0000 Initial pulse designation default setting Note Set the operation mode by setting an appropriate value for in the table above according to the driver used Designation of the Operating Data Area The operating data...

Page 263: ...cceleration time 5 ms H D00528 0005 Acceleration time 5 ms H D00513 0000 5 Hex D00529 0000 5 Hex D00514 0005 Deceleration time 5 ms H D00530 0005 Deceleration time 5 ms H D00515 0000 5 Hex D00531 0000 5 Hex D00516 0BB8 Position 3 000 pulses BB8 H D00532 0000 Position 0 pulses 0 Hex D00517 0000 p BB8 Hex D00533 0000 p D00518 0190 Speed 400 pps 190 Hex D00534 0190 Speed 400 pps 190 Hex D00519 0000 p...

Page 264: ...es the rising edge of the operation start switch W03000 200213 200206 DIFU W03000 D00032 0008 200003 A20011 D00508 D00032 D00032 D00032 D00032 D00032 0008 First Cycle Flag B 10 3 2 Inching Overview Can be applied to manual operation inching using Relative Movement under direct operation Direct operation sets the data required for each positioning operation and starts the positioning so this simpli...

Page 265: ...3 0000 Reserved D20019 0000 Acceleration Deceleration curve trapezoid default setting D20004 0060 I O settings default settings D20020 000A Origin search acceleration time 0 to maximum speed D20005 000 Operation mode see note D20021 0000 time 0 to maximum speed 10 ms A Hex D20006 01F4 Maximum speed 500 pps 1F4 Hex D20022 000A Origin search acceleration time maximum speed to 0 D20007 0000 1F4 Hex D...

Page 266: ... data area is not used with direct operation It should be left entirely at the default settings 0 This data area is not used with direct operation It should be left entirely at the default settings 0 This data area is not used with direct operation It should be left entirely at the default settings 0 Dwell times are not used in these programs so this data area needs to be set completely to the def...

Page 267: ...er of pulses in the CW direction Speed 100 pps 64 Hex Acceleration time 0 ms Inching direction switch MOVL 00000000 D00514 200004 END Deceleration time 0 ms RELATIVE MOVEMENT command INCH command switch Inching direction switch Takes the rising edge of the INCH command switch 10 4 Linear Interpolation 10 4 1 Two axis Linear Interpolation Overview Used for carrying out positioning on multiple activ...

Page 268: ...turned ON the following positioning is auto matically executed in the given order using linear interpolation and then posi tioning is stopped X Y 5000 1000 0 2000 5000 3000 0 4000 5000 5000 5000 0 0 0 The interpolation speed at this time is 500 pps Set the origin of both the X and Y axes beforehand to 0 by either conducting an origin search or executing PRESENT POSITION PRESET Setting the PCU Unit...

Page 269: ...rigin compensation default i D20046 0000 p speed default setting D20015 0000 g p setting D20047 0000 Acceleration Deceleration curve trapezoid default setting D20016 0000 Backlash compensation default setting D20048 000A Origin search acceleration time 0 to maximum speed D20017 0000 Backlash compensation d d f l i D20049 0000 e 0 o a speed 10 ms A Hex D20018 0000 p speed default setting D20050 000...

Page 270: ...on code automatic Dwell time 0 Acceleration time 0 1005 0100 Acceleration time 0 Deceleration time 0 Initial speed 1 Target speed 0 1006 3001 Sequence 2 X Y axis designation Output code 0 Position designation for X axis absolute P iti d i ti f Y i b l t 1007 0000 g Position designation for Y axis absolute Completion code automatic Dwell time 0 Acceleration time 0 1008 0100 Acceleration time 0 Dece...

Page 271: ...ation time 0 Deceleration time 0 Initial speed 1 Target speed 0 Note Addresses other than the above should be set to their default settings 0 Address Setting Contents of setting 112C 01F4 Speed 0 500 pps 1F4 Hex 112D 0000 p pp 112E 0000 Speed 1 0 pps 0 Hex 112F 0000 p pp Note Addresses other than the above should be set to their default settings 0 Address Setting Contents of setting 11F4 1388 Posi...

Page 272: ... and deceleration and so this data needs to be set completely to the default settings 0 Dwell times are not used in these programs so this data area needs to be set completely to the default settings 0 Zones are not used in these programs so this data area needs to be set com pletely to the default settings 0 Program W030 is used as a work word Operation start switch Takes the rising edge of the o...

Page 273: ...put signal In this example the CCW limit input is an N C contact With an N O contact the logic is reversed Operation starts Speed pps Time CCW limit input signal Origin input signal Pulse output 1 2 3 1 When the operation start switch is turned ON the origin search starts with an origin search high speed of 500 pps in the CW direction on the X axis 2 When the CCW limit input signal is turned ON th...

Page 274: ...7 FFFF CW software limit default i D20012 0064 Origin search proximity d 100 6 H D20028 3FFF setting D20013 0000 g p y speed 100 pps 64 Hex D20029 0000 Reserved D20014 0000 Origin compensation default i D20030 0000 Reserved D20015 0000 g p setting D20031 0000 Initial pulse designation default setting Designation of the Operating Data Area The operating data area is allocated to D00500 through D005...

Page 275: ...10 5 Section Origin Search 265 Program W030 is used as a work word Operation start switch Takes the rising edge of the operation start switch Busy Flag Origin search W03000 200213 DIFU W03000 200006 ...

Page 276: ...continu ous operation Operation starts Speed pps Time Speed change 1 Speed change 2 Speed change 3 Operation stops 1 2 3 1 When the operation start switch is turned ON pulse output is executed at a speed of 300 pps CW on the X axis 2 When speed change switch 1 is turned ON the pulse output decelerates to a speed of 150 pps 3 When speed change switch 2 is turned ON the pulse output accelerates to a...

Page 277: ... 100 6 H D20028 3FFF setting D20013 0000 g p y speed 100 pps 64 Hex D20029 0000 Reserved D20014 0000 Origin compensation default i D20030 0000 Reserved D20015 0000 g p setting D20031 0000 Initial pulse designation default setting Note Set the operation mode by setting an appropriate value for in the table above according to the driver used Designation of the Operating Data Area The operating data ...

Page 278: ...ion JOG command Speed change switch 2 Speed change switch 3 Override 167 A7 Hex Override 100 64 Hex Override enable W03005 Busy Flag W03000 200213 DIFU W03000 0000012C D00512 0000000A 200010 200009 W03001 W03005 W03001 W03001 W03003 W03002 W03004 W03002 W03003 W03004 W03002 W03004 W03003 200213 W03000 W03001 W03013 W03014 W03015 200014 200014 W03015 0032 D00510 0000000A D00514 DIFU W03002 DIFU W03...

Page 279: ...ing saving CS1W NC113 DM Area D 03000 onwards Parameters data Write save Unit 2 Parameters data not transferred PC DM Area D 03000 onwards READ DATA 1 2 3 1 Mount the NC213 Unit 0 to the Programmable Controller s CPU Rack Make sure that the data and parameters for both the X and Y axes needed for the operation of the NC213 Unit 0 are all transferred 2 When the operation start switch is turned ON t...

Page 280: ...ters read from PCU s internal flash memory Designation of the Operating Data Area The operating data area is set during programming and therefore no setting is necessary beforehand Data Settings READ DATA Axis Parameters Positioning Sequences Speeds Positions Acceleration and Deceleration Times Dwell Times Zones Transfer the data needed for the operation beforehand to the PCU for both the X and Y ...

Page 281: ...9 W03010 W03008 W03009 200412 200412 W03010 MOV 001C D00504 W03002 MOV 0004 D00505 MOV 000D D00506 MOV 0BB8 D00507 continued on next page Takes the rising edge of the operation start switch Timing determination for data reading completion Error determination for data reading Setting of operating data area for reading axis parameters Reading of axis parameters Reading of data Timing determination f...

Page 282: ...0304 D00504 W03005 MOV 1000 D00505 MOV 000D D00506 MOV 0BD4 D00507 continued from previous page 200113 W03005 W03002 END READ DATA Setting of operating data area for reading axis parameters WRITE DATA and SAVE DATA W030 and W031 are used as work words ...

Page 283: ...ng Timing determination for data saving completion Error determination for data saving DIFU W03000 W03001 DIFU W03002 DIFU W03003 W03004 W03100 W03005 W03006 W03000 W03001 W03001 W03003 W03004 W03005 W03004 202214 W03004 202212 202212 W03006 DIFU W03007 W03006 202214 W03008 W03008 W03007 W03008 W03101 W03009 W03010 W03008 W03009 202212 202212 W03010 continued on next page Data Transferring Flag Er...

Page 284: ... 0BB8 D00602 MOV 0004 D00603 continued from previous page Setting of operating data for writing axis parameters 202112 W03005 W03002 END WRITE DATA 202114 W03009 MOV 0304 D00600 W03005 MOV 000D D00601 MOV 0BD4 D00602 MOV 1000 D00603 Setting of operating data area for writing data SAVE DATA ...

Page 285: ...ators 284 11 4 Reading Error Codes 287 11 5 Error Code Lists 288 11 5 1 Data Check at Startup 288 11 5 2 Command Execution Check 291 11 6 Releasing Pulse Output Prohibition and Resetting After Errors 303 11 6 1 Outline 303 11 6 2 Beginning Words of Operating Memory Area Operating Data Area and Parameter Areas 304 11 6 3 Operating Memory Area Allocation 305 11 6 4 Timing Chart 305 11 7 Error Displa...

Page 286: ...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 duc...

Page 287: ...r supply voltage is low Check the power supply voltage Check the power supply capacity and correct the power supply 3 An internal fuse has blown Check the fuses Replace the fuse and determine what caused it to blow Refer to the troubleshooting section in the applicable CPU Unit operation manual 4 The power supply is defective Check the power supply Replace the power supply 5 Only the PCU s RUN ind...

Page 288: ...origin proximity input is wired incorrectly Use the Teaching Box s input signal monitor function to check whether the sensors are turning ON and OFF normally Correct the wiring 18 The origin input signal is incorrectly wired to the PCU Check the wiring for the origin input signal Correct the wiring 19 The direction of rotation does not match the direction of the limit input If axis rotation is rea...

Page 289: ...nes and encoder lines are wired incorrectly Check the Servo Motor power lines and encoder lines Correct the wiring 28 There is eccentricity in the couplings connecting the motor 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 removed from the coupling...

Page 290: ...ioning completed signal is not output or is delayed The next operation cannot be started The Servo Drive s in position width set in the PCU parameters is too narrow and the axis is 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 PCU parameters 38 The wi...

Page 291: ...l signal lines 46 The control signals are not properly grounded Check whether the control signal shield is properly grounded at the Servo Drive Check whether the control signal lines are in contact with the ground Correct the wiring 47 Twisted pair or shielded cable is not being used between the PCU and the Servo Drive Check whether twisted pair cables are used for the pulse signals and whether th...

Page 292: ...le is separated from other power lines Separate the cable from other power lines 62 There is malfunctioning due to noise from a welding machine inverter etc Check whether there is a device such as a welding machine or inverter nearby Separate the Unit from the noise source 63 Output for operating commands turns OFF during operation Check whether the Servo Drive s operating command output signals a...

Page 293: ...ta save opera tions An error check is performed when a command is executed or a data irregularity is detected during operation An error check is also performed when a software limit emergency stop or limit signal is detected Refer to the tables in 11 5 Error Code Lists for details on the Unit operation when an error has occurred If an emergency stop or limit signal error is detected when an error ...

Page 294: ... detected Check the wiring and the settings for the PCU and the CPU Unit and correct if necessary Error detected Error detected Error detected Error detected 11 3 LED Error Indicators 11 5 Error Code Lists Instruction execution error START command received START command executed Error detected Correct the wiring data or ladder program 11 3 LED Error Indicators The status of the LED indicators on t...

Page 295: ...ower supply was detected at the CPU Unit Remove the cause of the power interruption and reset the power supply F F f F F F F F F Setting error The unit number set for the PCU is outside the acceptable range Set the unit number for each of the Units to a setting within the acceptable range reset the power supply and create an I O table from the CPU Unit The unit number set for the PCU is the same a...

Page 296: ...e CPU Unit Remove the cause of the error at the CPU Unit Once the cause is removed normal status will be restored and the ERH LED indicator will turn OFF f f F l l l F F F Parameters destruction When using the axis parameters saved in the PCU the parameters saved in flash memory have been lost It is possible that while saving to flash memory the PCU s power supply was interrupted there was noise o...

Page 297: ... designation for the operating data area m 1 is outside the settable range In this condition only the data save operations can be performed The PCU s axis parameters and data are all returned to their default values After correcting the common parameters refer to Section 4 either reset the power supply or restart the PCU f F F F F Normal operation f f F F F Error occurred An error other than a dat...

Page 298: ...It is possible that while saving to flash memory the PCU s power supply was interrupted there was noise or there was an error in flash memory po e s pp y o es a e U the error persists it is possible that there is a fault in flash memory and so it may be necessary to replace the PCU F ROM check data destruction 0003 The flash memory error data saved in flash memory is lost OMRON maintenance data is...

Page 299: ...parameters maximum speed setting is outside the settable range 1 to 500 kpps After correcting the appropriate axis parameters reset the power supply or restart the PCU Acceleration deceleration data Acceleration time error 1310 The axis parameters origin search acceleration time setting is outside the settable range 0 to 250 s Deceleration time error 1320 The axis parameters origin search decelera...

Page 300: ...s backlash compensation speed setting exceeds the maximum speed setting Software limits CW software limit error 1800 The axis parameters CW software limit setting is outside the settable range 1 073 741 823 to 1 073 741 823 CCW software limit error 1801 The axis parameters CCW software limit setting is outside the settable range 1 073 741 823 to 1 073 741 823 Sensor inputs Emergency stop input 600...

Page 301: ...deceleration time setting 1 to 9 is outside the settable range 0 to 250 s The rightmost digit of the error code indicates the setting with the error Acceleration Deceleration curve error 1330 The axis parameters acceleration decel eration curve setting is not 0 or 1 Positioning monitor time error 1332 The axis parameters positioning monitor time is outside the settable range 0 to 9 999 ms Speed da...

Page 302: ...rs CW software limit setting is outside the settable range 1 073 741 823 to 1 073 741 823 decelerated to a stop CCW software limit error 1801 The axis parameters CCW software limit setting is outside the settable range 1 073 741 823 to 1 073 741 823 Zones Zone 0 CW error 1900 Zone 0 s CW data is outside the settable range 1 073 741 823 to 1 073 741 823 Zone 0 CCW error 1901 Zone 0 s CCW data is ou...

Page 303: ...xis designation The Y Z or U axis was specified for a 1 axis PCU The Z or U axis was specified for a 2 axis PCU More than one axis is specified for interrupt feeding or speed control or all axis designation settings are set to 0 The last two digits of the code indicate the position data number 00 to 99 where the error occurred Transfer the data again after checking and correcting it When this erro...

Page 304: ...o positioning cannot be started ABSOLUTE MOVEMENT REL ATIVE MOVEMENT or PRES ENT POSITION PRESET Positioning commands used in memory operation absolute or relative designation The software limit was exceeded for interrupt feeding or speed control during memory operation Origin Current position unknown 5040 One of the following commands was attempted with an unknown origin Memory operation with abs...

Page 305: ...BIT ERROR RESET Origin search No origin proximity input signal 6200 The Unit is set for a proximity input signal but no origin proximity input signal was received during the origin search Perform the origin search again after checking the origin proximity input signal wiring and the origin proximity input signal type N C or N O in the axis parameters I O settings If the signal type is changed rese...

Page 306: ... search cannot be executed because there are limit signals being input in both directions Perform the origin search again after checking the wiring and signal type in the axis parameters I O settings N C or N O for both directions If the signal type is changed reset the power supply or restart the PCU before resuming operation The origin search will not be executed but other operating axes will no...

Page 307: ...n input signal was reversed during a proximity search with limit input reversal not using the origin proximity input signal Perform the origin search again after checking the signal types in the axis parameters I O settings N C or N O and positions for the limit input signal origin proximity input signal and origin input signal inputs If the signal type is changed reset the power supply or restart...

Page 308: ...73 741 823 to 1 073 741 823 pulses Interrupt feeding speed error 7201 The speed designation of interrupt feeding is 0 or exceeds the axis parameters maximum speed Interrupt feeding acceleration time error 7202 The acceleration time designation of interrupt feeding is outside the settable range 0 to 250 ms Interrupt feeding deceleration time error 7203 The deceleration time designation of interrupt...

Page 309: ...ror will be decelerated to a stop When interpolation operation is being used all interpolated axes A data save operation was executed while one of the following commands was in progress START INDEPENDENT START ORIGIN SEARCH ORIGIN RETURN PRESENT POSITION PRESET JOG TEACH RELEASE PROHIBIT ERROR RESET ABSOLUTE MOVEMENT RELATIVE MOVEMENT or INTERRUPT FEEDING Correct the ladder program so that the dat...

Page 310: ...ng Flag is ON Execute the data transfer or data save operation again The command will not be executed If the last command made before the error was START INDEPENDENT START ORIGIN SEARCH ORIGIN RETURN JOG ABSOLUTE MOVEMENT RELATIVE MOVEMENT or INTERRUPT FEEDING the axis with the error will be decelerated to a stop When interpolation operation is being used all interpolated axes will be decelerated ...

Page 311: ...re all set to 0 Execute the command again after correcting the sequence data The FORCED INTERRUPT Bit was turned ON after a bank end completion in memory operation Change the ON timing for the FORCED INTERRUPT Bit Speed error 8104 When positioning with memory operation the speed designated in the sequence data was set to 0 Execute the command again after checking the speed data and sequence data t...

Page 312: ...er reset Origin adjustment output error 8400 There was an attempt to output a error counter reset origin adjustment output when the output couldn t be used Execute the command again after checking that the output can be used and changing the ladder program if necessary The axis will be decelerated to a stop Other operating axes will not be affected Override Override error 8500 The override setting...

Page 313: ...t together affected Flash memory Flash memory error 9300 An attempt was made to save data to flash memory but the data couldn t be saved because of a problem with the flash memory Execute the data save operation again The error will be cleared if the data is written normally Replace the Unit if the error occurs again In some cases the data save operation can take up to 30 s The current instruction...

Page 314: ...output is only possible in the opposite direction to the software limit that was reached For example if the CW software limit was reached pulse output is only possible in the CCW direction Note 1 It is possible to set with parameters whether the origin determination is released or not when the emergency stop input signal or a CW CCW limit input signal turns ON 2 If the origin determination is set ...

Page 315: ...g timing chart an emergency stop input signal is turned ON during an ABSOLUTE MOVEMENT command for X axis operation with a 4 axis PCU In this example it is assumed that the parameter has been set so that the origin determination will be released when the input turns ON Pulse output Speed Time Busy Flag word n 8 bit 13 Emergency stop input signal PCU input A20 B20 ABSOLUTE MOVEMENT word n bit 03 ER...

Page 316: ...ethods of clearing errors refer to 11 3 LED Error Indicators and 11 5 Error Code Lists After the error has been cleared the PCU can be restarted without resetting the power supply by using OFF ON OFF one of the following restart bits Restart Bits Bit address Function A50200 to A50215 Restart bits for unit numbers 0 to 15 A50300 to A50315 Restart bits for unit numbers 16 to 31 A50400 to A50415 Rest...

Page 317: ...on Control Unit 12 1 Inspection 308 12 2 Routine Inspections 309 12 3 Handling Precautions 310 12 4 Procedure for Replacing a PCU 310 12 4 1 When PCU Parameters and Operating Data is Set in the CPU Unit s DM Area 310 12 4 2 When PCU Parameters and Operating Data is Saved to the PCU s Flash Memory 311 ...

Page 318: ...12 1 Section Inspection 308 12 1 Inspection In order to use the functionality of the Position Control Unit PCU to its utmost daily or routine inspection is recommended ...

Page 319: ...el and make sure that it falls within the acceptable range Is the ambient humidity within the acceptable range When used in a panel the ambient humidity inside the panel must be checked 10 to 90 RH with no condensation With a hydroscope check the ambient humidity inside the panel and make sure that it falls within the acceptable range In particular check that there is no condensation due to sudden...

Page 320: ... power before replacing the PCU If a PCU is found to be faulty and is replaced check the new PCU again to ensure there are no errors When returning a faulty PCU for repair make a detailed record of the PCU s malfunction and take it together with the PCU to your nearest OMRON office or sales representative If a contact is not good put some industrial alcohol on a clean cotton cloth and wipe the sur...

Page 321: ...eplaced to a floppy disk or a hard disk using CX Position 3 Turn OFF the power supply 4 Make a note of the way in which the PCU is wired It is recommended that the cables are labelled 5 Replace the PCU and reconnect the wiring as before 6 Set the unit number for the PCU 7 Turn ON the power supply to the PC 8 Transfer the saved parameters and operating data to the PC using CX Posi tion After transf...

Page 322: ...0 Set value Note The actual speed is obtained within an error range of 0 02 Note Round Function for rounding the value Round 16 000 000 Set value Divider ratio pps Pulses per second Pulse output actual speed 16 MHz Pulse output LSI divider 0 02 This difference occurs because a 16 MHz source clock is divided by the pulse output LSI divider An error of 0 02 also occurs because the source clock is af...

Page 323: ... ms max 3 5 ms max 4 ms max 3 5 ms max Direct operation 2 ms max 2 ms max 3 ms max 3 ms max 2 ms max 3 5 ms max 4 ms max Note The conditions under which the values in the above table hold are as follows During the time between the START command being made at the PC END refresh and the time at which pulse output starts no other commands are output cycle time 10 ms The IOWR or IORD instructions are ...

Page 324: ...imes for transferring positioning sequences with a PC cycle time of 2 ms are shown in the tables below Data Reading Time Amount of data to be NC1j3 NC2j3 NC4j3 data to be read IORD READ DATA IORD READ DATA IORD READ DATA 3 words 0 7 ms 13 ms 0 7 ms 13 ms 0 6 ms 13 ms 15 words 13 ms 13 ms 13 ms 30 words 15 ms 15 ms 15 ms 126 words 300 words 45 ms 50 ms 45 ms 772 words See note 100 ms 105 ms 100 ms ...

Page 325: ...mum operation time for the Position Control Unit is 10 ms With memory operation when a sequence with a continuous completion code is executed and the positioning time for that sequence is shortened according to the amount of movement and the target speed the operation time required for the continuous completion cannot be assured and positioning will be executed as if the completion code were autom...

Page 326: ...s started is as follows FORCED INTERRUPT Pulse output Time Operation NC1j3 NC2j3 NC4j3 FORCED INTERRUPT response 3 4 to 5 3 ms 3 6 to 6 2 ms 4 1 to 8 ms Note The above values are for a PC cycle time of 10 ms Speed Change Response Time in Direct Operation The target speed can be changed during direct operation by changing the speed data set in the operating data area The time from when the speed is...

Page 327: ... in the times required until pulse output starts for different axes when commands to start operation for more than one axis are made simultaneously from the CPU Unit to the PCU within the same cycle of the ladder program These time differences are shown below START X axis pulse output Y axis pulse output Z axis pulse output U axis pulse output Time difference in pulse output Operation NC1j3 NC2j3 ...

Page 328: ...number of pulses for each of them can all be found by means of the formulas shown below Speed pps Time ms PD PU VM VH VL 0 TU TD TAU TAD VM Maximum speed setting TU Acceleration time from initial speed VL to target speed VH TD Deceleration time from target speed VH to initial speed VL TAU Acceleration time setting TAD Deceleration time setting Using the above abbreviations the number of pulses for...

Page 329: ...00 pps Acceleration time setting TAU 400 ms Deceleration time setting TAD 550 ms Acceleration time TU 35000 0 Acceleration pulses PU VH VL x TU 2 5160 pulses 30000 0 x 344 x 10 3 2 x 400 x 6 7 x 10 3 344 ms Approx 5200 pulses VH VL x TD 2 8015 pulses 30000 5000 x 458 x 10 3 2 Approx 8000 pulses Deceleration time TD Deceleration pulses PD VH VL VM VL TAU 30000 0 10 3 x 400 35000 5000 x 550 x 5 6 x ...

Page 330: ...perating data area designation 0 EM bank designation 0 to C 0 Operating data area designation 0 Fixed DM Area D DM E EM m 1 Beginning word of operating data area 163 162 161 160 m 2 0 Axis designation Parameter designation 00 P d i h PCU U axis Z axis Y axis X axis g 00 Parameters saved in the PCU 01 Parameters in m 4 to m 115 m 3 0 0 0 0 ...

Page 331: ...leration time error 1320 Acceleration Deceleration curve error 1330 Positioning monitor time error 1332 Origin search Origin compensation error 1600 g Origin search high speed error 1601 Origin search proximity speed error 1602 Origin search speed inconsistent 1603 Operation mode selection error 1604 Origin search operation error 1605 Origin search direction error 1606 Origin detection method erro...

Page 332: ... compensation error 1600 g Origin search high speed error 1601 Origin search proximity speed error 1602 Origin search speed inconsistent 1603 Operation mode selection error 1604 Origin search operation error 1605 Origin search direction error 1606 Origin detection method error 1607 Backlash compensation Backlash compensation error 1700 p Backlash compensation speed error 1710 Software limits CW so...

Page 333: ...se error 6206 Absolute movement command Absolute movement position error 7000 Absolute movement speed error 7001 Absolute movement acceleration time error 7002 Absolute movement deceleration time error 7003 Relative movement command Relative movement position error 7100 Relative movement speed error 7101 Relative movement acceleration time error 7102 Relative movement deceleration time error 7103 ...

Page 334: ...ination address error 8312 Read transfer number of words error 8320 Read transfer source address error 8321 Read transfer destination word error 8322 Error counter reset Origin adjustment output Error counter reset origin adjustment output error 8400 Override Override error 8500 Positioning Positioning timer timeout 8600 g Overflow 8601 Intelligent Read Write IORD format error 8700 g IOWR format e...

Page 335: ...YSMAC NCT cannot be used Use CX Position instead PCU s Parameters and Operating Data With C200H series PCUs most of the parameters and operating data were in BCD format With CS1 series PCUs the parameters and operating data area in hexadecimal binary format For this reason it is necessary to change the parameters and data All parameters and operating data excluding the common parameters can be aut...

Page 336: ...multiplication factors to Origin search high speed multiplication factors to 2 word unsigned 32 bit Origin search proximity speed 2 word unsigned 32 bit binary settings unit pps Origin compensation Convert to signed 32 bit binary data Backlash compensation Convert to unsigned 16 bit binary data Backlash compensation speed Convert the 1 word setting containing a multiplication factor to a 2 word un...

Page 337: ...ber of words of data is the same Speeds Convert the 1 word settings containing multiplication factors to 2 word unsigned 32 bit binary settings unit pps The total number of words of data will be twice the number in the previous format Positions Convert to signed 32 bit binary data In the new format the position designation relative or absolute is set in the positioning sequences With CS1 series PC...

Page 338: ...ead destination word transfer read source address The acceleration and deceleration times used in direct operation and origin return were specified by number but are now time settings The speed designations used in direct operation and origin return consisted of one word of data containing a multiplication factor but now consist of two words of binary data without a multiplication factor Changes i...

Page 339: ...ation bits 08 to 11 0 to C Operating data area designation bits 00 to 03 0 fixed DM D DM E EM 01 Beginning word of operating data area 02 Axis designation bits 08 to 11 X axis to U axis Parameter designation bits 00 to 03 0 parameters saved in PCU 1 parameters in 0 0 Parameter designation bits 00 to 03 0 parameters saved in PCU 1 parameters in m 4 to m 115 0 0 0 0 03 Reserved ...

Page 340: ...Initial speed Origin search high speed Origin search proximity speed Origin compensation Backlash compensation Backlash compensation speed Acceleration deceleration curve X axis Y axis Z axis U axis Origin search acceleration time Origin search deceleration time Function Positioning monitor time CCW software limit CW software limit Reserved NC1j3 NC2j3 NC4j3 Initial pulse designation ...

Page 341: ...leted input signal 2 Mode 2 Same as Mode 1 but uses positioning completed input signal 3 Mode 3 Uses OMRON H Series or M Series Servomotor Driver Origin search is completed by Servomotor Driver s origin adjustment command Uses positioning completed input signal 04 to 07 Origin search operation 0 Reverse mode 1 reverse at limit input Detects origin in designated origin search direction 1 Reverse mo...

Page 342: ...mpletion code 00 to 06 Hex 0 to 6 Dwell time No 00 to 13 Hex 0 to 19 Acceleration time No 0 to 9 Hex 0 to 9 Deceleration time No 0 to 9 Hex 0 to 9 Initial Target speed No 00 to 63 Hex 0 to 99 15 00 Axis designation Output code Position designation Completion code 12 11 08 07 04 03 Dwell time number Accel time number Decel time number Initial speed number Target speed number Designated area Designa...

Page 343: ...esignated area Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Speed No jj Designated area Designated area Designated area Function ...

Page 344: ...j Position No jj Position No jj Position No jj Position No jj Position No jj Position No jj Position No jj Position No jj Position No jj Position No jj Position No jj Position No jj Position No jj Position No jj Position No jj Position No jj Position No jj Designated area Designated area Designated area Designated area Function ...

Page 345: ...time No jj Acceleration time No jj Acceleration time No jj Acceleration time No jj Acceleration time No jj Deceleration time No jj Deceleration time No jj Deceleration time No jj Deceleration time No jj Deceleration time No jj Deceleration time No jj Deceleration time No jj Deceleration time No jj Deceleration time No jj Designated area Designated area Designated area Designated area Function ...

Page 346: ...Dwell time No 7 Dwell time No 8 Dwell time No 9 Dwell time No 10 Dwell time No 11 Dwell time No 12 Dwell time No 13 Dwell time No 14 Dwell time No 15 Dwell time No 16 Dwell time No 17 Dwell time No 18 Dwell time No 19 Zone 0 CCW side Zone 0 CW side Zone 1 CCW side Zone 1 CW side Zone 2 CCW side Zone 2 CW side Designated area Designated area Designated area Designated area Function ...

Page 347: ...adjustment command output 84 ORIGIN RETURN 83 ORIGIN SEARCH 83 override enable 84 PRESENT POSITION PRESET 83 READ DATA 84 Read Data 108 RELATIVE MOVEMENT 83 RELEASE PROHIBIT 84 SAVE DATA 84 sequence number enable 83 START 83 STOP 84 TEACH 84 WRITE DATA 84 Write Data 103 control system principles 13 14 CX Position creating and transferring data 124 D data reading with IORD 119 reading with the Read...

Page 348: ...4 starting direct operation during 163 modes origin search mode 0 connection 41 origin search mode 1 connection 43 origin search mode 2 connection 46 origin search mode 3 connection 50 multiple starts with direct operation 161 N O noise electronic prevention 40 open loop systems 14 operating data area details 86 87 operating environment precautions xv operation mode description of operation modes ...

Page 349: ...utput pulses connecting 36 positioning completed 39 51 Z phase 44 47 solenoids 40 speed calculations 313 speed control completion in memory operation 187 startup errors data check at startup 288 323 description 283 startup procedures 234 stepping motor drives 13 stepping motors 13 14 angle of rotation 14 used with external sensor 41 with continuous linear interpolation 190 surge absorbers 40 T tac...

Page 350: ...r of the manual Cat No W376 E3 1 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Date Revised content W376 E1 1 August 2000 Original production W376 E3 1 April 2001 Corrected servo drive terms spelling ...

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