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6-1

Section

Origin Search

6-1

Origin Search

This operation is used to execute origin searches for a specified axis or for all
axes.

Caution

Before executing an origin search, be sure that it will not affect the equipment.

•

CV500-MC221/421, C200H-MC221

The present position will be force-set to 0 to define the present position as the
origin if the origin search operation is entered with the origin search method set
to set the origin when power is turned ON.

If the origin search method is set to any other method, the origin search is
executed using the following two steps.

Step 1: The mechanical origin is located.
Step 2: A move is made to the origin in the reference coordinate system.

When origin search is performed for an axis using an absolute encoder, it will
move to the mechanical origin (reference coordinate system origin).

Press the PAUSE Key to cancel an origin search during execution.

Note

1. The offset value between the mechanical origin and the origin in the refer-

ence coordinate system must be set in advance using the system parame-
ter.

2. The offset value is not valid for axes using an absolute encoder.

3. The ORIGIN SEARCH mode is specified as a system parameter.

•

CS1W-MC221/421

If the origin search method is set to any other method, the origin search is
executed using the following two steps.

Step 1: The mechanical origin is located.
Step 2: A move is made to the origin in the reference coordinate system.

Origin search can be performed for an axis using an absolute encoder in the
same way as for an incremental encoder.

Press the PAUSE Key to cancel an origin search during execution.

Note

1. The offset value between the mechanical origin and the origin in the refer-

ence coordinate system must be set in advance using the system parame-
ter.

2. The ORIGIN SEARCH mode is specified as a system parameter.

Procedure

Use the following procedure to execute an origin search for all axes.

1, 2, 3...

1. Press the ORIG SRCH Key.

CS1W-MC221/421, CV500-MC221/421

C200H-MC221

ORG| 0.ALL AXES

| 1.X 3.Z

| 2.Y 4.U

ORG| 0.ALL AXES

| 1.X

| 2.Y

ORIG

SRCH

Summary of Contents for SYSMAC CVM1-PRO01-V1

Page 1: ...Cat No W320 E1 03 Teaching Box with CVM1 MP702 V1 ROM Cassette For Motion Control Units SYSMAC CVM1 PRO01 V1 ...

Page 2: ...SYSMAC CVM1 PRO01 V1 Teaching Box with CVM1 MP702 V1 ROM Cassette For Motion Control Units Operation Manual Revised August 2002 ...

Page 3: ...iv ...

Page 4: ...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 5: ...vi ...

Page 6: ...ng the Connected Model 26 3 4 Changing the Display Language English Japanese 27 SECTION 4 Basic Operations 31 4 1 Initial Operation 32 4 2 Changing the MC Unit Control Mode 33 4 3 Changing the Teaching Box Mode 35 4 4 Direct Functions 35 4 5 Basic Input Operations 36 4 6 Axis and Task Displays 37 4 7 Handling Error Messages 37 4 8 Table of Operations 39 SECTION 5 MONITOR Mode Operations 41 5 1 MON...

Page 7: ... 67 7 6 Origin Setting of the Absolute Encoder 68 7 7 Switching the Message Display CS1W MC221 421 Only 69 7 8 Saving Data 70 SECTION 8 Direct Functions 73 8 1 Changing the Override Value 74 8 2 Teaching 75 SECTION 9 Other Operations 77 9 1 Deceleration Stop 78 9 2 Error Resetting 78 Appendices A Standard Models 81 B Error Displays and Error Processing 83 C Specifications and External Dimensions 8...

Page 8: ...tions and basic operation of the CS1 series Motion Control Units Read this manual first before using a Motion Control Unit W359 CV500 MC221 MC421 Motion Control Unit Operation Manual Introduction Describes the features applications and basic operation of the CV series Motion Control Units Read this manual first before using a Motion Control Unit W254 CV500 MC221 MC421 Motion Control Unit Operation...

Page 9: ...irst subsection is required for monitoring any type of data Read the first subsection before reading any other subsection Section 6 provides information on procedures for origin searches program execution jogging and han dle feeding operations Execute these operations only after locking the servo for the axis to be moved Section 7 explains how to change operation modes how to use operations involv...

Page 10: ...tion contained in this section is important for the safe and reliable application of the PC You must read this section and understand the information contained before attempting to set up or operate a PC system 1 Intended Audience xii 2 General Precautions xii 3 Operating Environment Precautions xii 4 Application Precautions xiii ...

Page 11: ...and equipment and be sure to provide the systems machines and equipment with double safety mechanisms This manual provides information for programming and operating OMRON PCs Be sure to read this manual before attempting to use the software and keep this manual close at hand for reference during operation 3 Operating Environment Precautions Install the Teaching Box properly as specified in this ma...

Page 12: ...stem When the 24 VDC output service power supply to the PC is overloaded or short circuited the voltage may drop and result in the outputs being turned OFF As a countermeasure for such problems external safety measures must be provided to ensure safety in the system The system may operate unexpectedly when connectors for the MC Unit are connected or disconnected from the Teaching Box MPG I O or Se...

Page 13: ...e changing the set value Be sure to confirm that the set parameter or data operates properly Be sure to confirm that no adverse effect will occur in the equipment before executing the forced set reset Be sure to rewrite the flash memory after changing the position data or param eters Do not turn OFF the power supply to the Unit while the flash memory is being written In the worst case the flash me...

Page 14: ... If using the Teaching Box for the first time be sure to familiarize yourself with this section before attempting to operate the Teaching Box 1 1 Features and Applications 2 1 2 System Configuration 3 1 3 Table of Operations 7 1 4 Nomenclature and Functions 10 1 5 Precautions When Using the CV500 MC221 12 1 6 Operating Procedure 13 ...

Page 15: ... be seen at a glance from the message displays 16 characters x 4 lines Interactive Operation Interactive operation allows even those who use the Teaching Box for the first time to use it with ease through key inputs from menus Error Messages Error messages are displayed when errors occur in the Position Control Unit or in the servodriver These error messages help minimize the scale of problems cau...

Page 16: ...cting Cable Position Driver MC Unit CV500 CN224 424 624 Connecting Cable Position Control Unit CPU Unit CPU Unit Power Supply Unit CV500 CIF11 CIF21 Adapter Power Supply Unit Servodriver Servodriver Servomotor Servomotor Power Supply Unit I O CPU Unit Servomotor Note Only one Teaching Box can be connected to a Unit It cannot be connected to more than one Unit ...

Page 17: ...eneral purpose outputs 4 pts 24 V power supply for interface For 4 axes DRV Z U Connector MPG Connector Dedicated Cables for Drivers see note 1 Battery for absolute encoder data backup 2 8 to 4 5 V see note 3 24 V power supply for interface Servodriver 5 V power supply for interface Used for fine positioning as required during teaching Axis selection Multiplication factor selection MPG MPG 1 chann...

Page 18: ...ng teaching Axis selection Multiplication factor selection Teaching Box MC Unit CPU Unit Servodriver SYSMAC CV series PC MPG MPG 1 channel IBM PC AT or compatible CX Motion IBM PC AT or compatible SYSMAC Support Software Battery for absolute encoder data back up 2 8 to 4 5 V see note 3 Dedicated Terminals see note 2 Either an ab solute encod er or an incre mental encod er can be used Dedicated Cab...

Page 19: ...ation debugging and teaching Monitor present position and I O signals Origin search Jogging Error reset Teaching Etc 24 V power supply for interface IBM PC AT or compatible CX Motion IBM PC AT or compatible SYSMAC Support Software Battery for absolute encoder data backup 2 8 to 4 5 V see note 3 Dedicated Cables for drivers see note 1 Either an abso lute encoder or an incremental encoder can be use...

Page 20: ... the same time 57 MPG feeding Axis Designates the axis to be fed by MPG manual pulse generator 58 g Multiplication factor Designates the multiplication factor for 1 pulse for the MPG Extension Mode Changes the mode used to control the MC Unit 35 Servo lock Servo unlock Locks or unlocks the servomotor 63 Memory protect Protects or clears protection for memory position data area in the MC Unit 65 Ab...

Page 21: ...by MPG manual pulse generator 58 g Multiplication factor Designates the multiplication factor for 1 pulse for the MPG Extension Mode Changes the mode used to control the MC Unit 35 Servo lock Servo unlock Locks or unlocks the servomotor 63 Memory protect Protects or clears protection for memory position data area in the MC Unit 65 Absolute encoder initial setting Sets the current position to 0 whe...

Page 22: ...cation factor Designates the multiplication factor for 1 pulse for the MPG 58 Extension Mode Changes the mode used to control the MC Unit 35 Servo lock servo unlock Locks or unlocks the servomotor 63 Memory protect Protects or clears protection for memory position data area in the MC Unit 65 Absolute encoder initial setting Sets the current position to 0 when using an absolute encoder This functio...

Page 23: ...ator Mode keys Part Function LCD display Displays various data Illuminated by LED LED indicator Lit while the CPU of the PC is executing the user program RUN or MONITOR mode Contrast control knob Used to control the contrast of the LCD display Volume control knob Used to control the buzzer sound produced when an input is made by pressing keys or when an error occurs Operating keys Refer to the fol...

Page 24: ... error PAUSE Stops program execution or origin searches This key is valid only during program execution or origin searches START Starts positioning ERR CLR Resets errors to clear the error status of the MC Unit CHG Enables changing numeral data TASK CHG Changes the task to be executed in PROGRAM EXECUTION mode Numeric Used to input numeric data Used to change the sign of numbers Every press of the...

Page 25: ...g precautions when using the CV500 MC221 Item Precautions Monitoring Monitored current data is displayed for all four axes 0 is displayed for the unsupported axes Z and U axes The I O signals are also displayed for all four axes The CCW limit input CW limit input emergency stop input and alarm input are displayed as 1 for unsupported axes as shown below Even when 1 is displayed the X and Y axis ca...

Page 26: ...n 5 Refer to Section 6 Refer to Section 7 Refer to Section 8 Refer to Section 9 Connect MC Unit When using for the first time after purchase or when changing connected models Set connected models Set the display for English or Japanese includes the internal DIP switch settings Set up online connection with MC Unit When MC Unit has already been selected see note 1 Note 1 By turning ON power to the ...

Page 27: ...ng instructions Motion Control Unit modes and the operations that can be performed using the Teaching Box Be sure that you understand all of the subjects covered in this section before attempting any actual operations 2 1 Axes and Tasks 16 2 2 MC Unit Control Modes 16 2 3 Restricted Functions 18 ...

Page 28: ...ol one or more axes as illustrated by the following example Example The following example for the CS1W MC421 or CV500 MC421 shows two tasks designed to control two axes each Task 1 Task 2 X axis Y axis Z axis U axis X axis Y axis Z axis U axis Controlled by the axis name MC Unit 2 2 MC Unit Control Modes The following section describes the systems and modes used to control the MC Unit Tasks are co...

Page 29: ...er supply to the MC Unit is reset or when the Teaching Box is disconnected and reconnected Normally used for monitoring the current position T BOX ENABLED Used to execute programs debugging teaching and perform other operations from the Teaching Box When the MC Unit is set for this control mode only the following operations are possible from the ladder diagram program cyclic Deceleration stop for ...

Page 30: ...Servo parameters OK OK OK Origin searches No OK OK Program execution No OK OK Jogging No OK OK MPG handle feeding No OK OK Extension Change mode OK OK OK Servo lock Servo unlock No OK OK Memory protection No OK OK Absolute origin setting No OK OK Message switching OK OK OK Saving No OK OK Override See note 3 OK OK Teaching No OK OK Deceleration stop No OK OK Error reset No OK OK Note 1 Only monito...

Page 31: ...ogging No OK OK MPG handle feeding No OK OK Extension Change mode OK OK OK Servo lock Servo unlock No OK OK Memory protection No OK OK Absolute encoder initial setting No OK OK Absolute encoder software reset No OK OK Override See note 1 OK OK Teaching No OK OK Deceleration stop No OK OK Error reset No OK OK Note 1 Only the override value can be monitored No changes can be made 2 Only monitoring o...

Page 32: ... handle feeding No OK OK Extension Change mode OK OK OK Servo lock Servo unlock No OK OK Memory protection No OK OK Absolute encoder initial setting No OK OK Absolute encoder soft reset No OK OK Saving No OK OK Override See note 1 OK OK Teaching No OK OK Deceleration stop No OK OK Error reset No OK OK Note 1 Only the override value can be monitored No changes can be made 2 Only monitoring of the O...

Page 33: ...bes the procedures for connecting the Teaching Box installing it on in a control panel and changing dis plays 3 1 Connecting to the MC Unit 22 3 2 Installing in a Panel 24 3 3 Selecting the Connected Model 26 3 4 Changing the Display Language English Japanese 27 ...

Page 34: ...cting cable with a lock mechanism be sure that the lock is se curely fastened Connecting Cables Use the connecting cables listed below sold separately to connect the Teach ing Box to the MC Unit Model Cable length CV500 CN224 2 m CV500 CN424 4 m CV500 CN624 6 m Attaching the Keysheet Attach the Keysheet to the MC Unit as shown below Installing the ROM Cassette Install the ROM Cassette as shown bel...

Page 35: ...Align the connector and push it in until you hear a click 3 Insert the connecting cable s connector into the MC Unit s peripheral con nector For the CS1W MC221 421 and CV500 MC221 421 T B is written on the connector and for the C200H MC221 TOOL is written on the con nector The location of the peripheral connector on each of the MC Units is shown below For the C200H MC221 connect the connector and ...

Page 36: ...b 3 2 Installing in a Panel The procedure for installing the Teaching Box in a panel is described below Use the C200H ATT01 Mounting Bracket sold separately to instal the Teach ing Box in a panel Note When using the Teaching Box inside a control panel be sure to maintain the am bient temperature and relative humidity within the specified ranges 1 2 3 1 Prepare mounting holes according to the follo...

Page 37: ...ted to from the Teaching Box 80 mm min Use either one of the connectors 70 mm min 3 Mount the Teaching Box aligning with the mounting holes and tighten the Mounting Bracket from the back side using screws Mounting Bracket Two screws Panel thickness 1 0 to 3 2 mm External dimensions of the Mounting Bracket 116 75 5 9 1 14 1 ...

Page 38: ...cted as explained in 3 1 Connecting to the MC Unit 1 2 3 1 Turn ON the power to the PC The following screen will be displayed TBOXĆV1 00 MC SERIES SET CLR CONN TBOXĆV1 00 NC222 SET CLR CONN When MC Series is selected When C500 NC222 E is selected TBOXĆV1 00 NC111ĆV1 NC112 SET CLR CONN TBOXĆV1 00 SERVODRIVER 9600 SET CLR CONN When 3G2A5 NC111 EV1 is selected When Servodriver is selected If MC SERIE...

Page 39: ...ails regarding online connections refer to 4 1 Initial Operation CV500 MC221 421 C200H MC221 It is necessary to set the display language both before and after online connec tion The Teaching Box display language before online connection is set from the Teaching Box After online connection this setting is made using the MC Unit s DIP switch For details on online connection refer to 4 1 Initial Oper...

Page 40: ...ETE EXT ĆLANGUAGEĆ PARAMETER SAVING CV500 MC221 421 1 2 3 1 Remove the DIP switch cover on the front of the MC Unit Cover DIP switch 2 Set pin 2 of the DIP switch to ON for English and to OFF for Japanese The default setting is OFF Japanese Set it to ON for English displays 3 Turn ON the power to the PC TBOXĆV1 00 MC SERIES SET CLR CONN 4 Press the Up Cursor Key MODEL SETTING 1 MC SERIES 2 NC222 3...

Page 41: ...e PC is turned ON To display messages in Japanese on the Teaching Box set pin 2 of the DIP switch on the MC Unit s rear panel to OFF The default setting is ON English DIP switch ON 1 2 3 4 The remaining procedure is the same as that for the CV500 MC221 421 Note Once the connections have been completed setting of the connected device can be performed using the following operations when changing the...

Page 42: ...lly understand the basic operations before reading detailed descriptions of each function given in subsequent sec tions 4 1 Initial Operation 32 4 2 Changing the MC Unit Control Mode 33 4 3 Changing the Teaching Box Mode 35 4 4 Direct Functions 35 4 5 Basic Input Operations 36 4 6 Axis and Task Displays 37 4 7 Handling Error Messages 37 4 8 Table of Operations 39 ...

Page 43: ... VX X MC CONNECTED CS1W MC421 CS1W MC221 MC CONNECTED CS1WĆMC421 VX X CS1WĆMC221 VX X After 2 seconds the following display will appear MC CONNECTED CV500 MC221 421 CS1W MC221 421 MON X 0 00 ORG Y 0 00 Z 0 00 U 0 00 Current position of each axis MON X 0 00 ORG Y 0 00 Current position of each axis C200H MC221 Indicates the standard coordinates Indicates the MONITOR Mode 3 Perform the necessary key ...

Page 44: ...uzzer will sound when this error message appears When the above message appears clear the message using the procedure out lined in procedure two Procedure Changing the Mode to T BOX ENABLED The following procedure shows how to change to the T BOX ENABLED mode 1 2 3 1 Press the EXT Key CS1W MC421 EXT 1 3 1 CHANGE MODE 2 SERVO LOCK 3 SERVO FREE 2 Press 1 EXT ĆCHG MODEĆ T BOX LIMITED SWITCH 3 Press t...

Page 45: ... 5 An error message is displayed CHANGE TO T BOX ENABLED OR T BOX RESERVED MODE AND PROCEED A buzzer will sound when this error message appears 2 Press the CLR Key The error message will be cleared and the previous screen will be returned EXT 2 3 4 MEM PROTECT 5 ABS ORIG SET 6 LANGUAGE 5 CLR ...

Page 46: ...UT Monitoring Changing output signals D A Monitoring Changing analog output ERR Displaying error information DT Displaying position data ZMG Displaying Z phase tolerance SER Monitoring and changing servo parameters PROGRAM EXECUTION Modes CYC Cycle run SIN Single block run Mode and Functions Modes MON MONITOR mode ORG ORIGIN SEARCH mode RUN RUN mode JOG JOG mode MPG MPG mode EXT EXTENSION mode Dir...

Page 47: ...1 0 U Ć10 0 MON X 1 D A Y 10 0 Z 1 0 U Ć10 0 If the number just input is wrong press the CLR Key to return to the previous value MON X 10 0 D A Y 10 0 Z 1 0 U Ć10 0 Basic Operation 2 Setting Input Values There are two methods to set input values One method is to press a specific key other than a numeric key or CLR Key after inputting a numeric value This method is used when inputting data such as ...

Page 48: ...es and tasks are displayed as shown below Axis Displays The CV500 MC421 and CS1W MC421 MC Units are capable of controlling a maximum of four axes Accordingly the axis data includes information on all four axes Example Monitor Display MON X Ć100 00 ORG Y Ć10 1 Z 10 0 U 990 99 If you try to operate an axis that is not defined in any task a warning buzzer will sound Task Displays Axis data is display...

Page 49: ...lay Example EXTENSION mode menu Error display example CCW Overtravel For further information on error messages refer to Appendix B Error Displays and Error Processing in this manual and to the troubleshooting section in the relevant MC Unit operation manual 1 2 3 1 Press the CLR Key The displayed error is cleared and the display returns to the one that existed just before the error occurred EXT 2 ...

Page 50: ... Monitors or changes position data Changes are only possible with the CS1W MC421 221 or the C200H MC221 Monitors Z phase tolerance Monitors or changes servo parameters CS1W MC421 221 C200H MC221 only MON CLR 1 5 6 CLR to 0 9 to POS X X Y Y SERVO CHG 0 9 to WRITE 42 to 48 Origin search Finds the origin of all or specified axes ORIG SRCH 0 2 to YES CLR 4 3 54 Program execution Executes cyclic or sin...

Page 51: ...e encoder CV500 MC421 221 C200H MC221 only Performs origin setting for the absolute encoder CS1W MC421 221 only Writes all types of data to the MC Unit flash memory CS1W MC421 221 C200H MC221 only EXT 1 6 7 CLR 0 2 to 4 3 YES 62 to 70 Override Changes the override value OVER RIDE CHG WRITE 0 9 to 74 Teaching Registers the position data TEACH 0 9 to YES TASK CHG WRITE 75 Deceleration stop Decelerat...

Page 52: ... required for monitoring any type of data Read the first subsection before reading any other subsection 5 1 MONITOR Mode 42 5 2 Monitoring the Present Position 43 5 3 Monitoring and Changing I O Signals 44 5 4 Error Data Displays 46 5 5 Monitoring and Changing Position Data 47 5 6 Monitoring the Z Phase Tolerance 48 5 7 Monitoring and Changing Servo Parameters 49 ...

Page 53: ... 3 ERROR Reads error information 46 4 POSITION DATA Monitors position data 47 5 Z PHASE TOLERANCE Monitors the Z phase tolerance 48 6 SERVO PARAMETERS Monitors and changes servo system parameters 49 Procedure Use the following procedure to access the MONITOR mode menu and select a function 1 2 3 1 Press the MON Key The present position will be displayed CS1W MC221 421 C200H MC221 MON X 0 00 ORG Y ...

Page 54: ...creases depending on the rotation of the encoder Note This function can also be executed by selecting 1 PRESENT POSITION in the MONITOR mode menu Procedure Use the following procedure to monitor the present position Press the MON Key The present position in the reference coordinate system is displayed CS1W MC221 421 CV500 MC221 421 C200H MC221 MON X 0 00 ORG Y Ć399999 99 Z 0 000 U 0 000 MON X 0 00...

Page 55: ...ion Before changing output signals or analog outputs be sure that the equipment will not be affected Note Be sure that the operation according to the set values is correct The status of the following input and output signals are displayed Type Signal Input signals Origin CCW limit CW limit driver alarm input immediate stop and general purpose inputs Output signals Run command alarm reset sensor ON...

Page 56: ... 00 SENSR ON 11 2 Change the display using the Up and Down Keys CS1W MC221 421 CV500 MC221 421 MON 1234 OUT GET OUT 0010 GET OUT General purpose outputs There are no general purpose outputs for the C200H MC221 Procedure 3 Use the following procedure to monitor the analog outputs With the last screen of the Procedure 2 displayed press the Down Key CS1W MC221 421 CV500 MC221 421 C200H MC221 MON X 10...

Page 57: ...nge the value Data can be input in the range between 10 0 and 10 0 Other input procedures are the same as in Procedure 4 above 3 Press the WRITE Key The newly input data is defined and output Note When changing the values displayed in Procedures 4 and 5 above the following two conditions must both be satisfied The MC Unit s operating mode must be set to either T BOX ENABLED or T BOX RESERVED All a...

Page 58: ...displayed Example Error in Program Execution ERROR TSK2 ERR0021 P010 N000 NO PROGRAM Example Error in Jogging ERROR AXS ERR 0063 AXIS X CCW OVER TR Note If an error has occurred in more than one item change the display using the Up and Down Keys 5 5 Monitoring and Changing Position Data Caution Confirm that no adverse effect will occur in the system before changing any set value in memory Caution ...

Page 59: ...prior to when the CHG Key was pressed press the CLR Key 2 Change the values Use the Up and Down Keys to move the cursor and then enter the position data with the Key and the numeric keys from 0 to 9 Data can be input within a range of 39 999 999 to 0 0000 to 39 999 999 Pressing the CLR Key while data is being input will restore the prior data 3 Press the WRITE Key to set the data Note When the WRI...

Page 60: ...omewhat according to the speed at the time the Z phase is detected This variation can be determined by means of the fol lowing equation Variation pulses Speed when Z phase detected p s 250 With the CV500 MC221 421 and C200H MC221 the tolerance is always 0 for axes using an absolute encoder 5 7 Monitoring and Changing Servo Parameters Caution Confirm that no adverse effect will occur in the system ...

Page 61: ... SER POS GAIN X 1Ć250 40 MON 4 5 SER POS FF GAIN X 0Ć100 0 MON 4 7 SER POS FF GAIN X 0Ć100 0 MON 5 5 SER BACKLASH X 0Ć999 0 MON 5 7 SER BACKLASH X 0Ć10000 0 MON 6 7 SER BRAKE OFF X 0Ć10000 0 MON 7 7 SER BRAKE ON X 0Ć10000 0 The X axis and Y axis parameters can be changed as follows X axis parameter selection X or X Y axis parameter selection Y or Y After the change the same parameters will be disp...

Page 62: ...played press the CHG Key The cursor will be displayed MON 5 5 SER BACKLASH X 0Ć999 0 The previous output status will be retained 2 Change the values The input methods are the same as for changing I O sig nals Press the WRITE Key to set the data Note When the WRITE Key is pressed the changed values are stored in RAM and will be lost if the power is turned OFF To save the changes use the DATA SAVE o...

Page 63: ...n provides information on procedures for origin searches program execution jogging and handle feeding opera tions Execute these operations only after locking the servo for the axis to be moved 6 1 Origin Search 54 6 2 Program Execution 55 6 3 Jogging 57 6 4 Handle Feeding 58 ...

Page 64: ...ce using the system parame ter 2 The offset value is not valid for axes using an absolute encoder 3 The ORIGIN SEARCH mode is specified as a system parameter CS1W MC221 421 The present position will be force set to 0 to define the present position as the origin if the origin search operation is entered with the origin search method set to set the origin when power is turned ON If the origin search...

Page 65: ... axis has come to a stop at the origin in the reference coordinate system the origin search is completed and the asterisks in the display dis appear The following display will appear when the search has been completed for all designated axes ORG ALL COMPLETE 4 Press the CLR Key The axis selection display shown in step 1 above will return Note 1 The CLR Key is not valid during origin searches 2 Pre...

Page 66: ...l be executed from the first block 4 Press the PROG EXEC Key RUN STATUS RUN CYC PROGRM P050 TK1 BLOCK N010 Status RUN Under operation END Operation completed ERR Error occurred PAUSE Temporarily stopped If the PAUSE Key is pressed the program will be temporarily stopped and the display will revert to the previous one Program execution will resume when the PROG EXEC is pressed If the pro gram numbe...

Page 67: ...the CLR Key to return to the display to input the program number Press the CLR Key again to return to the RUN mode menu display Note 1 Press the PAUSE Key during cycle run execution to stop the program Then press the CLR Key to access the RUN mode menu Select the single block run operation on the menu to resume operation using a single block run 2 Programs can be more easily debugged by alternatel...

Page 68: ...r C200H MC221 use the following keys X Y X Y The selected axis will be jogged and the present position on the display will be updated Note 1 The override value used here is valid only in the JOG mode 2 When the mode is changed the override value that existed before selecting the JOG mode will become valid until the JOG mode is entered again 3 The operating feedrates are thus not affected by the ch...

Page 69: ... Z Key U axis U or U Key Any one of the four MPG multiplication factors registered in the system pa rameters can be used Select a desired factor using the Up and Down Keys System parameters Initially displayed MPG multiplication factor 1 MPG multiplication factor 2 MPG multiplication factor 3 MPG multiplication factor 4 C200H MC221 MPG X 3999 9999 X 100 With the C200H MC221 handle feeding can only...

Page 70: ...g the MPG by one scale unit may not feed the axis by the amount designated by the multiplication factor While the MPG is being turned the MPG Key is pressed to select an axis While the MPG is being turned an axis other than the one currently being oper ated is selected ...

Page 71: ...coders Before attempting any of these operations be sure to read the material cov ered in 7 1 EXTENSION Mode 7 1 EXTENSION Mode 62 7 2 Servo lock Unlock 63 7 3 Memory Protect Release 65 7 4 Initial Setting of the Absolute Encoder 65 7 5 Software Reset of the Absolute Encoder 67 7 6 Origin Setting of the Absolute Encoder 68 7 7 Switching the Message Display CS1W MC221 421 Only 69 7 8 Saving Data 70...

Page 72: ...ration other than monitoring 33 2 SERVO LOCK Locks the servo for a designated axis or for all axes 63 3 SERVO FREE Unlocks the servo for a designated axis or for all axes 63 4 MEM PROTECT Protects or frees the memory of the MC Unit 65 5 ABS INIT SET Performs initial settings for an absolute encoder 65 6 ABS SOFT RSET Performs a software reset for an absolute encoder 67 7 DATA SAVE Saves position d...

Page 73: ...21 EXT 2 3 4 MEM PROTECT 5 ABS SETTING 6 LANGUAGE EXT 3 3 7 DATA SAVE 2 Press one of the numeric keys 1 to 6 or 1 to 7 to select an operation Refer to the following sections for the procedures for individual operations 3 Press the CLR Key after completing the selected operation The display will return to the EXTENSION mode menu 7 2 Servo lock Unlock This operation can be used to lock or unlock the...

Page 74: ... the following procedure to unlock the servo 1 2 3 1 Select 3 SERVO FREE from the EXTENSION mode menu CS1W MC221 421 CV500 MC221 421 C200H MC221 EXT ĆSERVO FREEĆ 0 ALL AXES 1 X 3 Z 2 Y 4 U EXT ĆSERVO FREEĆ 0 ALL AXES 1 X 2 Y 2 Select the axis or axes for which servo unlock is to be executed In this example all axes are selected EXT ĆSERVO FREEĆ OK ALL YES NO Indicates selected axes as follows ALL ...

Page 75: ...d and the present posi tion is moved to the mechanical origin absolute value 0 Use this procedure to write the initial settings values for the absolute encoder into the system parame ters Initial setting is used at the following times When changing the mechanical origin When using a Servodriver with an absolute encoder for the first time When present position values are lost due to battery dischar...

Page 76: ...etting as a safety precaution perform backup for the system parameters using MC Support Software 1 2 3 1 Select 5 ABS INIT SET from the EXTENSION mode menu CV500 MC221 421 C200H MC221 EXT ĆABS IN SETĆ 0 ALL AXES 1 X 3 Z 2 Y 4 U EXT ĆABS IN SETĆ 0 ALL AXES 1 X 2 Y 2 Select the axis or axes for which servo unlock is to be executed In this example all axes are selected EXT ĆABS IN SETĆ OK ALL YES NO ...

Page 77: ...al ue exceeding 32 767 pulses In this case if this procedure is attempted an error will be generated Note 1 This operation is used when performing incrementing after permanently setting the absolute value to 0 in the absolute encoder initial settings 2 Before performing this procedure it is necessary to set DIP switch pin 1 on the MC Unit to OFF If 6 ABS SOFT RSET is selected in EXTENSION mode wit...

Page 78: ...gin More specifically the procedure involves reading the absolute encoder value for the mechanical origin and writing it into the mechanical position parameter as an absolute position setting After this setting has been made the absolute posi tion value will be deducted from values read in after servo lock giving the pres ent position and making origin search unnecessary Further when performing or...

Page 79: ...not using an absolute encoder In this case however the absolute en coder values will not be written into the system parameters Note When using the CS1W MC221 421 the absolute position settings will be stored in the internal memory For this reason if the power sup ply for the MC Unit is turned OFF the absolute position settings will return to the original values Save the parameters by writing them ...

Page 80: ...This data in internal memory is controlled during normal operation In addition position data or pa rameters that are changed using the teaching or monitoring operations are also stored in internal memory This operation saves the data from internal memory to flash memory Be sure to use it when changing position data parameters etc Procedure Use the following procedure to write data to flash memory ...

Page 81: ... data has not changed Note If the data fails when writing to flash memory the following message will appear AN ERROR HAS OCĆ CURRED BY FLASHĆ MEMORY Press the CLR Key to return to the menu display in step 1 Press the CLR Key The EXTENSION mode menu will be returned After re leasing memory protection by selecting 4 MEMORY PROTECT re at tempt the operation ...

Page 82: ... Functions This section describes procedures for changing the override value and for teaching The functions described in this section can be executed in any control mode 8 1 Changing the Override Value 74 8 2 Teaching 75 ...

Page 83: ...the previous mode 2 Press the CHG Key OV X 100 0 Y 50 0 Z 100 0 U 50 0 The cursor appears Y 50 0 OV X 100 0 CS1W MC221 421 CV500 MC221 421 C200H MC221 3 Using the Up and Down Keys move the cursor to the value to be changed In this example the cursor is moved to the Y axis value OV X 100 0 Y 50 0 Z 100 0 U 50 0 OV X 100 0 Y 50 0 CS1W MC221 421 CV500 MC221 421 C200H MC221 4 Using the numeric Keys in...

Page 84: ...ition data 1 2 3 1 Press the TEACH Key The present position of the axes controlled by task 1 are displayed TH X 100 00 Y 1000 0 TK1 Z 1111 0 0000U 1111111 The present position is updated in realtime Indicates the task number Press the TASK CHG to select another task number Use numeric keys to change the address if desired The setting range is from 0 to 1999 The address will not be accepted when th...

Page 85: ...MC221 421 CV500 MC221 421 C200H MC221 Position data is stored in series for the axes controlled by one task The following example shows the memory addresses when the X and Y axes are controlled by task 1 Address 0 When the WRITE Key is pressed data for the two axes will be stored and then the next address first address 2 will be automatically dis played Address 2 To be stored next A0000 A1999 X Y ...

Page 86: ...77 SECTION 9 Other Operations This section explains how to execute deceleration stops and reset errors 9 1 Deceleration Stop 78 9 2 Error Resetting 78 ...

Page 87: ...e following procedure to execute a deceleration stop 1 2 3 1 Press the DEC STOP Key ERROR SYS ERR0010 DECEL STOP 2 Press the CLR Key ST ALL TASKS STOP 3 Press the CLR Key to return to the MONITOR mode 9 2 Error Resetting This operation can be used to reset errors in the MC Unit or the Servodriver Caution Before resetting an error be sure that it will not affect the equipment Procedure 1 Use the fo...

Page 88: ...0 MC221 421 C200H MC221 RT DRIVER 0 ALL AXES 1 X 3 Z 2 Y 4 U RT DRIVER 0 ALL AXES 1 X 2 Y 2 Using the 0 to 4 Keys select an axis for which to reset the error In this example all axes are selected RT DRIVER ALL AXES RESET ERROR YES NO Indicates the axes selected 0 All axes 1 X axis 2 Y axis 3 Z axis 4 U axis 3 Press the YES Key to reset the error for the selected axes RT DRIVER ERROR RESET 2 YES ...

Page 89: ...ion Drivers only Applicable devices CV500 MC421 CV500 MC221 CS1W MC421 CS1W MC221 C200H MC221 C500 NC222 E 3G2A5 NC111 EV1 FND X series Position Driver Connecting Cable Any one of the following CV500 CN224 2 m CV500 CN424 4 m CV500 CN624 6 m Any one of the following CV500 CN22A 2 m CV500 CN42A 4 m CV500 CN62A 6 m Conversion Adaptor Not used CV500 CIF11 NC111 EV1 CV500 CIF21 NC222 E Not used Applic...

Page 90: ...empt was made to change the D A output or output signal with the servo locked Free the servo for all axes See Section 7 2 7 SYSTEM PARAĆ METERS ARE CORRĆ UPTED DOWNLOAD SYSTEM PARAMETER The system parameters are corrupted for some unknown reason Download the system parameters using the MC Support Software or CX Motion After downloading restart the MC Unit or reset the power No operation will be po...

Page 91: ...ng humidity 10 to 90 RH no condensation Ambient operating atmosphere No corrosive gasses Storage temperature 20 C to 75 C Display Semi transmissive liquid crystal display with LED 16 characters x 4 rows 5 x 7 dots character Weight 400 g External dimensions 192 x 96 x 48 5 mm H x W x D External Dimensions Unit mm 7 8 9 4 5 6 1 2 3 0 DEC STOP CLR MON ORIG SRCH OVER RIDE JOG MPG TASK CHG TEACH NO YES...

Page 92: ... attaching Keysheet 22 cables 22 installing ROM Cassette 22 procedure 23 connection MC Unit 4 Teaching Box 3 CS1W MC221 changing display language 27 operations 7 restricted functions 18 CS1W MC421 changing display language 27 operations 7 restricted functions 18 CV500 MC221 changing display language 28 operations 8 precautions 12 restricted functions 19 CV500 MC421 changing display language 28 ope...

Page 93: ...ation factor 58 O operating procedure 13 operations 7 basic input 36 origin search 54 origin setting absolute encoder 68 output signals changing 45 monitoring 45 override value changing 74 P parts 10 position data changing 47 monitoring 47 teaching 75 precautions application xiii general xi xii operating environment xii present position monitoring 43 program execution 55 block run 55 cycle run 55 ...

Page 94: ...s made to the manual during each revision Page numbers refer to the previous version Revision code Date Revised content 1 June 1997 Original production 2 May 1999 Information on the CS1 series CS1W MC421 MC221 Motion Control Units FND X series Position Driver and absolute encoders added throughout the manual 03 August 2002 Page ix 2 81 83 and 85 Changes made for new versions of the Units ...

Page 95: ...eadquarters OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 OMRON ELECTRONICS LLC 1 East Commerce Drive Schaumburg IL 60173 U S A Tel 1 847 843 7900 Fax 1 847 843 8568 OMRON ASIA PACIFIC PTE LTD 83 Clemenceau Avenue 11 01 UE Square Singapore 239920 Tel 65 6835 3011 Fax 65 6835 2711 ...

Page 96: ...Cat No W320 E1 03 Note Specifications subject to change without notice Printed in Japan Authorized Distributor ...

Page 97: ...Cat No W320 E1 03 C CV series CVM1 PRO01 V1 Teaching Box For Motion Control Units OPERATION MANUAL ...

Page 98: ...USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STR...

Page 99: ...ply that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or governm...

Page 100: ...to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test condition...

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