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Motion Control Units

Product Specifications

Component Names

CS1W-MC221

CS1W-MC421

LED indicators

Unit number setting switch

DRV X-Y connector
10126-3000VE Connector

(Sumitomo 3M)

10326-52F0-008 Connector cover

(Sumitomo 3M)

(This unit is provided with 2 sets.)

I/O connector

Teaching Box
connector

I/O connector

Teaching Box
connector

MPG connector

DRV X-Y connector
10126-3000VE Connector

(Sumitomo 3M)

10326-52F0-008 Connector cover

(Sumitomo 3M)

(This unit is provided with 2 sets.)

DRV Z-U connector
10126-3000VE Connector

(Sumitomo 3M)

10326-52F0-008 Connector cover

(Sumitomo 3M)

(This unit is provided with 2 sets.)

Indicators

Indicator

Color

Status

Meaning

RUN

Green

The MC Unit is operating normally.

G ee

OFF

The MC Unit is not recognized by the PC or is
malfunctioning.

ERC

Red

An error occurred in the MC Unit.

OFF

The MC Unit is operating normally.

ERH

Red

An error occurred in the CPU Unit.

OFF

The CPU Unit is operating normally.

XCCW
YCCW
ZCCW (See note.)
UCCW (S

t )

Yellow

The motor for the applicable axis is turning in the CCW
direction. (The X to U axes correspond to XCCW to
UCCW.)

(

)

UCCW (See note.)

OFF

The applicable axis is stopped or is turning in the CW
direction.

XCW
YCW
ZCW (S

t )

Yellow

The motor for the applicable axis is turning in the CW
direction. (The X to U axes correspond to XCW to UCW.)

ZCW (See note.)
UCW (See note.)

OFF

The applicable axis is stopped or is turning in the CCW
direction.

Note:

The CS1W-MC221 does not have the ZCCW, UCCW, ZCW, and UCW indicators.

Содержание CS1 Series

Страница 1: ...Motion Control Units CS1 Series CS1W MC421 221 Specification Sheets ...

Страница 2: ...t position can be controlled but also the path between those points Linear interpolation circular interpolation helical circular interpola tion and traversing are all possible The MC Unit has been developed for use in simple position ing applications using servomotors Applicable machines are as follows Conveyor Systems X Y tables palletizers depalletizers loaders unloaders etc Assembling Systems A...

Страница 3: ...ency The maximum feedback encoder response frequency is 500 kp s so the MC Unit can be used with high speed and high precision ser vomotors This is double the response frequency of the earlier mod els CPU Unit Interrupts A CPU Unit external interrupt task can be started by outputting a D code interrupt code for the CPU Unit when positioning is com pleted or when passing through a particular positi...

Страница 4: ...be traced making it easy to adjust the servo system Automatic Loading Function When it is necessary to use more programs or position data than can be stored in the MC Unit programs or position data stored in an external memory device at the computer where CX Motion is installed can be automatically downloaded to the MC Unit s internal memory This function allows the system to cope with an applicat...

Страница 5: ...utomatic Mode through dedicated bits in the CPU Unit or from the Teaching Box Encoder interface Line receiver input maximum response frequency 500 kp s before multiplication Pulse ratio Select 1 2 or 4 Note The applicable absolute encoder is the OMRON OMNUC U Series Control unit Minimum setting unit 1 0 1 0 01 0 001 0 0001 Units mm inch degree pulse There is no unit conversion function Maximum com...

Страница 6: ...e 0 1 to 100 0 Setting unit 0 1 Interpolation feed override 0 1 to 199 9 Setting unit 0 1 Jog feed override 0 1 to 100 0 Setting unit 0 1 Axis control Zone settings Up to 8 zones axis can be set s co o Backlash correction Can be set from 0 to 10 000 pulses In position zone Can be set from 0 to 10 000 pulses Position loop gain 1 to 250 1 s Feedforward gain 0 to 100 Task program t Number of tasks 2 ...

Страница 7: ... Servodriver connector I O connector Teaching Box connector one each Servodriver connectors two I O connector Teaching Box connector MPG connector Power supply voltage 5 VDC from Backplane o e su y o age 24 VDC from external power supply Voltage fluctuation tolerance 4 75 5 25 VDC from Backplane o age uc ua o o e a ce 21 6 26 4 VDC from external power supply Internal current consumption 600 mA or ...

Страница 8: ...le length 2 m CV500 CN224 eac g o Co ec g Cable Cable length 4 m CV500 CN424 Cable length 6 m CV500 CN624 ROM Cassette Required when the CVM1 PRS21 V1 Programming Console is used as a Teaching Box CVM1 MP702 CX Motion Connecting Cables Unit Port on Unit Computer Port on computer Serial communications mode network Model numbers Length Remarks CPU Unit Peripheral IBM PC AT 9 pin D b Peripheral bus o...

Страница 9: ...ng to CPU Unit memory area or commands from Teaching Box Automatic Mode Operation according to commands in G language program Manual Jogging Moves axes continuously by manual operation a ua Handle feed Moves axes by MPG Deceleration stop Decelerates to a stop according to command Manual origin search Searches for mechanical origin Origin search is possible in either an incremental or absolute enco...

Страница 10: ...e block at a time Pause Temporarily halts program execution Forced block end Forcibly ends execution of a block Error reset Clears error status M code reset Resets the M code for interlock Teaching Creates position data for each task Auxiliary Optional inputs 20 points Specify input information to be referenced by special G code Of the 20 input points 4 can be specified as general purpose inputs f...

Страница 11: ...ported Traverse command G32 A 2 axis traverse operation is available with a traverse time of 4 ms max Not supported Unlimited Feed Mode Unlimited feeding can be either specified or not specified for an axis The software limit is ignored Cannot be specified Present position display for unlimited feeding When unlimited feeding is specified for an axis the software limit is ignored The present positi...

Страница 12: ...ration time mode only Servo system parameter changes G code G69 Servo system parameters can be changed by a G code Not supported Servo lock There is a brake signal timing adjustment function There is no brake signal timing adjustment function Servo unlock There is a brake signal timing adjustment function Servo unlock can be used at any time There is no brake signal timing adjustment function Serv...

Страница 13: ...e delay when interpolation is performed for 1 task Analog voltage output time lag per axis for independent operation CS1W MC221 4 3 ms axis CS1W MC421 4 3 ms axis Time delay when one axis each is started for all tasks simultaneously Interrupt notification time 2 25 ms When C200Hj series Special I O Unit is not mounted G language interpretation time CS1W MC221 2 0 ms CS1W MC421 4 2 ms Interpretatio...

Страница 14: ...rn Moves to the workpiece origin G28 Origin Search Performs an origin search on the specified axis G29 Origin UNDEFINED Sets the origin to an undefined state G30 SPEED CONTROL Feeds up to 2 axes simultaneously at the controlled feed rate G31 INTERRUPT FEEDING Performs an interrupt feeding operation G32 traverse Executes traverse operation G50 Select Reference Coordinate System Specifies the refere...

Страница 15: ...pply Unit For connection to peripheral port on CPU Unit CS1W CNjjj For connection to RS 232C port on CPU Unit XW2Z j00S CV Servodriver Connecting Cable for U H M series or user prepared cable Servodriver Servomotor CS1W MC421 4 axes CS1W MC221 2 axes MC Unit Terminal Block CS1W MC421 XW2B 40J6 7 CS1W MC221 XW2B 20J6 6 I O connector DRV Z U connectors XW2Z 100J F1 MC Unit Terminal Block Connecting ...

Страница 16: ...ge program CS1 CS1W MC421 CIO Area Words Unit 0 Unit 1 Unit 2 Unit 3 Unit 90 Unit 91 Unit 92 Unit 93 Unit 94 Unit 95 Reserved Reserved Data Memory Area Allocated areas are not used Data Data transfer words IOWR IORD instructions Transferred to each Unit during I O refresh I O Refresh Data Area OUT refresh IN refresh Reserved A total of 30 words used n 2000 10 unit number Internal memory Address Po...

Страница 17: ...ors Indicator Color Status Meaning RUN Green ON The MC Unit is operating normally U G ee OFF The MC Unit is not recognized by the PC or is malfunctioning ERC Red ON An error occurred in the MC Unit C ed OFF The MC Unit is operating normally ERH Red ON An error occurred in the CPU Unit OFF The CPU Unit is operating normally XCCW YCCW ZCCW See note UCCW S t Yellow ON The motor for the applicable axi...

Страница 18: ... 10 XORG NC NO See note 1 13 X axis origin proximity input Used for the X axis origin search 11 YORG NC NO See note 1 18 Y axis origin proximity input Used for the Y axis origin search 12 OUT1 See note 3 15 General output 1 General output 1 or X axis brake signal output 13 OUT2 See note 3 19 General output 2 General output 2 or Y axis brake signal output 14 DC GND 0 24 VDC input ground Connects to...

Страница 19: ...4 VDC external power supply 15 ZCWL NC 31 See note 5 Z axis CW limit input Limits movement of the Z axis in the CW direction 16 UCWL NC 36 See note 3 U axis CW limit input Limits movement of the U axis in the CW direction 17 ZCCWL NC 32 See note 3 Z axis CCW limit input Limits movement of the Z axis in the CCW direction 18 UCCWL NC 37 See note 3 U axis CCW limit input Limits movement of the U axis...

Страница 20: ...ector case provided with the Unit or by using the XW2Z 100J F1 MC Unit Terminal Block Connecting Cable Using the MC Unit Terminal Block XW2Z 100J F1 MC Unit Terminal Block Cable MC Unit Terminal Block CS1W MC221 XW2B 20J6 6 CS1W MC421 XW2B 40J6 7 X axis CW CCW origin proximity and emergency stop Y axis CW CCW origin proximity and emergency stop XW2B 20J6 6 MC Unit Terminal Block Example X axis Wir...

Страница 21: ...ack input for the X axis 14 X B X axis phase B input Phase B feedback input for the X axis 15 X Z X axis phase Z input Phase Z feedback input for the X axis 16 X Z X axis phase Z input Phase Z feedback input for the X axis 17 XOUT X axis speed control Speed control voltage to the X axis driver 18 XAGND X axis speed control ground Ground for the X axis s speed control voltage 19 F24V 24 VDC output ...

Страница 22: ...s speed control Speed control voltage to the Z axis driver 18 ZAGND Z axis speed control ground Ground for the Z axis s speed control voltage 19 F24V 24 VDC output 24 VDC input to the driver for the Z U axes 20 FDC GND 24 VDC output ground Ground for 24 VDC outputs for the Z U axes 21 UALM U axis alarm input Driver alarm input for the U axis 22 URUN U axis run output Driver run output for the U ax...

Страница 23: ... 2 0 H series R88D H R88A CPH001M2 R88A CPH001M1 1 0 se es 88 R88A CPH002M2 R88A CPH002M1 2 0 M series R88D M R88A CPM001M2 R88A CPM001M1 1 0 se es 88 R88A CPM002M2 R88A CPM002M1 2 0 Connect to a battery when using the absolute encoder Connect to 24 V Servodriver Servodriver Connect to 24 V Connect to 24 V U series Servodrivers R88A CPU001M2 002M2 30 to 750 W R88A CPUB001M2 002M2 1 to 5 kW H serie...

Страница 24: ...d control ground 24 VDC output Y axis alarm input Y axis run output Y axis alarm reset output Y axis SEN signal ground Y axis feedback ground Y axis phase A input Y axis phase A input Y axis phase B input Y axis phase B input Y axis phase Z input Y axis phase Z input Y axis speed control Y axis SEN signal output MPG Connector Wiring MPG Connector for CS1W MC421 Only The MPG connector is used to co...

Страница 25: ... Power supply MPG LGF 003 100 CS1W MC221 I O connector MPG input phase A MPG input phase A MPG input phase B MPG input phase B MPG LGF 003 100 Note For the CS1W MC221 use the I O connector 6 5 13 12 5 VDC Power supply 16 18 17 19 ALL DIMENSIONS SHOWN ARE IN MILLIMETERS To convert millimeters into inches multiply by 0 03937 To convert grams into ounces multiply by 0 03527 ...

Страница 26: ...ofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 OMRON ELECTRONICS INC 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 65 835 3011 Fax 65 835 2711 Authorized Distributor Note Specifications subject to change without notice Cat No R062 E1 1 Printed in Japan 0100 0 ...

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