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Summary of Contents for SYSMAC C500-NC113

Page 1: ...Cat No W323 E3 1 Position Control Units SYSMAC C500 NC113 C500 NC211 OPERATION MANUAL...

Page 2: ...0 1 1 2 304 2 1 3 1 3 1 1 1...

Page 3: ...5 3 3 4 3 3 4 3 034 3 6 3 1 3 33 3 3 3 4 4 3 3 2 1 4 7 11 5 1 2 2 6 1 1 1 6 1 1 0 1 1 0 1 1 1 1 1 1 3 1 7 1 3 1 1 8 3 1 9 3 6 6...

Page 4: ...are two ways to execute com mands One way is to set the Programmable Controller s operating mode to either RUN or Monitor and to use the Intelligent I O Write instruction WRIT to transfer nine words...

Page 5: ...8 0...

Page 6: ...n trol Unit Be sure to read this manual before attempting to use the software and keep this manual close at hand for reference during operation WARNING It is extremely important that a PC and all PC U...

Page 7: ...a tion and remains within the specified conditions during the life of the system 5 Application Precautions Observe the following precautions when using the PC WARNING Failure to abide by the following...

Page 8: ...o not connect bare stranded wires directly to terminals Double check all the wiring before turning on the power supply Be sure that the connecting cables and other items with locking devices are prope...

Page 9: ...8 8 0 8...

Page 10: ...ort Tool can be used for reading and writing positioning data between a personal computer and the C500 NC113 211 This data can be saved as files and or printed out NC Support Tool can also be used for...

Page 11: ...nd Write instructions Because the C500 NC113 211 utilizes Intelligent I O Read and Write instruc tions it cannot be operated in situations where these instructions cannot be used For example it cannot...

Page 12: ...stepping motor driver C500 NC113 211 Position Control Unit Control panel Power supply Stepping motor driver Stepping motor driver Stepping motor Stepping motor Emer gency stop switch Interrupt input...

Page 13: ...C Power Supply Emergency stop switch Interrupt input switch NC Support Tool Pulse outputs CCW limit switch Origin proximity switch CW limit switch Input 24 VDC Power Supply Encoder Z phase inputs Erro...

Page 14: ...itioning actions are executed in order beginning with the initial positioning action Positioning action addresses from 1000 onwards Accel eration pattern No Initial speed com mon Address 1499 Target p...

Page 15: ...either speed control in which axes are operated at a fixed speed for that operation or interrupt feeding in which axes are moved for the specified amount during speed control and then stopped Absolut...

Page 16: ...OG Speed Pulse output Time High speed jogging speed Speed Pulse output Time Low speed jogging speed Inching The inching operation moves the axis for a designated number of pulses INCHING Pulse output...

Page 17: ...tion to a designated address Origin Present position Present positioning action address Changing the Present Position With a command from the PC this operation changes the present position to the spec...

Page 18: ...STOP Speed Pulse output Time Home Shift Home shift adds a specified amount to the position data that has been set for a positioning action Home shift amount added to positioning action Speed Time Ori...

Page 19: ...ition control Speed control Manual operation Other operations PCU operations Absolute positioning according to absolute value Relative positioning according to incremental value Interrupt feeding Jogg...

Page 20: ...coder Tachogenerator Servomotor driver Pulse train Power am plifier Pulse train Stepping motor driver I O interface MPU Memory Pulse genera tor Magnetizing dis tribution circuit Servomotor Positioning...

Page 21: ...g pulse 1 2 n Positioning output Angle of rotation Angle of rotation The following diagram and parameters illustrate a simplified positioning system M Reduction ratio P Feed screw pitch mm revolution...

Page 22: ...nd interpretation Status Area 15 wds 9 wds 5 words for the NC113 Unit 8 words for the NC113 Unit Explanation 1 2 3 1 I O Allocation The Position Control Unit occupies two CPU Unit output words 32 bits...

Page 23: ...The PCU then in terprets and executes the commands 4 Status Area Status information such as the positioning action currently beingexecuted is written to the CPU Unit from the PCU by means of the CPU U...

Page 24: ...0 1...

Page 25: ...65 C Ground Terminal type ground via Programmable Controller Weight 700 grams or less not including external connectors Dimensions mm 250 0 x 34 5 x 93 0 mm H x W x D Occupies one slot 2 1 2 Performan...

Page 26: ...0 to 9 990 ms Unit 10 ms Deceleration stop Operation is decelerated to a stop according to the designated deceleration pattern when the command or interrupt input is received During low speed jogging...

Page 27: ...s PROGRAM mode Allocated I O area X Axis Bits 4 to 8 Y Axis Bits 10 to 14 Allocated I O area X axis Bits 4 to 8 Y axis bits will be neglected 6 3 Status RUN MONITOR modes 15 words 8 words 7 words for...

Page 28: ...L Pulse f Open or close current loaded power source voltage frequency 7 to 30 mA 5 VDC 10 7 to 30 mA 12 VDC 10 7 to 30 mA 24 VDC 10 A B A B A B 50 kpps max 9 9 s min 9 5 s min 9 9 s min 9 5 s min 9 9...

Page 29: ...The following illustration shows the components and nomenclature for the C500 NC211 Position Control Unit for two axes and C500 NC113 Position Control Unit for one axis RUN XCW XCCW YCW YCCW ERROR CN1...

Page 30: ...rm exists for the set data when the power is turned on or when writing to EEPROM ERROR Red Lit when an error has occurred causing operation to stop When the power is turned on or when writing to EEPRO...

Page 31: ...0 4 4 4 2 1 2 2...

Page 32: ...1 6K resistance CCW pulse direction output 25 Y axis CW pulse pulse output 2 X axis with 1 6K resistance CW pulse pulse output 14 X axis CCW pulse direction output 24 Y axis with 1 6K resistance CW p...

Page 33: ...lines Connectors No 10 11 32 33 The response time of the origin signal is 1 ms M NC113 211 Input power supply 22 34 24 VDC Pulse Pulse Motor Driver X axis Origin Origin proximity 10 11 7 This mode is...

Page 34: ...tioning completed signal out put Origin ad justment command input X axis 7 23 5VDC E Positioning completed 8 Origin prox Output power supply Note The above wiring diagrams for modes 1 2 and 3 are appl...

Page 35: ...river for example model UFK543A 5 phase or UMK264A 2 phase made by Oriental Co Switch N O or N C input External signal such as photoelectric switch or proximity switch NPN output type in this example...

Page 36: ...ethod No proximity reversal 08 to 11 2 Origin search pattern 2 12 to 15 0 Origin search mode 0 2 Set the output pulses Address 2027 X axis Address 6027 Y axis 0 CW CCW output selection The origin sear...

Page 37: ...11 Position Control Unit Power supply for output Error counter reset output Z phase input Origin proximity input CCW limit input CW limit input Emergency stop in put CW output 0 V Limit switch NC inpu...

Page 38: ...earch mode 1 2 Set the output pulses Address 2027 X axis Address 6027 Y axis 0 CW CCW output selection The origin search operation stops on the rising edge of the first Z phase signal after the origin...

Page 39: ...r is operating and ON when it is stopped 17 X CCW output 2 X 18 X 21 Y 19 X Y 24 14 5 25 12 to 24 VDC 1 RUN ECRST Z Z Servomotor R88M U C500 NC211 Position Control Unit Power supply for output Error c...

Page 40: ...2027 X axis Address 6027 Y axis 0 CW CCW output selection The origin search operation stops on the rising edge of the first Z phase signal after the origin proximity signal has turned from ON to OFF a...

Page 41: ...with the Y axis 17 X CCW output 2 X 18 X 21 Y 19 X Y 13 6 12 to 24 VDC 15 RUN EM H RET Servomotor R88M H Position Control Unit Power supply for output Origin adjustment command output Origin proximit...

Page 42: ...search operation begins after the origin proximity signal has risen and fallen and the origin adjustment command is output to the servomotor driver af ter deceleration has ended The positioning compl...

Page 43: ...completion input 0 V 17 X 20 Y CCW limit input 0 V N C Input 18 X 21 Y CW limit input 0 V N C Input 19 X Y Emergency stop 0 V N C Input 10 X 32 Y Origin input 12 24 VDC 9 X 31 Y Origin line driver Inp...

Page 44: ...Either N O or N C can be used to match the in puts used They can be switched by means of pa rameter settings N C input N C input N C input 1 8 k 1W Origin proximity 7 X 29 Y Positioning completion in...

Page 45: ...no chattering If chattering occurs during an origin search an emergency stop error error code 6000 will be genererated Origin Line Driver Input 9 11 X axis 31 33 Y axis Position Control Unit OMRON R88...

Page 46: ...0 V 2 X 24 Y CW pulse pulse output with 1 6 k resistance 3 X 25 Y CW pulse pulse output 13 X 15 Y CCW pulse direction output with 1 6 k resistance 14 X 16 Y CCW pulse direction output 4 X 26 Y Error c...

Page 47: ...ustrate examples of connections to mo tor drivers Always confirm motor driver specifications before making connec tions Example 1 Outputting CW and CCW Pulses In this example a 5 V photocoupler input...

Page 48: ...ns Motor driver for 5 V input For example R 220 When voltage level output is used the level is L for output ON and H for output OFF Other Output Connection Examples There is approximately 20 ms of out...

Page 49: ...Use wires with cross sectional areas of 0 3 mm2 or less Take care not to short circuit neighboring terminals when soldering Cover the soldered part of the wire with insulation tubing When using a mult...

Page 50: ...les must be of the required diameter Power lines e g AC power supply motor power line and control lines e g pulse output lines external I O signal lines must be wired separately Never put these lines...

Page 51: ...hen it is connected to the same power supply as an electric welder or an electric spark machine or when there is any supply generating high frequency noise Twisted pair cable is recommended for power...

Page 52: ...8 8 0...

Page 53: ...driver Section 3 Wiring Section 5 Creating Data Procedure Wiring driver to PCU Check the wiring by performing basic operations such as jogging origin search and so on at low speed Simple trial operati...

Page 54: ...tting power Alarm error LED lit No Yes Error exists Read error Alarm error LED flashes No Yes Read error Correct data causing alarm Section 8 Simple Trial Operation Section 7 PCU Status Section 12 Err...

Page 55: ...0 4 0 00 0 2 23 0 0 6 4 A 2 A 2 A 2 A 1 1 3 4 8 2 4 8 2 4 8 2 B 4 8 2 6 B 4 8 2 4 8 4 8 2 2 3 4 8 2 1 5 2 2 2 6 2 2 6 2 1 7 2 1 2 3 3 4 8 2 B 4 8 2 4 8 2 1 0 3 2 2 2...

Page 56: ...o transfer it to the PCU 1 Transferring Data From NC Support Tool NC Support Tool RS 232C cable XW2Z 200S XW2Z 200R Data created by NC Support Tool Data transferred to PCU Position Control Unit CPU Un...

Page 57: ...5 1 Section Acceleration Deceleration Pattern Edit Screen Dwell Time Data Edit Screen...

Page 58: ...reate the position controldata positioningactions parameters etc in ad vance in the CPU Unit s DM area using the Position Control Unit s internal RAM addresses as the leading addresses 2 Use the Intel...

Page 59: ...subsequent sections beginning with 5 2 Data Handled By the Position Control Unit Data Memory Positioning action address 1000 X axis Speed no 02 X axis address 4002 indirect designation following data...

Page 60: ...internal RAM accordingly The order of addresses not fixed Position Control Unit Address 1000 Address 1005 Address 1000 1005 Note 1 The number of words for the created data that is to be transferred mu...

Page 61: ...red with one Intelligent I O Write instruc tion If it is necessary to divide the data into several sections to be transferred one by one execute each subsequent Intelligent I O Write instruction with...

Page 62: ...to 500 positioning actions can be set for each axis and each posi tioning action is configured of six words The NC113 is not provided with the Y axis When the START command is received the Position C...

Page 63: ...itioning action will be executed at the speed registered at speed data address 8020 For details regarding speed data refer to 5 4 Speeds Format Speed number 2 digits BCD Example 20 1 word Setting Acce...

Page 64: ...er 20 is set the dwell time registered at dwelltime data address 9020 will be executed For details on how to set dwell times refer to 5 6 Dwell Times Format Dwell time number 2 digits BCD Example 20 3...

Page 65: ...according to the target speed and target position that have been set positioning is paused for the length of time that has been set for the dwell time and then the next positioning action i e the pos...

Page 66: ...ll be the positioning action set in the parameters X axis address 2002 Y axis address 6002 For details regarding the order of execu tion of positioning actions in this case refer to 9 2 3 Executing ST...

Page 67: ...below occur with the Position Control Unit s internal processing and outputs to the memory area add delays with the scan A STOP command There is a delay of approximately 2 ms with STOP For details reg...

Page 68: ...CW Absolute movement Single axis d i 1 CCW g end point 2 CW Incremental movement 3 CCW 4 CW Absolute movement Interpolation d i 5 CCW end point 6 CW Incremental movement 7 CCW Note 4 to 7 are availabl...

Page 69: ...along the linear line con necting the present value and the target value This applies only to the NC211 When setting the incremental value the sum of the present position and the incremental value sho...

Page 70: ...rom 4 to 7 Interpolation data Set from 0 to 3 Neither 4 or 5 can be set 0 5 Y axis Positioning Action Address 5000 X axis Positioning Action Address 4000 Speed number Acceleration deceleration pattern...

Page 71: ...address 00 to 99 3 Dwell time address 00 to 29 2 Output code 00 to 499 0 Completion code 0 to 5 0 Positioning action 00 to 9999999 0 Sign 0 to 7 0 No default values are set for positioning actions for...

Page 72: ...speed 8001 0 to 250000 5000 Origin search high speed position data speed 8002 0 to 250000 500 Origin search proximity speed 8003 0 to 250000 5000 Jogging high speed 8004 0 to 250000 3000 Jogging low...

Page 73: ...ern 7003 2 to 2000 100 100 Positioning action acceleration deceleration pattern Note 1 All addresses other than those shown above are set to 2 2 The addresses 7000 to 7003 are only for the NC211 5 6 D...

Page 74: ...e X and Y axis are specified and set by means of their addresses The X addresses range from 2000 to 2029 and the Y address rangefrom 6000 to 6028 NC211 only The parameter data is set in the address es...

Page 75: ...side 9999999 to 9999999 0 Y axis zone 1 CCW side 9999999 to 9999999 0 2015 6 X axis zone 2 CW side 9999999 to 9999999 0 X axis zone 2 CCW side 9999999 to 9999999 0 6015 Y axis zone 2 CW side 9999999...

Page 76: ...F 1E 2022 4 X axis PV change setting 9999999 to 9999999 0 82 6022 Y axis PV change setting 9999999 to 9999999 0 2023 3 X axis origin return acceleration deceleration pattern number 0 to 99 0 83 X axis...

Page 77: ...dress 6010 9999 99 to 9999 99 mm 999 999 to 999 999 inch CW limit X address 2011 Y address 6011 0 to 9999 999 mm 0 to 999 9999 inch CCW limit X address 2012 Y address 6012 0 to 9999 999 mm 0 to 999 99...

Page 78: ...ed For details on how to set speeds refer to 5 4 Speeds Format Address Initial speed number Example 20 0 word 1 word 2 word 2 word 5 7 3 Initial Positioning Action Number 3 Words Axis Address X 2002 Y...

Page 79: ...8020 will become the high speedjogging speed For details on how to set speeds refer to 5 4 Speeds Format Address High speed jogging speed number Example 20 0 word 1 word 2 word 2 word 5 7 5 Low speed...

Page 80: ...ch high speed For details on how to set speeds refer to 5 4 Speeds Format Address Origin search high speed number Example 20 0 word 1 word 2 word 2 word 5 7 7 Origin Search Proximity Speed Number and...

Page 81: ...ses millimeters or in ches The setting is made in four digits as follows Pulses 0000 to 9999 Millimeters 000 0 to 999 9 Inches 00 00 to 99 99 Format Address Example 20 0 word 1 word 2 word Origin sear...

Page 82: ...word 2 word 2 word 5 7 10 Backlash Compensation 4 Words Axis Address X 2009 Y 6009 NC211 only This parameter sets the backlash compensation value in five digits from 0 to 99999 Format Address Backlash...

Page 83: ...igits would be 10 2 to 103 If the data unit was inches then the digits would be 10 3 to 102 5 7 12 CW Limit 4 Words Axis Address X 2011 Y 6011 NC211 only This parameter sets the CW limit in seven digi...

Page 84: ...e are set in parameter addresses 2026 X axis and 6026 Y axis Format for Pulses Address CCW limit 103 digit 102 digit 101 digit 100 digit 104 digit Example 1234567 pulses 105 digit 106 digit 0 word 1 w...

Page 85: ...ata unit was inches then the digits would be 10 4 to 102 5 7 15 Origin Search Mode Pattern and Type 3 Words Axis Address X 2021 Y 6021 NC211 only The origin search mode is set in one digit from 0 to 3...

Page 86: ...coordinates of the position where operation is currently stopped are regarded as the data set for the reset present position setting Pulses 9999999 to 9999999 Millimeters 9999 999 to 9999 999 Inches...

Page 87: ...ess 7020 will be used For details on how to set acceleration deceleration patterns refer to 5 5 Acceleration Deceleration Patterns Format Address Origin return acceleration deceleration pattern number...

Page 88: ...l speed Example 20 0 word 1 word 2 word 2 word 5 7 19 Number of Inching Pulses 3 Words Axis Address X 2025 Y 6025 NC211 only This parameter sets the amount of movement along the designated axis when t...

Page 89: ...d to pulses according to the pulse rate When the data is converted all digits to the right of the decimalpoint are discarded For example if the unit is set to millimeters the pulse rateis 0 4567 and t...

Page 90: ...r 1 as follows 0 Interrupt input signal variable See note 1 1 Interrupt input signal fixed See note 2 Note 1 When the interrupt input signal is variable the command bit X axis bit 06 of word m 1 Y axi...

Page 91: ...note 1 Note 1 The speed change is possible even when the command bit X bit 06 of word m 1 Y bit 06 of word m 6 turns ON 2 When interpolation is being used a deceleration stop or an emergency stop for...

Page 92: ...by personal computer Internal RAM Writing to EEPROM Reading from EEPROM at powerup Writing to EEPROM To write data from internal RAM to EEPROM execute the EEPROM WRITE command Reading from EEPROM The...

Page 93: ...8 0 8 304 2 23 4 0 8 0 8 4 8 1 2 304 304 304 2 3 3 4 3 3 4 3 034 3 6 3 4 3 4 4 B 6 2 B 4 11 11 1 3 33 3 1 4 1 8 1 4 8 8 1...

Page 94: ...ated I O word must be turned ON by the program When bit 03 is OFF commands cannot be received by means of WRIT the Intelligent I O Write instruction Ladder Program Example Always ON Operating mode Bit...

Page 95: ...PROHIBIT 00 to 49 00 Present speed b 05 READ ERROR number 1 06 CHANGE SPEED DEFINE INTERRUPT INPUT SIGNAL 07 Override enable 08 0 RESET PRESENT POSITION Forced ON OFF bit for error counter reset Enab...

Page 96: ...1 10 Not used 0 11 HIGH SPEED JOG 0 12 Jogging inching direction CHANGE OVERRIDE 0 0 13 LOW SPEED JOG Home shift enable disable setting 0 Disable 1 Enable 0 0 14 INCH 0 0 0 15 STOP 0 0 0 Note 1 Enabl...

Page 97: ...W limit Note When pulse output is stopped after an emergency stop it is also necessary to clear the emer gency stop switch 05 READ ERROR When there are two or more errors turning ON this bit causes th...

Page 98: ...et by bit 12 of words m 1 X axis and m 5 Y axis HIGH SPEED JOG bit 11 words m 1 and m 5 Pulse output Speed pps Initial speed Acceleration Deceleration Initial speed High speed jogging speed Begin high...

Page 99: ...on address for when teaching is initiated by bit 09 of words m 1 X axis and m 5 Y axis 15 to 12 Not used Always set to 0 m 4 m 8 07 to 00 Override Target Speed Number This sets the override value to b...

Page 100: ...Reserved for system 03 Operating mode 04 X AXIS ORIGIN SEARCH X axis commands in Program Mode 05 X AXIS ERROR RESET g 06 X AXIS CW JOG 07 X axis high speed jogging low speed jogging designation 08 X A...

Page 101: ...t clear the pulse output prohibition after an emergency stop input has turned ON X 06 Y 12 CW JOG Executes jogging in the CW direction Whether the jogging operation is high speed or low speed depends...

Page 102: ...mmand transfer 1 cycle Command cleared START Word m 1 bit 00 Start Completed Flag Word s 6 bit 00 Busy Flag Word s 0 bit 07 Pulse output B A DIFU A WRIT B B Note When positioning with just a small amo...

Page 103: ...command bit STOP Word m 1 bit 15 Command transfer Timing Chart STOP condition 1 cycle STOP Word m 1 bit 15 Command cleared Deceleration Stop Completed Flag Word s 6 bit 10 Pulse output WRIT DIFU A 6 4...

Page 104: ...g Word s 6 bit 09 1 cycle Busy Flag Word s 0 bit 07 WRIT B A DIFU A B Inching Completed Flag B 6 4 9 TEACH First confirm that the Busy Flag has been turned OFF and then turn ON the TEACH command bit L...

Page 105: ...eared 1 cycle Command transfer A 6 4 11 CHANGE SPEED Leave the CHANGE SPEED command bit ON until the Speed Changed Flag turns ON CHANGE SPEED can be executed even when the Busy Flag is ON MOV Word m 4...

Page 106: ...Positioning Action Number Enable To execute the positioning action at the designated positioning action number execute START with the initial positioning action number enable bit turned ON Program Exa...

Page 107: ...0 00 C D 0 0 0 0 E 4 8 3 3 1 3 1 3 1 1 1...

Page 108: ...wn in the following table is regularly sent from the Position Control Unit to the CPU Unit with each I O refresh Bit n 1 input Remarks 00 Reserved for system 01 Reserved for system 02 Reserved for sys...

Page 109: ...proximity input signal status OFF Origin proximity input signal OFF ON Origin proximity input signal ON X 08 Y 14 CW limit input signal Indicates the CW limit input signal status OFF CW limit input s...

Page 110: ...pleted Flag 09 Zone 1 x 102 x 106 Inching Completed Flag 10 Zone 2 Deceleration Stop Completed Flag 11 Zone 3 Positioning completed input signal Speed Override Changed Flag 12 Zone 4 Origin input sign...

Page 111: ...01 position x 105 Speed Changed Flag 06 No Origin Flag Change Present Position Flag 07 Busy Flag Teaching Completed Flag 08 Zone 0 Present i i Present i i 09 Zone 1 position x 102 position x 106 Inchi...

Page 112: ...The Positioning Completed flag bit 00 words s 0 and s 8 turns ON simultaneously During interpolation only bit 01 of word s 0 X axis is enabled Bit 01 of word s 8 Y axis retains its pre interpolation...

Page 113: ...OM OFF When processing ends for an operation and whatever dwell time that has been set elapses When data setting such as the Positioning Completed flag or Teaching Completed flag are completed In case...

Page 114: ...mbers are auto incremented for execution but when a deceleration stop is performed the number of the positioning action currently being executed becomes the next positioning action to be executed Afte...

Page 115: ...10 ms max from the time that the Busy Flag bit 07 words s 0 and s 8 turns OFF until this flag turns ON When interpolation is used this bit turns ON for both axes when a deceleration stop is executed f...

Page 116: ...ERROR command OFF When the READ ERROR bit turns OFF Remarks Retain the READ ERROR command until this flag turns ON X S 6 Y S 14 05 Speed Changed Flag Y S 14 ON When the interpretation processing is co...

Page 117: ...When the interpretation processing is completed after reception of a STOP command OFF When the STOP bit turns OFF Remarks Retain the STOP command until this flag turns ON 11 Speed Override Changed Fla...

Page 118: ...M writing has been completed OFF When EEPROM writing is started 01 Writing EEPROM Flag ON When EEPROM writing is started OFF When EEPROM writing has been completed 02 Reading EEPROM Flag ON When EEPRO...

Page 119: ...0 8 1 6...

Page 120: ...CPU Unit 2 Check the external input wiring by putting the Programmable Controller in Program Mode and monitoring the allocated input bits while the external in put switch is operated External input or...

Page 121: ...2 Execute commands for the Position Control Unit by means of the CPU Unit First set the commands in the IR area and then us the Intelligent I O Write instruction to transfer them to the Position Contr...

Page 122: ...ck the external input wiring With the Programmable Controller in Pro gram Mode turn the external input switch ON and OFF and use the Pro gramming Console or SYSMAC Support Software to monitor changes...

Page 123: ...direction For example to execute high speed jogging in the CW direction leave 0007 OFF and turn 0006 from OFF to ON CPU Unit Program Mode 8 3 Actual Operation Example In this example positioning is e...

Page 124: ...0 Terminating Target position 10 000 10 000 pulses Sign 0 CW absolute value independent end point X axis speed See note 4001 500 500 pps 4002 2 000 2 000 pps X axis acceleration deceleration pattern 3...

Page 125: ...ing action address Fixed at 0001 Initial positioning action number Fixed at 00 Making Settings Using NC Support Tool Parameter Editing Screen Initial positioning action number 10 Initial speed number...

Page 126: ...med on the Position Control Unit while data is being transferred from the NC Support Tool axial operation commands may be either accepted or ignored depending on the timing When the command is ac cept...

Page 127: ...start Turns operating mode bit bit 03 of allocated I O word n ON This bit must be turned ON START input X axis START completion status Transfer condition Write Completed flag Allocated I O n Self hol...

Page 128: ...xis start Start differential X axis START completion status START input Transfer condition Transfer request Allocated I O n Self hold Write completed Write Completed flag Beginning address of words to...

Page 129: ...1000HF Start START High speed jogging Jog direction Data transfer Command A START B Data transfer C High speed jogging D Jogging direction D100 to D111 Data transfer DIF 40 DIFU 40 WRIT 87 WRIT 87 REA...

Page 130: ...5 E 0 5 3 0 3 3 3 4 3 3 4 3 3 4 3 034 1 3 4 3 034 1 3 6 3 1 1 3 6 3 3 33 3 3 3 4 4 3 3 4 4 3 3 2 1 1 1 4 7 11 5 1 2 2 6 1 1...

Page 131: ...Position Control Unit occupies two of the CPU Unit s output words 32 bits One of those words is used for transferring commands from the CPU Unit to the Position Control Unit during I O refreshing whe...

Page 132: ...DM area beginning with the leading address i e the PCU s internal RAM address 2 Then use the Intelligent I O Write instruction WRIT to transfer that data to the Position Control Unit 3 The Position C...

Page 133: ...Memory Positioning action address Target position data Parameter address 2001 X axis starting speed address 6 wds 3 wds Acceleration deceleration pattern address 4 wds Acceleration data Deceleration d...

Page 134: ...words the data may either be treated as an error and not written or may be written as an error data 2 Since the NC113 is not provided with the Y axis do not transfer data to the data area address for...

Page 135: ...O Write instruction Allocated I O words Command interpreta tion Command execution IR area Wd 9 words Wd n 50 0 0 0 1 If the data for the leading address is 1000 or higher with the Intelligent I O Wri...

Page 136: ...ram Mode 1 2 3 1 Turn bits ON and OFF in the CPU Unit s allocated output word 2 The commands will be automatically transferred to the Position Control Unit during the I O refresh CPU Unit Position Con...

Page 137: ...tion Status area n 1 n 1 s 0 READ 0015 n 1 s 9 1 5 Programming Precautions To write commands or data to the Position Control Unit use the Intelligent I O Write instruction WRIT To read the status from...

Page 138: ...upper part are not executed 2 Approximately every 10 ms asynchronous with the CPU Unit the Position Control Unit carries out execution processing for commands from the shared memory and data reading...

Page 139: ...en executing the above operations set the initial positioning action enable bit to OFF 0 2 Initial speed number X axis address 2001 Y axis address 6001 Set the starting speed number in address 2001 3...

Page 140: ...for START Before executing START set the coefficient in word m 4 m 8 bits 00 to 07 and then set this bit to 1 Values set here will be correctly executed even when set within the same scan They can al...

Page 141: ...eration Time Target speed override not used or set at 1 0 START CHANGE OVERRIDE Word m 2 m 6 bit 12 X Y axis Use to change the override during positioning m 2 Use CHANGE OVERRIDE to change the overrid...

Page 142: ...this bit is ON the override is applied The bit remains set until the next START com mand is executed 1 0 1 0 a x 1 0 START Word m 1 bit 00 1 0 a 1 0 Override 1 0 No effect Override enable Word m 1 bit...

Page 143: ...CHANGE OVERRIDE Operation When Combined with Override Enable Target speed START with override enabled and the value of the override set to a Target speed x a x 0 1 CHANGE OVERRIDE with override value...

Page 144: ...oning action number when bit 01 of word m 1 is set to 0 Automatic 1 After dwell time Next 1 positioning action number Continuous 2 No stop after positioning Next 1 positioning action number Bank end 3...

Page 145: ...sitioning action No 05 0 Terminating Positioning action No 06 3 Bank end Pulse output CW Positioning action No 00 Target value START Stop Time Positioning action No 01 Target value Target value Target...

Page 146: ...with 1 0 s dwell time Positioning Completed Flag Word s 0 bit 00 Busy Flag Word s 0 bit 07 0 5 s 1 0 s Time When the Origin Search Mode is 2 or 3 When the Positioning Completed signal turns ON the Pos...

Page 147: ...tomatic Continuous Continuous Bank end Y axis Positioning action 5000 Sign Completion code Positioning action 5001 Positioning action 5002 Positioning action 5003 Positioning action 5004 Independent B...

Page 148: ...perate properly so as much as possible use completion code 1 automatic instead of 2 continu ous when using a stepping motor Interpolation Operating Pattern Interpolation speed pps 2 Continuous 2 Conti...

Page 149: ...nd Y axis X axis CW CCW CCW CW 2 continuous 2 continuous CW CCW CW CCW 0 3 Pulse discrepancies at transit points for continuous positioning NC211 only As shown in the following diagram pulse discrepan...

Page 150: ...sitioning action No 02 Terminating completion Goes to next address after completion Positioning action No 00 Output code Positioning action No 01 Output code Positioning action No 02 Output code Time...

Page 151: ...itioning action No 00 Automatic completion Positioning action No 01 Bank end completion Positioning action No 02 Positioning action No 00 Output code Positioning action No 01 Output code Positioning a...

Page 152: ...ioning Completed input from the servomotor driver turns ON for both the X axis and Y axis the Positioning Completed Flag turns ON and the Busy Flag turns OFF after the dwell time elapses Note Due to a...

Page 153: ...g action No 1001 Pulse output STOP Word m 1 bit 15 Output code Output code Operations such as jogging are possible during this interval Target position of positioning action No 1000 is reached Target...

Page 154: ...ation 1 0 Origin search direction Origin proximity sig nal presence 1 Origin proximity type Origin signal type Origin search method 2 CCW CW Present Absent N O N C N O N C With origin proximity revers...

Page 155: ...rom 0 to 49 Speed addresses 4000 to 4049 for the X axis are referencedaccording to this setting This setting is not used when there is no origin proximity signal Origin Search Proximity Speed Number X...

Page 156: ...h speed Acceleration Deceleration Origin search proximity speed Time When There is No Origin Proximity Signal In this example the mode and pattern are both 0 ORIGIN SEARCH Origin signal Speed pps Puls...

Page 157: ...executed ORIGIN SEARCH Pulse output Speed pps Busy Flag Time Origin search dwell time Dwell Times X Y Axes Together 9000 to 9029 Address 9000 Address 9029 Dwell time data Dwell time data Set from 000...

Page 158: ...eceleration Pattern Number X Axis 2023 Y Axis 6023 Address 2023 Bits 07 to 00 07 to 00 Accel decel pattern no Set the origin search acceleration deceleration pattern number from 0 to 99 Origin search...

Page 159: ...igin input after confirmation of proximity input Executes search from proximity in opposite direction from set search direction 2 Rising edge or level Rising edge Completed by receiving origin input a...

Page 160: ...and 6021 Y axis CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit CCW limit Proximity Origin CW limit 1 2 3 When the limits or proximity input are inverted for each pattern the s...

Page 161: ...CW limit 4 5 6 The presence or absence of an origin proximity signal is determined by the set ting of the origin type in parameter addresses 2021 X axis and 6021 Y axis When the setting for no origin...

Page 162: ...r level 2 Origin input Falling edge 3 Search procedure Ends on falling edge of origin input after rising edge of proximity input has been received If the search is started at the origin prox imity the...

Page 163: ...t Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Proximity 1 2 3 4 CCW limit Origin CW limit Proximity CCW limit Origin CW...

Page 164: ...be completed with only the origin signal if the search is started at the origin Search Pattern 2 1 2 3 1 Origin proximity input Rising edge or level 2 Origin input Rising edge 3 Search procedure Ends...

Page 165: ...t Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Pr...

Page 166: ...or level 2 Origin input Rising edge 3 Search procedure Ends on rising edge of origin input after rising edge of proximity input has been received If the search is started at the origin prox imity then...

Page 167: ...t Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Pr...

Page 168: ...9 3 Section Search Pattern 4 1 2 3 1 ON OFF 2 Falling edge 3 Ends on falling edge of first origin input after proximity input ON OFF...

Page 169: ...t Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Pr...

Page 170: ...9 3 Section Search Pattern 5 1 2 3 1 ON OFF 2 Rising edge 3 Ends on rising edge of first origin input after proximity input ON OFF...

Page 171: ...t Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Proximity CCW limit Origin CW limit Pr...

Page 172: ...oximity reverse is needed Bit 01 proximity signal and 04 proximity reverse of addresses 2021 X axis and 6021 Y axis are ON App 20 ms Pulse output Origin proximity signal Origin signal 1 0 1 0 CCW CCW...

Page 173: ...Origin proximity signal Origin signal Pulse output 1 0 1 0 CCW CCW Ideal position for origin proximity signal to turn OFF Positioning axis Pulse output TD VL VH CW Positioning axis CW Positioning axi...

Page 174: ...output 1 0 1 0 CCW The origin is sought after deceleration has ended Positioning axis CW ORIGIN SEARCH Start Origin Stop Note that when there is an origin signal during deceleration the stop position...

Page 175: ...CW VH PD VH VL x VH VL 1000 x R 2 VH2 VL2 2000 x R Set the values of VH and R using this expression so that the value of PD falls within the range shown in the above figure from when the proximity si...

Page 176: ...ioning completed signal Pulse output Busy Flag 1 0 1 0 1 0 1 0 Time ORIGIN SEARCH Start Origin Stop Dwell time When the servomotor driver receives the origin adjustment command H RET from the Position...

Page 177: ...sed The origin adjustment com mand is output after deceleration has ended Bit 01 proximity signal and 04 proximity reverse of addresses 2021 X axis and 6021 Y axis are ON and OFF respectively Origin p...

Page 178: ...n adjustment command 1 0 1 0 1 0 1 0 Stop Stop Time Long deceleration Short deceleration 9 3 4 ORIGIN SEARCH Completion Examples With an Origin Proximity Signal The following two example diagrams both...

Page 179: ...igin Flag word s 0 bit 06 Busy Flag word s 0 bit 07 1 0 1 0 1 0 Status Area flags Dwell timer Example 2 With Origin Compensation Origin proximity signal Origin signal Pulse output High speed Decelerat...

Page 180: ...6021 Y axis is OFF Example 1 Without Origin Compensation 1 0 Proximity speed Time 1 0 1 0 1 0 Origin signal Pulse output Origin Stop Flag word s 0 bit 02 No origin Flag word s 0 bit 06 Busy Flag word...

Page 181: ...005 Address 2005 Bits 07 to 00 07 to 00 Origin return speed no Set the origin return speed number bits 07 to 00 from 0 to 49 Speed addresses 4000 to 4049 for the X axis are referencedaccording to this...

Page 182: ...49 Address 4000 Address 4049 Set from 000000 to 250000 BCD x103 x102 x101 x100 x105 x104 x103 x102 x101 x100 x105 x104 Dwell Times X Y Axes Together 9000 to 9029 Address 9000 Address 9029 Dwell time d...

Page 183: ...Area flags ORIGIN RETURN Word m 3 bit 03 Initial speed Start Stop Origin Initial speed Deceleration Origin return speed Origin return dwell time Time The above diagram shows the operation when the ori...

Page 184: ...OHIBIT Although the operation is explained here in terms of the X axis the operation is the same for the Y axis of the NC211 Example Exceeding CW Limit 0 1 0 1 0 1 0 1 0 1 CCW 1 0 1 0 1 0 1 0 6100 Tim...

Page 185: ...ror flags alarm flags and error or alarm codes are indicated in the Status Area X axis words s 0 to s 1 Y axis words s 8 to s 9 15 00 Alarm flag Set to 1 when an alarm code has been generated Error fl...

Page 186: ...code may not be read because a new error may occur during data transfer or axial movements When clearing errors or alarms refer to 12 4 Error Code List and 12 3 Alarm Code List To clear an alarm for...

Page 187: ...Stop Flag Word s 0 bit 02 No origin Flag Word s 0 bit 06 Busy Flag Word s 0 bit 07 Present position Word s 4 and s 5 Approx 10 ms 9 8 TEACH This section explains the TEACH command When the origin and...

Page 188: ...must be set in advance before TEACH is executed The following diagram shows the data configuration for the positioning action Only this portion is set by teaching 0 5 00 04 08 12 15 0 word 1word 2 wo...

Page 189: ...to the X axis the explanations are the same for the Y axis of the NC211 9 10 1 Data Settings Initial Speed Number X Axis 2001 Y Axis 6001 Address 2001 Bits 07 to 00 07 to 00 Initial speed number 15 Se...

Page 190: ...GH SPEED JOG accel decel pattern no 15 Set the HIGH SPEED acceleration decelerationpattern number bits 07 to 00 from 0 to 99 Acceleration deceleration pattern addresses 3000 to 3099 are referenced ac...

Page 191: ...is bit turns ON 00 Low speed jogging begins when this bit turns ON Inching begins when this bit turns ON HIGH SPEED JOG 1 0 1 0 Initial speed HIGH SPEED JOG speed Acceleration Deceleration Initial spe...

Page 192: ...be changed by means of external interrupts or commands In either case acceleration and decelera tion are executed according to the acceleration deceleration patterns that have been set Although the fo...

Page 193: ...ng operations involving pulse output The acceleration de celeration pattern that is followed varies as follows 1 2 3 1 During positioning The acceleration decelerationpattern for the positioning actio...

Page 194: ...tion and target speed from that same positioning action are used Positioning action 00 Positioning action Address 1000 Positioning action 01 Address 1001 Speed 5 Completion code Continuous Speed 8 Com...

Page 195: ...Word s 0 bit 00 Busy Flag Word s 0 bit 07 Execute Deceleration Stop Word s 3 bit 15 Positioning action number Word s 3 bits 10 to 00 Output code Word s 2 bits 11 to 00 Positioning action 0 Positioning...

Page 196: ...number Word s 3 bits 10 to 00 Positioning action 1 Continuous operation In the above example diagram the target position is absolute and is exceeded during a deceleration stop which can happen if STO...

Page 197: ...ount of increment designated For interpolation NC211 only the operation is the same as above even if the target position is expressed as relative positions on both axes STOP is executed for the X axis...

Page 198: ...Axis Relative Position Y Axis Relative Position X axis Y axis a a STOP Target position In terpolation start Restart START end Interpolation start b b STOP During Origin Search When STOP is executed du...

Page 199: ...t 03 STOP Word m 1 bit 15 Pulse output Busy Flag Word s 0 bit 07 Execute Decelera tion Stop Word s 3 bit 15 STOP During Low speed Jogging If STOP is executed during low speed jogging feeding will be s...

Page 200: ...ding will be stopped just as if the HIGH SPEED JOG command bit bit 11 of word m 1 were reset to 0 The command bit however will remain at 1 1 0 1 0 1 0 1 0 Time HIGH SPEED JOG Word m 1 bit 11 STOP Word...

Page 201: ...ted and decelerates to a stop ORIGIN RETURN Word m 1 bit 03 1 P P 1 Time Positioning is started and the flag turns OFF after a delay of approximately 10 ms STOP first time Word m 1 bit 15 Pulse output...

Page 202: ...te CHANGE SPEED the data in word m 4 m 8 will be executed simultaneously by the program With an external interrupt signal how ever you must input the data at least one scan before the scan in which it...

Page 203: ...Position axis Zone 1 CW Position axis Zone 2 CW Position axis Zone 2 CW Position axis Zone 0 CW Position axis Zone 1 Zone 2 Zone 0 Zone 0 Zone 1 Zone 1 CW Position axis Zone 0 CW Position axis Zone 1...

Page 204: ...CW sides of a zone are set to 0 it is re garded as if no zone is set and no determination is made When the origin is confirmed and the present position is acquired this determination is made When no d...

Page 205: ...king error shown in the illustration Backlash When the CW and CCW directions are reversed the number of pulses set for the backlash value are output at the rate corresponding to the initial speed and...

Page 206: ...es mm or in ches Operation If either of these limits is reached during execution of positioning actions pulse output will stop and an error code either 5030 or 5031 will be generated If either of thes...

Page 207: ...1 6 1 1 0 1 1 0 1 1 1 1 1 1 3 1 7 1 3 1 1 8 3...

Page 208: ...ON The 15 words of the PCU s Status Area are read to IR words 200 to 214 15 words from PCU ON for 1 cycle B turns ON for 1 cycle after Busy Flag turns OFF START command re mains ON until Start Complet...

Page 209: ...al positioning action number is enabled Initial positioning action no enable Initial positioning action no enable When input switch is turned ON A turns ON for one cycle By A turning ON for one cycle...

Page 210: ...hat DM address are written to the Position Control Unit allocated to work 000 Indirect setting When contents are 0200 Positioning action address to positioning ac tion address 1000 Positioning action...

Page 211: ...letion code 5 interrupt feeding Speed 02 Target speed 3 000 pps Deceleration 250 Amount of movement toward target position 20 000 pulses Interrupt input Stop Time Settings Parameter Editing Screen Ini...

Page 212: ...d the target speed of the next positioning action no 11 See note Settings Parameter Editing Screen Initial position 10 Initial speed 01 Positioning Action Editing Screen Position Speed Acceleration de...

Page 213: ...the initial positioning action is being executed When the speed number for the target speed change bits 00 to 07 of command word m 4 is 00 the CHANGE SPEED command bit 06 of com mand word m 1 will exe...

Page 214: ...f command word m 2 This second method changing the override during positioning is the way that is il lustrated in this example Settings Parameter Editing Screen Initial position 10 Initial speed 01 Po...

Page 215: ...eed number 0 Acceleration deceleration pattern 0 Dwell time 0 Output code 0 Completion code 3 Target position CW 10 000 pulses absolute Parameters Origin return speed number addresses 2000 6000 0 Init...

Page 216: ...D 10502 10502 DIFU E 20601 20007 21407 20807 20006 20007 20002 E 10100 10100 20600 DIFU G 20806 20807 20802 G 10500 10500 Always ON A50013 Always ON A50013 X axis start operation switch Y axis start o...

Page 217: ...ition Completed Y axis Change Present Position Completed X axis Deceleration Stop Completed Y axis Deceleration Stop Completed Y axis STOP X axis STOP X axis CHANGE PRESENT POSITION Y axis CHANGE PRES...

Page 218: ...ell time 0 Output code 0 Completion code 3 Target position CW 4 000 pulses incremental Positioning Action 2 Address 1001 Speed number 0 Acceleration deceleration pattern 0 Dwell time 0 Output code 0 C...

Page 219: ...IFU C C D D 10100 10100 20600 WRIT 0009 100 00 20007 20007 Always ON A50013 Always ON A50013 Forced origin switch Busy Change Present Position Completed Always ON Input 1 Input 2 Input 3 START input A...

Page 220: ...4 4 0 1 9 3...

Page 221: ...nter LSI Divider The slight difference occurs because a 8 MHz source clock is divided by the in teger divider ratio Example Values Set Value pps Actual Speed pps 250 000 250 000 00 180 000 181818 18 1...

Page 222: ...2 100 x 4 400 Internal processing is performed every 4 ms so V2 speed is increased 400 pps at a time pps 40000 4 8 12 192 196 200 204 388 396 392 400 t Time ms V2 Speed 400 4 ms R 400 100 4 39600 3920...

Page 223: ...t Pattern 0 Approx 5 ms Approx 6 ms Approx 17 ms Pattern 1 Data items 2 Approx 5 ms Approx 6 ms Approx 14 ms Pattern 1 Data items maximum Approx 5 ms Approx 6 ms Approx 14 ms Pattern 2 Speeds 2 Approx...

Page 224: ...0 8 6 6...

Page 225: ...ROM data is read to internal RAM Data check Error check is performed Alarm generated An alarm code is generated for any erroneous data EEPROM reading START command Normal data START executed Data corr...

Page 226: ...an error has occurred Lights when power is turned on and goes out when a PCU hardware error occurs Turns OFF when an error occurs in the hardware when the watchdog timer is over or when an error inter...

Page 227: ...there is only one code however the display will not change when READ ERROR is executed READ ERROR Settings X axis m 1 05 READ ERROR command bit READ ERROR begins at the rising edge of this bit The wor...

Page 228: ...d correct data accordingly Read the position ing action number is status word s 3 and check the settings The er ror code will be cleared for the next START if data has been properly corrected Interpol...

Page 229: ...LOW SPEED JOG not possible 5400 LOW SPEED JOG cannot be executed be cause of data for LOW SPEED JOG speed initial speed or backlash com pensation that generated an alarm INCHING not pos sible 5500 IN...

Page 230: ...rogram This error code will be cleared when every command bit in word m 1 goes to 0 and if applicable when the external input protect is turned OFF This error code will be cleared only when the extern...

Page 231: ...are error 9000 When the PCU is powered up initial pro cessing for the PCU s built in LSI is not completed normally Hardware is possibly faulty 9100 Target position for a positioning action has been ex...

Page 232: ...sitioning action address Speed No Acceleration decelera tion pattern Number Dwell time Number Output code Completion code Target position rightmost digits Sign Target position leftmost digits X axis Y...

Page 233: ...in search proximity speed address X axis origin compensation X axis origin return dwell time number X axis origin search dwell time address X axis backlash compensation X axis home shift Address 15 00...

Page 234: ...is origin return acceleration deceleration pattern address Address 15 00 Contents X axis origin search acceleration deceleration pattern address X axis high speed jogging acceleration deceleration pat...

Page 235: ...ress Y axis origin compensation Y axis origin return dwell time address Y axis origin search dwell time address Y axis backlash compensation Y axis home shift Y axis CW limit Address 15 00 Contents Y...

Page 236: ...ration deceleration pattern address X axis origin search acceleration deceleration pattern address Address 15 00 Contents Y axis high speed jogging acceleration deceleration pattern address Number of...

Page 237: ...Appendix A Speeds 1 wd 1 wd 1 wd 1 wd Address X axis Y axis 4 000 to 4 049 8 000 to 8 049 Address Speed Address 15 00 Contents Address 15 00 Contents...

Page 238: ...ndix A Acceleration Deceleration Patterns 1 wd 1 wd 1 wd 1 wd Address X axis Y axis 3 000 to 3 099 7 000 to 7 099 Address Acceleration data Deceleration data Address 15 00 Contents Address 15 00 Conte...

Page 239: ...Appendix A Dwell Times 1 wd 1 wd 1 wd Address X Y axes shared 9 000 to 9 029 Address Dwell time data Address 15 00 Contents Address 15 00 Contents...

Page 240: ...EAD ERROR number 1 06 CHANGE SPEED DEFINE INTERRUPT INPUT SIGNAL 07 Override enable 08 0 CHANGE PRESENT POSITION Forced ON OFF bit for error counter reset Enabled only while operation is stopped 09 TE...

Page 241: ...NE INTERRUPT INPUT SIGNAL 07 Override enable 08 CHANGE PRESENT POSITION Forced ON OFF bit for error counter reset Enabled only while operation is stopped 09 TEACH Forced ON OFF bit for origin adjustme...

Page 242: ...leted Flag 09 Zone 1 x 102 x 106 Inching Completed Flag 10 Zone 2 Deceleration Stop Completed Flag 11 Zone 3 Positioning Completed Input Signal Speed Override Changed Flag 12 Zone 4 Origin Input Signa...

Page 243: ...Appendix B Common Status Area Bit Word s 7 00 EEPROM Write Completed 01 EEPROM Writing 02 EEPROM Reading 03 04 05 06 07 08 09 10 11 12 13 14 15...

Page 244: ...ion x 105 Speed Changed Flag 06 No Origin Flag Change Present Position Flag 07 Busy Flag Teaching Completed Flag 08 Zone 0 Present P i i Present P i i 09 Zone 1 Position x 102 Position x 106 Inching C...

Page 245: ...2 4 5 8 7 4 5 0 6 9 0 6 9 2 4 5 60 7 2 0 1 2 0 0 7 0 3 9 2 4 54 60 7 5 2 3 3 4 2 3 60 7 5 2 5 91 2 5 6 4 2 2 2 2 2 2 7 2 2 2 6 0 4 9 2 6 9 0 6 9 0 6 9 69 9 2 2 69 0 2 2 2 4 54 60 7 5 2 3 60 7 5 2 5 9...

Page 246: ...01 1 3 2 D 2 0 1 01 1 6 9 0 1 2 2 2 E 0 3 9 2 2 F H 69 9 2 4 54 60 7 5 2 I 4 2 7 2 3 2 69 0 2...

Page 247: ...J L 2 3 60 7 5 M N 2 0 1 6 9 2 O 2 2 2 2 5 91 2 5 6 4 2 2 2 P 0 0 87 87...

Page 248: ...2 2 2 2 9 4 2 0 R 7 6 0 4 9 6 9 0 6 9 0 6 9 S 2 2 2 2 6 6 2 A 2 B 2 2 69 0 3 3 3 2 T 9 4 2...

Page 249: ...W Z 2 2...

Page 250: ...ual Cat No W323 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 W323 E...

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