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43

SECTION 4

Commands

The Positioning Control Unit provides thirteen commands to execute automatic and manual positioning actions, define
and establish position, transfer data, and handle interrupts and errors. Although the data required for execution is listed
under each command, much of this data is used by more than one command. Refer to 3–4 Data Configuration and Allo-
cation for an outline of the structure of Unit data, and to 3–5 IR Area Data Format for format specifications for particular
types of data. Appendix C DM Area Allocations and Appendix D IR Area Allocations also provide convenient overviews
of data allocation. Applications of most commands are presented in Section 5 Programming Examples.

4–1

Start

44

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–1–1

DM Area Settings

44

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–1–2

IR Area settings

49

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–1–3

Execution Examples

51

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–2

Origin Search

55

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–2–1

DM Area Settings

55

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–2–2

IR Area Settings

56

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–2–3

Execution Examples

57

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–2–4

Completion Examples

60

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–3

Origin Return

63

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–3–1

DM Area Settings

63

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–3–2

IR Area Settings

64

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–3–3

Execution Example

64

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–4

Release Prohibit

65

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–4–1

Execution Examples

66

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–5

Read Error

68

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–5–1

Execution Example

68

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–5–2

Reading from the Programming Console

69

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–6

Reset Origin

69

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–7

Teach

69

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–7–1

IR Area Settings

70

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–7–2

Execution Example

71

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–7–3

Teaching from the Programming Console

71

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–8

Transfer Data

71

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–8–1

Normal Transfer

72

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–8–2

IR Area Settings

73

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–8–3

Present Position Preset

75

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–9

Manual Operations

78

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–9–1

DM Area Settings

78

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–9–2

IR Area Settings

79

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–9–3

High-speed Jog

80

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–9–4

Low-speed Jog

80

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–9–5

Inch

81

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–10 External Interrupt Commands

81

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–10–1 Stop

82

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

4–10–2 Change Speed

89

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

Содержание SYSMAC C200H-NC111

Страница 1: ...Cat No W137 E1 04 Position Control Unit SYSMAC C200H NC111...

Страница 2: ...SYSMAC C200H NC111 Position Control Unit Operation Manual Revised September 2003...

Страница 3: ...iv...

Страница 4: ...ns 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...

Страница 5: ...vi...

Страница 6: ...Operation 11 2 1 Switch Settings 12 2 2 Wiring 13 2 3 Dimensions 24 SECTION 3 Operation 25 3 1 Operational Flow 26 3 2 Output Pulses 28 3 3 Writing Data 28 3 4 Data Configuration and Allocation 29 3 5...

Страница 7: ...gnals 105 5 8 Using Zones to Control Jogging 106 5 9 Controlling an R88D EP06 Servodriver 107 5 10 Controlling a V series Servodriver 110 SECTION 6 Error Processing 111 6 1 Alarms and Errors 112 6 2 O...

Страница 8: ...s are given in timing chart form which show the status of the relevant inputs outputs bits and flags during the execution of the commands Section 5 provides programming examples which give practical i...

Страница 9: ...ion is important for the safe and reliable application of the Programmable Con troller and the Position Control Unit You must read this section and understand the information contained before attempti...

Страница 10: ...on 3 Safety Precautions WARNING Never attempt to disassemble any Units while power is being supplied Doing so may result in serious electrical shock or electrocution WARNING Never touch any of the ter...

Страница 11: ...d lead to serious or possibly fatal injury Always heed these precautions Always ground the system to 100 or less when installing the system to pro tect against electrical shock Always turn off the pow...

Страница 12: ...erforming withstand voltage tests Confirm that no adverse effect will occur in the system before performing the following operations Changing the operating mode of the PC Force setting resetting the r...

Страница 13: ...r driver This section describes the basic features and components of the Position Control Unit as well as the basic configuration and operating principles of positioning control systems Be sure to rea...

Страница 14: ...d in the DM area or other areas of the PC can be quickly transferred via a TRANSFER DATA command Control scale can thus be expanded to exceed the data capacity of the Position Control Unit Establishin...

Страница 15: ...n Control Unit indicators LEDs are used to quickly determine operat ing status They are particularly valuable in initial system activation and de bugging but can also be used to monitor and check Unit...

Страница 16: ...containing a Remote I O Slave Unit Mounting Location The Position Control Unit can be mounted to any but the 2 rightmost CPU Rack slots Mounting the Unit to either of these slots will prevent you fro...

Страница 17: ...particular operation is carried out according to programmed instructions but in which adjustments are not made directly by the PC Instead the open loop system typically displays or prints out infor m...

Страница 18: ...achogenerator and a rotary encoder rather than directly by the servomotor If the C200H NC111 Position Control Unit is used with a servomotor the servomotor driver must be able to handle digital sig na...

Страница 19: ...op System In an open loop system the Position Control Unit outputs pulse trains as specified by the PC program to control the angle of rotation of the motor Be cause the Unit outputs pulse trains it i...

Страница 20: ...s computed as follows Positioning accuracy P pulses per revolution x M P 360 S x M P x S 360 x M The required pulse frequency from the Unit in pulses per second is computed as follows Pulse frequency...

Страница 21: ...t to the target position and the motor stops rotating when the error counter count and the speed voltage become zero 4 While the motor is stopped the rotary encoder constantly maintains the stopped po...

Страница 22: ...orrect This section presents the settings and functions of switches provides examples of and precautions for wiring and gives dimensions of Units both when mounted and unmounted Be sure that all setti...

Страница 23: ...ition Control Unit is mounted Pin no Name Output pulse selector Origin search direction Origin proximity present absent Origin proximity signal type Origin signal type External interrupt selection Ext...

Страница 24: ...O connections Position Control Unit C200H NC111 Output C200H PC Input Motor driver Control panel Emergency stop switch External interrupt switch CCW limit switch Motor Mechanical system CW limit switc...

Страница 25: ...e or nondirectional pulse output 1 6 k pulse output CW pulse or direction signal output 3 CCW pulse or direction signal output 1 6 k 5 VDC power supply input 2 1 24 VDC power supply input Row B Pin no...

Страница 26: ...s Usable connectors Fujitsu model 360 jack 1 FCN 361J040 AU solder FCN 360C040 B connector cover 2 FCN 363J040 solderless FCN 363J AU contact FCN 360C040 B connector cover 3 FCN 367J040 AU F solderles...

Страница 27: ...Supply a voltage of either 5 or 24 VDC the internal circuit will be damaged if both the power sources are connected Inputs 1 k 1 k 1 k 1 k 1 k 1 k 1 k 1 k 1 k 1 k B11 A12 B12 A13 B13 A19 B19 A20 B20...

Страница 28: ...n Control Unit Origin proximity input CCW limit input CW limit input External interrupt input Emergency stop input 1 k 1 k 1 k 1 k 1 k 1 k 1 k 1 k 1 k 1 k N C input A11 B11 Origin input 1 k 1 k Power...

Страница 29: ...d by pass resistance for loads less than 2 5 mA Some output terminals have 1 6 k 0 5 W resistance built in Use these as necessary according to power supply and motor driver specifications For voltage...

Страница 30: ...Position Control Unit 24 VDC input 5 VDC input CCW pulse output CW pulse output 1 6 k 1 6 k A1 B2 A3 B3 A4 B4 A5 B5 5 VDC power supply Approx 15 mA Approx 15 mA Twisted pair cable Do not share this po...

Страница 31: ...rated at 5 VDC Twisted pair cable Note In this example a 5 V input motor driver is being used with a 24 V DC power supply The limit resistors 1 6 K of the NC111 are thus being used Check the driver c...

Страница 32: ...ng motor UPH599 Limit switch N C contact Position Control Unit Power for output Origin CCW limit CW limit CW CCW 0 V B3 B10 5 VDC Stepping motor driver Oriental UDX5114 Limit switch N O or N C contact...

Страница 33: ...cautions Operational errors can occur in most electronic control devices if they are subjected to electronic noise from nearby power lines or loads Recovery from such errors is usually very difficult...

Страница 34: ...voltage SOL Surge absorber Solenoids 5 Insert a noise filter into the power supply inlet if noise enters the power line e g when it is connected to the same power supply as an electric welder or an e...

Страница 35: ...24 2 3 Dimensions Unit Dimensions Unit mm 35 130 100 5 Mounted Dimensions Unit mm Cable Approx 200 117 Rack Dimensions Section 2 3...

Страница 36: ...n some special features to aid operation such as flags zone settings backlash compensation and internal limits and the internal data calculation methods used in processing user input data 3 1 Operatio...

Страница 37: ...ion Origin search direction Origin proximity signal type Origin signal type External interrupt signal type DM area key input via Program ming Console Parameters Positioning actions Speeds Refer to Wir...

Страница 38: ...ing power or AR area restart bit Alarm error LED lit No Yes Error exists READ ERROR Alarm error LED flashes No Yes READ ERROR Correct data causing alarm 6 4 Troubleshooting From the PC AR area error a...

Страница 39: ...each unit number assigned to a Posi tion Control Unit Written data is effective the next time power is turned on or when the system is restarted with the restart bit in the AR area To write data use...

Страница 40: ...gram section below it shows how to achieve the same operation through programming Programming Console Display Key Input Sequence A0101 OFF Program example Unit 1 Restart switch DIFU 13 AR0101 3 4 Data...

Страница 41: ...7 Words 1800 to 1899 Unit 8 Words 1900 to 1999 Unit 9 Data is transferred between the PC and each Position Control Unit each time I O data of the PC is re freshed Data is automatically transferred fro...

Страница 42: ...id speed coefficient 08 RESET ORIGIN 09 TEACH 10 TRANSFER DATA 11 HIGH SPEED JOG 12 JOG direction 13 LOW SPEED JOG 14 INCH 15 STOP Word n Bit n 1 Initial positioning action no Speed coefficient Beginn...

Страница 43: ...h it is often input and output by decimal digit i e four bits BCD Position data is held in two adjacent words generally with a direction digit in the following format direction 103 102 101 100 104 105...

Страница 44: ...de scribed under specific operations or commands they are presented together in Appendix D IR Area Allocations for convenience Of these an output code has been provided for user application and four...

Страница 45: ...itioning action 7 7 Positioning action 8 8 Positioning action 9 9 Positioning action 10 10 Positioning action 11 11 Positioning action 12 12 Positioning action 13 13 Positioning action 14 14 34 35 36...

Страница 46: ...s Zone 0 CW limit m 9 and m 10 7 digits with direction Zone 0 CCW limit m 11 and m 12 7 digits with direction Zone 1 CW limit m 13 and m 14 7 digits with direction Zone 1 CCW limit m 15 and m 16 7 dig...

Страница 47: ...zone 08 n 5 07 06 Zone 0 flag Zone 1 flag Zone 2 flag 3 7 2 Backlash Compensation Backlash compensation can be used to compensate for the amount of me chanical play present in gears particularly when...

Страница 48: ...hich will in clude the backlash compensation set above Stop position Time STOP executed Compensation 3 7 3 Internal CW CCW Limits Limits on the CW and CCW sides of the origin can be set internally to...

Страница 49: ...ds Slight differences exist between speeds set in the DM area and actual speeds These differences do not affect positioning accuracy Settings between 201 and 99 990 pps where INT Nearest integer INT 4...

Страница 50: ...zoidal Accelera tion Deceleration An internal calculation process is used to create a trapezoidal figure from speed acceleration and deceleration settings Speed Time When accelerating or decelerating...

Страница 51: ...that the unit time for each step is 4 ms The maximum number of steps is 250 L V R where R Acceleration or deceleration data whichever greater V R Acceleration or deceleration time between MAX and MIN...

Страница 52: ...execution of positioning actions with single positioning actions External Interrupt Response Time The time required between CHANGE SPEED or STOP command bit recogni tion and the beginning of executio...

Страница 53: ...Unit on a PC extends the PC s scan time by about 3 ms In addition when transferring data the scan time during which data is transferred increases by another 5 ms For example to transfer all 20 positi...

Страница 54: ...art 44 4 1 1 DM Area Settings 44 4 1 2 IR Area settings 49 4 1 3 Execution Examples 51 4 2 Origin Search 55 4 2 1 DM Area Settings 55 4 2 2 IR Area Settings 56 4 2 3 Execution Examples 57 4 2 4 Comple...

Страница 55: ...r the Position Control Unit storing data such as initial positioning action numbers initial speed numbers speed data acceleration deceleration data position data completion codes dwell times and outpu...

Страница 56: ...o 1 to Speed No 15 Set speeds in BCD from 0000 to 9999 0 Speed Units DM word m 97 Each of the bits in this word is assigned to one of the speeds set in words m 82 through m 96 If the bit is set to 0 t...

Страница 57: ...ns Completion Code DM word m 22 bits 03 00 Set to between 0 and 4 to specify the five types of completions described below See also 4 1 3 Execution Examples m 22 03 to 00 Completion code 0 to 4 0 Sing...

Страница 58: ...ing action to be executed will be the initial positioning action number in bits 07 00 of DM word m START is required in order to re sume execution of positioning actions Target speed Stop Time START 4...

Страница 59: ...output to word n 7 bits 11 08 of the OUT refresh area m 22 15 to12 11 to 08 Positioning action number n 7 x101 x100 11 to 08 07 to 00 Output code 0 to F hexadecimal Output to word n 7 bits 11 to 08 T...

Страница 60: ...resulting from increments must be between 8 388 607 and 8 388 606 8388607 CCW Origin 0 CCW direction increment value Present position CW direction increment value 8388606 Absolute value CW Note that t...

Страница 61: ...sed when the target speed of the positioning action is multiplied by a coefficient After the speed coefficient is set with bits 07 to 00 of word n 2 the START command is set with this bit These values...

Страница 62: ...be multiplied by 0 1 to determine the coefficient The speed co efficient can thus be set in increments anywhere from 0 1 to 2 0 If the speed resulting from the coefficient exceeds 100 kpps or falls be...

Страница 63: ...letion of this sequence of actions The completion code for positioning action 4 is set at 1 making it a pause action Upon completion of this action there will be a pause set as dwell time following th...

Страница 64: ...tput CW CCW Pulse output CW CCW Automatic start Time Time Time Single Continuous Continuous Stop Stop Pulse output CW CCW Time Single Positioning action 1 Positioning action 2 Positioning action 3 Pos...

Страница 65: ...START With Single or Bank End Positioning Actions Positioning sequences combining several pause and or continuous position ing actions normally are ended by a single or bank end positioning action Whe...

Страница 66: ...origin proximity sensor effective on signal s rising edge Before using ORI GIN SEARCH set the DIP switch as described in 2 1 Switch Settings to es tablish the direction from which the search will be...

Страница 67: ...origin position 0 set word m 2 to 0 Otherwise set the value and direction neces sary to obtain the required origin If there is an origin compensation value set in word m 2 then after reaching the posi...

Страница 68: ...ith respect to the starting position and search direction N O inputs are used in the following example diagrams Example 1 The first diagram illustrates the simplest search pattern i e that in which bo...

Страница 69: ...for the origin proximity signal and then begins searching in the search direction Origin proximity signal 1 0 1 0 Origin signal Proximity speed Origin Stop Search direction CCW CCW CW Positioning axis...

Страница 70: ...for the origin proximity signal the Unit first feeds beyond the activation point and then begins searching in the search direction 1 0 Origin signal CCW ORIGIN SEARCH Begin Origin Stop Search directio...

Страница 71: ...present i e when DIP switch no 3 is ON There is an origin compensation value set in the second exam ple but not in the first Example 1 Without Origin Compensation Origin proximity signal Origin signa...

Страница 72: ...0 1 0 High speed Deceleration 0 5 s Movement equivalent to compensation value Time 1 0 1 0 1 Origin proximity signal Origin signal Pulse output At origin flag word n 5 bit 02 No origin flag word n 5 b...

Страница 73: ...mity signal is present i e when DIP switch no 3 is OFF There is an origin compensation value set in the second exam ple but not in the first Example 1 Without Origin Compensation 1 0 Proximity speed T...

Страница 74: ...IN SEARCH or TRANSFER DATA to preset the present posi tion must therefore be used to establish position before ORIGIN RETURN is executed 4 3 1 DM Area Settings In addition to the ORIGIN RETURN speed n...

Страница 75: ...y be executed when the origin 0 is known As shown in this example diagram acceleration and deceleration automatically form a trapezoidal pattern stopping at the origin 0 Pulse output 1 0 Initial speed...

Страница 76: ...urns ON further pulse output is prohibited In order to resume pulse output it is necessary to cancel this prohibition by means of the RE LEASE PROHIBIT command bit bit 04 of word n and release of the...

Страница 77: ...eeding 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Input 6000 Time Emergency stop signal START word n bit 00 RELEASE PROHIBIT word n bit 04 Pulse output Emergency stop flag word n 5 bit 04 Error flag word n 5 bit 05...

Страница 78: ...h a CCW HIGH SPEED JOG is used to clear the CW limit flag in the example LOW SPEED JOG or ORIGIN SEARCH may also be used 0 1 0 1 0 1 0 1 0 1 CCW 1 0 1 0 1 0 1 0 6100 Time CW CW limit signal START word...

Страница 79: ...splay will not change when READ ERROR is executed The error or alarm code word n 6 is updated via I O refreshing immediately after the READ ERROR command bit is turned ON The busy flag does not turn O...

Страница 80: ...0 RESET ORIGIN word n bit 08 At origin flag word n 5 bit 02 No origin flag word n 5 bit 11 Busy flag word n 5 bit 12 Present position word n 8 and n 9 4 7 Teach When the origin and present position a...

Страница 81: ...ocated as I O refresh areas For a detailed explanation see 3 4 Data Configuration and Allocation For a de tailed table of words and bits in the IR area see Appendix D IR Area Alloca tions Present Posi...

Страница 82: ...gramming Console Display Key sequence 10013 OFF 10013 ON C101 10013 0000 OFF C101 10013 1000 OFF 10013 C101 OFF 1000 10009 C101 OFF 1000 10009 C101 OFF 1000 Teaching Position Number Teaching ON OFF 4...

Страница 83: ...sition 0 Normal transfer If this bit is 0 then bits 15 through 08 of word n 2 determine the beginning transfer number as explained below Bit 15 of word n 2 will always be 0 when a beginning transfer n...

Страница 84: ...ion 19 Speed 1 Speed 2 Speed 3 Speed 4 Speed 5 Speed 6 Speed 13 Speed 14 Speed 15 Speed units Acceleration Deceleration Data Area DM area DM area for Special I O Units I O area LR area HR area AR area...

Страница 85: ...eginning word and ending word computed from the number of transfers must be within one of the data areas designated during data preparation See Data Preparation under 4 8 1 Normal Transfer PC Data Are...

Страница 86: ...s 1 the TRANSFER DATA command bit bit 10 of word n is set to either preset or change the present position This command can be used to eliminate the need to execute ORIGIN SEARCH to establish posi tion...

Страница 87: ...x105 x104 Sign HR 00 HR 01 n 5 bit 11 Direc tion Direc tion Data Preparation Data must be prepared in the same manner as for normal execution of TRANSFER DATA except that only two words indicating the...

Страница 88: ...04 n 3 n 4 15 00 n 4 n 3 x103 x102 x101 x100 x101 x100 x101 x100 DM I O LR HR AR Beginning word number Set a word number in 4 digit BCD code Number of transfers TRANSFER DATA Command Bit word n bit 10...

Страница 89: ...position determined Preset value 4 9 Manual Operations There are three manual feeding commands HIGH SPEED JOG LOW SPEED JOG and INCH Acceleration and deceleration are possible with HIGH SPEED JOG but...

Страница 90: ...t here refers to one of the speeds set in DM words m 82 through m 96 4 9 2 IR Area Settings In C200H PCs IR words 100 to 199 are used for Special I O Units When a Position Control Unit is used they ar...

Страница 91: ...d Time HIGH SPEED JOG word n bit 11 Pulse output Busy flag word n 5 bit 12 End position stop Initial position start 4 9 4 Low speed Jog The LOW SPEED JOG command bit bit 13 of word n is set to manuall...

Страница 92: ...flag word n 5 bit 12 Approx 5ms 4 10 External Interrupt Commands Positioning can be stopped and speeds can be changed by either the bits set in the IR area or by external interrupt commands The target...

Страница 93: ...s are avail able at the same time if bit 06 of word n is set to 0 and pin 6 on the back panel DIP switch is OFF or if pin 6 is ON and pin 7 is OFF There are also two ways to execute CHANGE SPEED throu...

Страница 94: ...next START Let s take for example a case in which the following DM words and data are used Completion code continuous Target position Completion code single Target position 15 00 Target speed 5 Targe...

Страница 95: ...n as the target position 0 1 0 1 0 1 0 1 0 1 0 1 Time 2 START word n bit 00 STOP word n bit 15 or external interrupt Pulse output Positioning completed flag word n 5 bit 00 Busy flag word n 5 bit 12 P...

Страница 96: ...tarted after manually feeding with JOG back to the other side of the target position for action 0 1 0 1 0 0 1 1 0 1 1 0 0 0 5020 Time 0 START word n bit 00 STOP word n bit 15 or external interrupt Pul...

Страница 97: ...executed 1 0 1 0 1 0 1 0 1 0 0 1 Time 2 START word n bit 00 STOP word n bit 15 Pulse output Positioning completed flag word n 5 bit 00 Busy flag word n 5 bit 12 STOP executed flag word n 5 bit 15 Posi...

Страница 98: ...from the position reached at the end of STOP STOP During ORIGIN RETURN Feeding stops according to the deceleration rate 0 1 0 1 0 1 1 0 Time ORIGIN RETURN word n bit 03 STOP word n bit 15 Pulse output...

Страница 99: ...just as if the HIGH SPEED JOG command bit word n bit 11 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 n bit 11 STOP word n bit 15 Pulse output Busy...

Страница 100: ...HANGE SPEED is executed effective on signal s rising edge the speed number in the present positioning action will be incre mented by 1 If CHANGE SPEED is executed again the speed number will be increm...

Страница 101: ...diagram speed number 1 is used for the positioning action executed first 0 1 1 0 Time START word n bit 00 CHANGE SPEED external interrupt input or word n bit 06 Pulse output Speed 1 Speed 2 Speed 3 Sp...

Страница 102: ...e search patterns under ORIGIN SEARCH while Example 8 illustrates one possible use of zones controlling manual feeding operations Finally Example 9 describes special considerations when connecting to...

Страница 103: ...the alarm error LED from flashing HIGH S PEED JOG speed ORIGIN SEARCH proximity speed DM 1000 1 0 0 0 DM 1001 1 2 1 2 DM 1082 2 0 0 0 Speed 1 DM 1083 0 5 0 0 Speed 2 DM 1098 0 0 0 6 Acceleration DM 1...

Страница 104: ...W SPEED JOG command bit Indicators on Position Control Unit NC111 RUN BUSY CW CCW ERROR 10012 is OFF CW and busy LEDs light The values of the present position increase or decrease ALARM Programming Co...

Страница 105: ...10 Emergency stop CW limit CCW limit Origin Origin proximity Position Control Unit 24 VDC Operation Feeding is executed to positions lying at equal distances in the same direc tion from a specific po...

Страница 106: ...1 0 0 3 DM 1023 0 0 0 0 DM 1024 0 0 0 1 DM 1082 5 0 0 0 Speed 1 DM 1083 0 5 0 0 Speed 2 DM 1097 0 0 0 0 Speed units DM 1098 0 0 0 8 Acceleration DM 1099 0 0 0 8 Deceleration Target position 10002 100...

Страница 107: ...shows data for three positioning actions transferred from DM word 10 Note that TRANSFER DATA immediately rewrites the Po sition Control Unit s memory Therefore the transfer program must be ex ecuted a...

Страница 108: ...are shown below 0 2 bank end 0 continuous No 1 9000 Speed 4 DM 1085 DM 1084 Speed 3 START CCW Stop 1000 15000 CW Stop START DM 0010 3 0 0 2 DM 0011 9 0 0 0 DM 0012 0 0 0 0 DM 0013 4 0 0 0 DM 0014 5 0...

Страница 109: ...when 00407 is reset Starts transfer 102 Beginning action no positioning action 0 103 Beginning word no word 10 104 Number of transfers 3 PC data area no 0 DM Three positioning actions transferred beg...

Страница 110: ...0 Speed 2 DM 1098 0 0 0 6 Acceleration DM 1099 0 0 0 6 Deceleration Initial speed 0 to F LOW SPEED JOG 1 to F ORIGIN SEARCH 1 to F HIGH SPEED JOG 1 to F ORIGIN RETURN speed 1 to F DM 1000 1 0 0 0 DM...

Страница 111: ...00 SW 1 00010 10512 busy flag 10512 busy flag 10512 03002 Origin re set and position ing flag 03003 10010 03002 10008 10000 10001 DIFU 13 03000 DIFU 13 03001 MOV 21 0000 102 MOV 21 0001 103 MOV 21 010...

Страница 112: ...limit CCW limit Emergency stop Origin Origin proximity Short circuit these pins Connect manu al input switches to these pins so that the signals can be manually turned ON OFF The lower 2 digits are us...

Страница 113: ...00 2000 20000 4000 4000 4000 30000 40000 50000 60000 20000 30000 40000 42000 60000 1000 3000 3000 6000 14 last action T 0 5 s 7 0 1 single 3 pause 8 9 10 11 single 12 pause T 1 0 s T 0 5 s 4 pause T 1...

Страница 114: ...313 10004 10002 10012 10011 10013 10000 10001 10015 MOV 21 001 101 MOV 21 105 002 END 01 DM Area Coding Sheet Unit Number 0 Allocated DM words DM 1000 through DM 1099 The first two digits of the word...

Страница 115: ...ion 10 10 Positioning action 11 11 Positioning action 12 12 Positioning action 13 13 Positioning action 14 14 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63...

Страница 116: ...p CW limit CCW limit Origin C200H PC Position Control Unit Origin proximity DIP Switch Settings Pin 3 ON Designating presence of origin proximity signal Pin 4 ON Designating N O contact for origin pro...

Страница 117: ...ignal Pulse output Origin Stop CW limit 1 0 START START Origin Stop START Origin Stop 5 8 Using Zones to Control Jogging Operation This examples shows how to use zones to change conditions for manual...

Страница 118: ...h 10507 Zone 0 flag 10506 CW JOG switch Zone 1 flag 10013 10012 Low speed JOG 5 9 Controlling an R88D EP06 Servodriver In this connection example an Omron R88D EP06 Servodriver is used and wiring empl...

Страница 119: ...2 Bit 00 Operation This example shows use of the ORIGIN SEARCH command It assumes that the unit number of the Positioning Control Unit has been set to number 0 and that word 002 bit 00 has been set fo...

Страница 120: ...ver origin adjustment input Servodriver positioning completed signal Pulse output ON OFF ON OFF ON OFF ON OFF DIP Switch Settings Pin 1 OFF Pin 2 ON or OFF Pin 3 ON Pin 4 ON Pin 5 ON Pin 6 OFF Pin 7 O...

Страница 121: ...SEARCH ORIGIN SEARCH being executed Prohibits the origin adjustment command from being output when origin proximity signal is OFF during reverse feeding i e ORIGIN SEARCH from inside origin proximity...

Страница 122: ...o the IR Area 112 6 3 Alarm Error Indicators 112 6 4 Troubleshooting from the PC 112 6 4 1 Error List for Special I O Units 113 6 4 2 AR Area Error and Restart Bits for Special I O Units 113 6 5 Basic...

Страница 123: ...e g when an emer gency stop results from CW limit input Refer to Appendix A and Appendix B for specific alarm and error codes 6 2 Outputs to the IR Area Alarm Flag word n 5 bit 03 1 Alarm exists Error...

Страница 124: ...lace it with a new one Error Causes of Abnormality and Operating Status Correction Too many Special I O Units Same unit number has been assigned to more than one Special I O Unit PC will not begin ope...

Страница 125: ...ff again to restart Special I O Units It is not necessary to turn off power to the Unit when its restart bit is used Bit Unit Number AR 1000 0 AR 0101 1 AR 0102 2 AR 0103 3 AR 0104 4 AR 0105 5 AR 0106...

Страница 126: ...ut to the motor driver Required number of pulses sup plied Wiring error correct Check CW and CCW LEDs on front panel Check alarm error LED on front panel Use up down counter Observe input on syn chros...

Страница 127: ...cy of Pulse Train Output The frequency of pulse train output can be observed on a synchroscope at the constant speed interval of the trapezoidal acceleration deceleration To measure the frequency duri...

Страница 128: ...117 Connections to an Up Down Counter CW pulse Position Control Unit Driver 5 V UP DOWN counter UP P RESET 0 V 12 V DOWN P P 15 12 V 16 12 N CCW pulse Detection of Abnormal Pulse Outputs Section 6 6...

Страница 129: ...EED JOG speed number is 0 or there is a BCD error in the speed designated by the number LOW SPEED JOG speed number is 0 or there is a BCD error in the speed designated by the number The LOW SPEED JOG...

Страница 130: ...s 0 or there is a BCD error in the speed designated by the number High speed is slower than proximity speed There is a BCD error in the backlash compensa tion There is a BCD error in internal CW limit...

Страница 131: ...ion 1 to 19 m 25 to m 81 The last two digits of the alarm code is the number of the positioning action with the error There is a BCD error in the speed m 82 to m 96 designated by the speed number for...

Страница 132: ...An attempt was made to feed clockwise using HIGH SPEED JOG LOW SPEED JOG or INCH following RELEASE PROHIBIT after feeding had been stopped at CCW limit An attempt was made to feed counter clockwise us...

Страница 133: ...that gen erated an alarm Feeding has been stopped by emergency stop signal input Feeding has been stopped by CW limit signal input Feeding has been stopped by CCW limit signal input No proximity signa...

Страница 134: ...topped following CHANGE SPEED due to data for the speed of the next positioning action for which an alarm was generated More than one command bit among 00 02 03 04 08 09 10 11 13 and 14 of word n has...

Страница 135: ...or range details PC area number for TRANSFER DATA is not between 0 and 4 The number of transfers for TRANS FER DATA is not between 1 and 26 The position preset with TRANSFER DATA contains a BCD error...

Страница 136: ...0 to 19 BCD Initial START and START after bank end Initial speed no 0 to F hexadecimal ORIGIN RETURN speed no 1 to F hexadecimal ORIGIN SEARCH proximity speed no 1 to F hexadecimal ORIGIN SEARCH high...

Страница 137: ...digit Zone 0 CCW side 0 CW 1 CCW x106 x105 x104 x103 x102 x101 x100 m 14 m 13 direc tion 7 digits BCD with direction digit Zone 1 CW side 0 CW 1 CCW x106 x105 x104 x103 x102 x101 x100 m 16 m 15 direc...

Страница 138: ...tioning action 0 Transfer data 0 Data format same as for positioning action 0 Data format same as for positioning action 0 Data format same as for positioning action 0 Data format same as for position...

Страница 139: ...ing action 14 Transfer data 14 Positioning action 15 Transfer data 15 Positioning action 16 Transfer data 16 Positioning action 17 Transfer data 17 Positioning action 18 Transfer data 18 Positioning a...

Страница 140: ...data 24 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 Not used Unit for speed 1 Unit for speed 2 Unit for speed 3 Unit for speed 4 Unit for speed 5 Unit for speed 6 Unit for speed 7 Unit for speed...

Страница 141: ...to 1 and STOP when set to 0 Valid speed coefficient When set to 1 the speed coefficient set in bits 07 to 00 of word n 2 is valid When set to 0 the speed coefficient of the desired speed is set at 1 0...

Страница 142: ...ne 2 1 inside zone 2 Teaching completed flag completed starting Transfer completed flag completed starting No origin flag 1 no origin Busy flag 1 busy during transfer or pulse output CW limit flag 1 C...

Страница 143: ...osition is within the zone ranges set in DM words m 9 and m 20 Teaching completed flag This bit turns OFF when TEACH is executed and ON when teaching is completed Transfer completed flag This bit turn...

Страница 144: ...cuted during positioning In such cases the number which was being executed at the time is taken as the next number to be executed After the bank has been completed or after positioning action 19 has b...

Страница 145: ...to 99 990 pps 15 1 to 999 pps ms Origin proximity Either absent N O input or N C input selectable Origin signal Either N O input or N C input selectable Origin compensation 0 to 9 999 pulses Origin s...

Страница 146: ...ing capacity Leakage current Residual voltage Power for external supply Duty factor Min pulse width at 100 kpps output 30 mA at 4 5 to 26 4 VDC 10 NPN open collector 2 5 mA at 4 5 to 26 4 VDC NPN open...

Страница 147: ...24 VDC C200H CPU03 E SYSMAC NET Link Unit SYSMAC Link Unit is mountable 100 to 120 200 to 240 VAC C200H CPU11 E Programming Console Vertical type w backlight C200H PR027 E Programming Console and Data...

Страница 148: ...CD An acronym for binary coded decimal This is used to refer to decimal num bers encoded in binary completion code A parameter for positioning actions that designates what is to happen when a particul...

Страница 149: ...terrupt A function whereby positioning may be stopped or speed may be changed during operation in response to an external command flag A bit that is turned ON and OFF automatically by the system to pr...

Страница 150: ...ions under which an operation will be carried out The Position Control Unit has both general parameters and parameters specific to individual positioning actions pause completion A positioning action...

Страница 151: ...tions involved in executing the program in its memory The duration of the scan time differs depending on the configuration of the system the number of I O points the programming instructions used and...

Страница 152: ...t position into the DM area of the PC as the target position for the designated positioning action trapezoidal acceleration deceleration Accelerating and decelerating in a stepwise pattern such that a...

Страница 153: ...ted during START 83 execution examples 84 85 86 TEACH setting positioning action number 70 TRANSFER DATA and trapezoidal tables 39 beginning transfer number 72 74 beginning word number for normal tran...

Страница 154: ...ag 67 error flags 68 113 no origin flag 69 positioning completed flag 54 grounds 17 23 H Hand held Programming Console 5 high speed number setting for ORIGIN SEARCH 56 host computers 4 I I O circuits...

Страница 155: ...s 4 Remote I O Slave Units 4 resistance bypass 18 restart bits 28 29 114 rotary encoders 6 7 9 S scan time 42 search patterns 106 with origin proximity signal 57 without origin proximity signal 58 sem...

Страница 156: ...speed coefficient setting for STOP 50 wiring assembling connectors 15 connector pins 14 external I O connections 13 I O circuit diagrams 16 I O circuits 15 24 input connections 17 output connections...

Страница 157: ...ramming Console displays corrected Pages 72 75 78 Diagrams clarified Pages 92 101 C200H PR027 corrected to C200H PRO27 E Page 104 Content of rightmost digit in word 00 corrected to 2 Page 139 Power su...

Страница 158: ...adquarters 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 84...

Страница 159: ...Cat No W137 E1 04 Note Specifications subject to change without notice Printed in Japan 0504 Authorized Distributor This manual is printed on 100 recycled paper...

Страница 160: ...SER 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...

Страница 161: ...ly 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 Nucle...

Страница 162: ...o 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 PERFORM...

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