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TABLE OF CONTENTS

PRECAUTIONS

vii

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

Intended Audience

viii

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

General Precautions

viii

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

Safety Precautions

viii

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

Operating Environment Precautions

viii

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

Application Precautions

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

SECTION 1 – Introduction

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

1–1

Features

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

1–2

Components

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

1–3

Basic Operating Principles

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

1–4

I/O Configuration

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

1–5

Positioning System Principles

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

1–5–1

Open-loop System

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

1–5–2

Semiclosed-loop System

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

SECTION 2 – Before Operation

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

2–1 Switch

Settings

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

2–1–1

Switch Setting Examples

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

2–2

Wiring

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

2–2–1

Input Connection Examples

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

2–2–2

Output Connection Examples

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

2–2–3

Wiring Precautions

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

2–3

Dimensions

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

SECTION 3 – Operation

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

3–1

Operational Flow

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

3–2

Output Pulses

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

3–3

Writing Data

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

3–4

Data Configuration and Allocation

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

3–5

DM Area Data Format

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

3–6

Flags and Other Input Data

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

3–7

DM Area Allocation

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

3–7–1

Zones

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

3–7–2

Backlash Compensation

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

3–7–3

Internal CW/CCW Limits

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

3–7–4

Data Calculations

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

SECTION 4 – Commands

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

4–1

START

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

4–1–1

DM Area Settings

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

4–2

Positioning Actions

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

4–2–1

IR Area Settings

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

4–2–2

Execution Examples

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

4–3

ORIGIN SEARCH

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

4–3–1

DM Area Settings

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

4–3–2

IR Area Settings

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

4–3–3

Execution Examples

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

4–3–4

Completion Examples

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

4–4

ORIGIN RETURN

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

4–4–1

DM Area Settings

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

4–4–2

IR Area Settings

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

4–4–3

Execution Example

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

Содержание SYSMAC C200H-NC112

Страница 1: ...Cat No W128 E1 4 Position Control Unit SYSMAC C200H NC112...

Страница 2: ...C200H NC112 Position Control Unit Operation Manual September 2000...

Страница 3: ...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 yo...

Страница 4: ...s of positioning control systems Reading this section first will give you a familiarity with the essential terminology used in this manual and an understanding of the fundamentals necessary for succes...

Страница 5: ...xamples 29 2 2 3 Wiring Precautions 38 2 3 Dimensions 39 SECTION 3 Operation 41 3 1 Operational Flow 42 3 2 Output Pulses 44 3 3 Writing Data 44 3 4 Data Configuration and Allocation 45 3 5 DM Area Da...

Страница 6: ...vals Using RESET ORIGIN 119 5 3 Feeding Selectively with START 121 5 4 TRANSFER DATA from Other PC Areas 123 5 5 TRANSFER DATA from External Switches 125 5 6 Using START to Carry Out Positioning Actio...

Страница 7: ...ction is important for the safe and reliable application of the Programmable Con troller You must read this section and understand the information contained before attempting to set up or operate a PC...

Страница 8: ...sure to read this manual before attempting to use the Unit and keep this manual close at hand for reference during operation WARNING It is extremely important that a PC and all PC Units be used for th...

Страница 9: ...result in electric shock Always turn OFF the power supply to the PC before attempting any of the fol lowing Not turning OFF the power supply may result in malfunction or electric shock Mounting or dis...

Страница 10: ...bles and other items with locking devices are properly locked into place Improper locking may result in malfunction Check the user program for proper execution before actually running it on the Unit N...

Страница 11: ...ration of the Position Control Unit as well as the basic configuration and principles of positioning control systems Reading this section first will give you a familiarity with the essential terminolo...

Страница 12: ...3 is designed especially for use with the OM RON R88D EP SR marketed in Japan servomotor driver The method employed to detect the origin may be selected via the rear panel DIP switch The speed range h...

Страница 13: ...tion Control Unit Selects an operating mode 0 to 3 Connector Used to connect the Position Control Unit to a stepping mo tor driver or servomotor driver Attach the enclosed connector to the proper cabl...

Страница 14: ...tioning actions it is necessary to define the origin as a reference point by for example executing ORIGIN SEARCH 1 4 I O Configuration The basic I O configuration is shown on the following page Posit...

Страница 15: ...rol signal input switches C200H PC Position Control Unit C200H NC112 Input Unit Stepping motor or ser vomotor driver control signal line Power supply Hand held Programming Console C200H PRO27 Stepping...

Страница 16: ...o a digital to analog converter to complete the feedback loop thereby permitting automated control of the process A semiclosed loop system is similar to a closed loop system except that feedback is pr...

Страница 17: ...en 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 is generally used w...

Страница 18: ...ted as follows Pulse frequency V Positioning precision 360 x M x V P x S The required number of pulses to feed an object by a distance L in mm is computed as follows Number of pulses L Positioning pre...

Страница 19: ...zero 4 While the motor is stopped the rotary encoder constantly maintains the stopped position through correction In the event that the motor axis moves slightly the error counter receives a feedback...

Страница 20: ...s provides examples of and precautions for wiring and gives dimensions of Units both when unmounted and mounted Be sure that all settings and wiring match your positioning system specifications 2 1 Sw...

Страница 21: ...ls a stepping motor driver In this mode connect a sensor to the origin signal lines connector pin nos A11 and B11 The response time of the origin signal is 1 ms NC112 Origin A11 B11 A10 B10 Pulse 24 V...

Страница 22: ...when the motor stops These pins must be set before the Unit is mounted Pin no Name ON OFF 1 Output pulse selector Nondirectional pulse and direction signal outputs Separate CW and CCW pulse outputs 2...

Страница 23: ...ch the origin is searched for and the direc tion from which the origin is reached If the present position of the positioning system is near the origin the origin is searched for in the direction oppos...

Страница 24: ...Origin When searching for the origin in the CW direction CCW CCW CCW CW limit Positioning axis CW CW ORIGIN SEARCH Start Origin Stop ORIGIN SEARCH Start Origin Stop ORIGIN SEARCH Start Origin Stop CW...

Страница 25: ...he counterclockwise direction Origin proximity Origin Z phase Pulse output CCW CCW CCW CW limit Positioning axis CW CW CW ORIGIN SEARCH Start Origin Stop ORIGIN SEARCH Start Origin Stop ORIGIN SEARCH...

Страница 26: ...tion 4 2 In this example the mode switch is set to 0 and the DIP switch pins are set as follows 1 OFF CW CCW output 2 ON Origin search direction CCW 3 ON Origin proximity present 4 ON Origin proximity...

Страница 27: ...y present 4 ON Origin proximity signal from NO input rising edge 5 ON Origin signal from NO input rising edge 6 Refer to Section 4 10 External Interrupt Commands 7 8 ON Origin proximity reverse presen...

Страница 28: ...W 3 ON Origin proximity present 4 ON Origin proximity signal from NO input rising edge 5 ON Origin signal from NO input rising edge 6 Refer to Section 4 10 External Interrupt Commands 7 8 ON Origin pr...

Страница 29: ...from NO input rising edge 6 Refer to Section 4 10 External Interrupt Commands 7 8 ON Origin proximity reverse present rising falling edge Origin search is started after the origin proximity signal has...

Страница 30: ...rol Unit C200H NC112 Output C200H PC Input Motor driver Control panel Emergency stop switch External interrupt switch CCW limit switch Motor Mechanical system CW limit switch Origin switch sensor CCW...

Страница 31: ...llector Output power 0V 5 Output power 0V CW pulse or nondirectional pulse output 4 CW pulse or nondirectional pulse output 1 6k CW pulse or direction signal output 3 CCW pulse or direction signal out...

Страница 32: ...mbling Connectors 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 367J04...

Страница 33: ...4 I O Circuits In the I O circuits depicted in the following diagrams pin numbers on the con nector actually start from 1 at the bottom of the connector and run through 20 at the top Wiring Section 2...

Страница 34: ...CCW pulse output direction output Note The CW CCW pulse outputs or the pulse direction outputs can be selected by the DIP switch on the rear panel CW pulse output pulse CW CCW out put w 1 6 k resistor...

Страница 35: ...VDC 12 to 24 VDC 12 to 24 VDC 0 V 0 V 0 V Origin input Select either NO or NC inputs via the back panel DIP switch Origin proximity input Select either NO or NC inputs via the back panel DIP switch A...

Страница 36: ...k 1 k 1 k 1 k 1 k 1 k 1 k 1 k 1 k 1 k Power supply 12 to 24 VDC NC contact Select either NO or NC inputs via the back panel DIP switch All inputs have independent grounds commons and are bi directiona...

Страница 37: ...Photoelectric Switch Signal 0 V Pins A11 and B11 are internally rectified so that they can be used bi direc tionally Origin Line Driver Input A8 B8 OMRON R88D EP Servomotor Driver Marketed in Japan 1...

Страница 38: ...he motor stops 2 2 2 Output Connection Examples The figures on the following pages illustrate examples of connections to mo tor drivers Always confirm motor driver specifications before making connec...

Страница 39: ...trol Unit is provided with 1 6 k 1 2 W resistors Use these resistors in accordance with the power requirements and the specifications of the motor driver to be used Open collector output Open collecto...

Страница 40: ...ns Motor driver rated at 5 VDC Example R 220 24 VDC input 5 VDC input CCW pulse output CW pulse output In this example the 1 6 k resistors of the Position Control Unit are used to allow a 24 VDC power...

Страница 41: ...utputting Pulse and Direction Signals with a 5 VDC Power Supply Pulse CW CCW output Pulse input Position Control Unit 24 VDC input 5 VDC input Direction output 1 6 k 1 6 k A1 B2 A3 B3 A4 B4 A5 B5 5 VD...

Страница 42: ...er supply OMRON Servomotor Driver R88D EP Marketed in Japan 13 5 V 28 RESET Origin adjustment signal Output This signal is output in mode 3 B2 B5 A7 B7 5 VDC power supply OMRON Servomotor Driver R88D...

Страница 43: ...3 B10 5 VDC Stepping motor driver UDX5114 Manufactured by Oriental Motor Limit switch NO or NC contact External sensor e g photoelec tric switch or proximity switch NPN output CW Origin proximity Emer...

Страница 44: ...switch NC contact 2 3 4 13 14 28 CW CW CCW CCW 5 V Limit switch NO or NC contact OMRON R88D EP SR Servomotor Driver Marketed in Japan Mode 2 Connect a servomotor driver using the Z phase signal of th...

Страница 45: ...completed input Origin proximity CCW limit Emergency stop CW 0 V 5 VDC 12 to 24 VDC NC limit switch 1 2 3 4 23 22 33 7 8 CW CW CCW CCW This example diagram shows the use of the origin adjustment func...

Страница 46: ...tputs Deviation counter reset output Z phase input Origin proximity CCW limit CW limit Emergency stop 5 VDC NC limit switch 12 to 24 VDC NO limit switch NC also possible NC limit switch 1 2 3 4 13 14...

Страница 47: ...NA JP1 JP2 Main circuit Main circuit AC Servomotor R88M V20040 Marketed in Japan 1 2 5 7 6 3 Red and white Blue and white Red Black Yellow Blue RE Red White Yellow Green M Yellow Blue Resolver 2 2 3...

Страница 48: ...rge absorber Solenoids 5 Insert a noise filter into the power supply line if it is noisy e g when it is connected to the same power supply as an electric welder or an electric spark machine or when th...

Страница 49: ...40 Mounted Dimensions Unit mm Cable Approx 200 117 Rack Dimensions Section 2 3...

Страница 50: ...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 51: ...n terrupt Output pulse selection Origin search direction Origin proximity signal type Origin signal type External interrupt signal type DM area key input via Program ming Console Parameters Positionin...

Страница 52: ...ssing LED flashes Caution Before starting trial operation disconnect the motor from the device it is driv ing and run the trial operation controlling the motor only If it is not possible to disconnect...

Страница 53: ...ole As explained in the Introduction the Position Control Unit executes position ing actions and other operations in accordance with data for speeds posi tions and so on which you write into the DM ar...

Страница 54: ...eing output Doing so will generate an error preventing Unit operation Example Starting Unit 8 in MONITOR or PROGRAM Mode START command Start input 18000 In the above example IR 180 through IR 184 are...

Страница 55: ...1199 Unit 1 DM 1200 to 1299 Unit 2 DM 1300 to 1399 Unit 3 DM 1400 to 1499 Unit 4 DM 1500 to 1599 Unit 5 DM 1600 to 1699 Unit 6 DM 1700 to 1799 Unit 7 DM 1800 to 1899 Unit 8 DM 1900 to 1999 Unit 9 IR...

Страница 56: ...SPEED JOG 12 INCH JOG direction 13 LOW SPEED JOG 14 INCH 15 STOP TRANSFER DATA type Word n 5 n 6 n 7 n 8 n 9 Bit 00 Positioning completed flag Error code Positioning action no Present position Directi...

Страница 57: ...led in the system as binary coded decimal BCD unless otherwise noted Note that this data is generally input as decimal whereas hexadeci mal data is input as hexadecimal The number of digits given for...

Страница 58: ...digits which would be the same for all words are not shown The value of the first two digits can be obtained by computing the first DM word allocated to the Unit This word designated m is equal to 10...

Страница 59: ...oning 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 64 65 66 67 68 69 70 71 72 73 74 75 76 77...

Страница 60: ...igits with direction Zone 2 CCW limit DM m 19 and m 20 7 digits with direction Note that the CW limit for any of the zones can be on the CCW side of the origin the CCW limit on the CW side In other wo...

Страница 61: ...00 and 9999 pulses Backlash When the feeding direction is reversed the number of pulses set in the DM area is output at the initial speed and the Position Control Unit then pro ceeds with normal opera...

Страница 62: ...et if the internal limit settings are 0 CW 8388607 CCW 8388608 Operation START Positioning Actions If either of these limits is reached during execution of positioning actions pulse output will stop a...

Страница 63: ...k is divided by the integral divider ratio Example Values Set Value pps Actual Speed pps 250 000 250 000 00 180 000 18 1818 18 140 000 142 857 14 95 000 95 238 10 3 500 3 500 58 92 92 00 Settings betw...

Страница 64: ...ress the range of speed set tings V MAX MIN where MAX Twice the maximum set value not to exceed 250 000 MIN Speed indicated by initial speed number 2 The number of division steps L is determined such...

Страница 65: ...88 396 392 400 t Time ms V Speed 400 4 ms R 400 100 4 40000 39600 39200 38800 20400 20000 19600 19200 1600 1200 800 400 pps The time required between START command bit recognition and the begin ning o...

Страница 66: ...d in the following table Number of transfers k 1 to 6 1 7 to 13 2 14 to 20 3 21 to 26 4 Mounting one Position Control Unit on a PC extends the PC s scan time by about 3 ms In addition when transferrin...

Страница 67: ...ppendix C and Appendix D also provide convenient overviews of data allocation Applications of most commands are presented in Section 5 4 1 START 60 4 1 1 DM Area Settings 60 4 2 Positioning Actions 61...

Страница 68: ...ata storage areas for the Position Control Unit storing data such as initial positioning ac tion numbers initial speed numbers speed data acceleration deceleration data position data completion codes...

Страница 69: ...eeds in BCD from 0000 to 9999 0 DM word m 97 You assign each of the bits in this word to one of the speeds you previously set in words m 82 through m 96 Speed unit multiplication is affected by bit 04...

Страница 70: ...by setting these bits anywhere from 0 to 5 For further explanation see also Section 4 1 3 m 22 03 to 00 Completion code 0 to 5 If you designate a positioning action as single then it will be executed...

Страница 71: ...START is required in order to resume execution of positioning actions Target speed Stop Time START If you designate a positioning action as extended the Position Control Unit will continually output...

Страница 72: ...n the above diagram there is a delay time of approximately 2 ms for internal processing scan time From position B to position C there may be a maximum additional delay time of 2 ms The delay time betw...

Страница 73: ...es are user defined codes output to IR word n 7 bits 11 to 08 of the OUT refresh area following completion of a positioning action m 22 15 to12 11 to 08 Positioning action number n 7 x101 x100 11 to 0...

Страница 74: ...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 The TEACH command can be used to write target pos...

Страница 75: ...P execution examples IR word n 1 bits 07 to 00 Set to an integer between 00 and 19 START will be executed from the positioning action specified here if bit 01 of IR word n is 1 when the START command...

Страница 76: ...their numbers CCW Initial position CW positioning axis START START START START 0 1 2 3 4 6 5 Pause The completion code for positioning action 0 is set to 0 making it a single action Positioning stops...

Страница 77: ...ample diagrams on the following page Stop Completion code m 22 m 25 m 28 m 31 m 34 m 37 m 40 Positioning action 0 0 2 2 0 1 0 3 Pause Single Bank end Pulse output CW CCW Pulse output CW CCW Pulse outp...

Страница 78: ...nk end positioning action When the last positioning action is completed including any dwell time desig nated for it the Positioning Completed flag turns ON and Busy flag turns OFF START is then requir...

Страница 79: ...d an origin proximity sensor effective on signal s rising edge Before using ORIGIN SEARCH set the DIP switch as described in Section 2 1 to establish the direction from which the search will be made t...

Страница 80: ...essary to obtain the required origin If there is an origin compensation value set in word m 2 then after reaching the position determined by origin signal input com pensation will be executed at proxi...

Страница 81: ...y present absent DIP switch pin no 8 origin proximity reverse present absent and operation In the examples the origin and origin proximity signals both use NC inputs i e DIP switches 4 and 5 are ON Mo...

Страница 82: ...gin signal Pulse output Origin signal 1 0 1 0 CCW CCW CCW Sensor Stepping motor Slit disc Deceleration begins when the origin proximity signal turns ON Origin Stop Origin Stop Positioning axis CW limi...

Страница 83: ...signal each occur once Origin proximity signal Origin signal Pulse output 1 0 1 0 CCW CCW CCW ORIGIN SEARCH Start Origin Stop CW limit 0 5 s pause Positioning axis CW CW CW ORIGIN SEARCH Start Origin...

Страница 84: ...Origin Stop ORIGIN SEARCH Start Origin Stop ORIGIN SEARCH Start Origin Stop Positioning axis CW Mode 1 Origin response time is 0 1 ms Connect to pins A8 and B8 the Z phase sig nal from an encoder rec...

Страница 85: ...egins when the origin proximity signal turns ON The origin is sought after the origin proximity signal turns OFF ORIGIN SEARCH Start Origin Stop Origin Stop Stop After positioning has been stopped a d...

Страница 86: ...alculations Pulse output TD VL VH Positioning axis CW CCW Deceleration time TD VH VL 1000 x R where R is deceleration data pps 1 ms Number of pulses for deceleration period PD VH VL x TD 2 VH2 VL2 200...

Страница 87: ...input during deceleration the stop posi tion differs depending on the length of the deceleration period Origin proximity signal Origin signal Pulse output 1 0 1 0 CCW CCW positioning axis CW CW In th...

Страница 88: ...he range shown in the above figure Mode 2 Mode 2 makes use of the servomotor driver s driver completed signal in ad dition to the signals used in mode 1 For the connection of this signal refer to Sect...

Страница 89: ...rigin Z phase or deviation counter reset signal For wiring diagrams in each mode refer to Section 2 2 Note In this mode even if origin proximity is set to absent operation is performed with origin pro...

Страница 90: ...omotor Driver Origin adjustment signal Z phase signal Driver completed signal 1 0 1 0 1 0 Servomotor driver stops here The point at which positioning stops is the same as in modes 1 and 2 There are so...

Страница 91: ...l Pulse output Busy flag 1 0 1 0 1 0 Start Stop Time 1 0 If the Z phase signal is input from the encoder during deceleration the point at which positioning is stopped differs depending on the length o...

Страница 92: ...time Short deceleration time 4 3 4 Completion Examples Completion Patterns With an Origin Proximity Signal The following two example diagrams both illustrate completion of ORIGIN SEARCH when an origi...

Страница 93: ...on 0 1 0 1 0 High speed 0 5 s 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 bit 11 Busy flag word n 5 bit 12 Movement equival...

Страница 94: ...it 11 Busy flag word n 5 bit 12 Example 2 With Origin Compensation Proximity speed 0 1 0 0 5 s Movement equivalent to compensation value Time 1 0 1 0 1 Origin signal Pulse output At origin flag word n...

Страница 95: ...et in order to execute ORIGIN RETURN They are the same as those for START and can be set by following the instruc tions contained in Section 4 1 Initial Speed Number Bits 11 to 08 of DM word m Speeds...

Страница 96: ...IGIN RETURN Begin ORIGIN RETURN speed Acceleration Deceleration Initial speed Time IN refresh data area flags 1 0 1 ORIGIN RETURN word n bit 03 At origin flag word n 5 bit 02 Busy flag word n 5 bit 12...

Страница 97: ...ion by means of the RELEASE PROHIBIT command bit bit 04 of word n and release of the external emergency stop switch External input pin no 20 13 12 A B A B A B CCW Emergency stop CCW limit CW limit CW...

Страница 98: ...0 0 1 Origin search begun Turns OFF when origin search is completed The emergency stop flag is not affected by exceeding the CW or CCW limit When a limit is exceeded only pulse output in the opposite...

Страница 99: ...it 05 No origin flag IR n 5 bit 11 Busy flag IR n 5 bit 12 CW limit flag IR n 5 bit 13 Alarm error code IR n 6 4 6 READ ERROR The READ ERROR command bit bit 05 of word n is set to access error and ala...

Страница 100: ...s not turn ON READ ERROR can be used within a signal scan For further information and details refer to Section 6 For a complete list of alarm codes refer to Appendix A 4 6 1 Execution Example The foll...

Страница 101: ...11 Busy flag IR n 5 bit 12 Present position IR n 8 and n 9 4 8 TEACH There may be cases where you want to teach your control system a particu lar operation by leading it through the motions In such c...

Страница 102: ...o origin flag is OFF and pulse output is stopped at the position to be taught the present position is set in IR words n 8 and n 9 IR word n 1 bits 15 to 08 Set an integer between 00 and 19 The number...

Страница 103: ...t Unit when it is powered up or restarted by the AR area Restart bit There may be times however when you want to control an operation requiring additional data In those situations you can use TRANSFER...

Страница 104: ...are ignored and only the present position is affected This command can be executed within a single scan 4 9 1 Normal Transfer If bit 15 of IR word n 2 is 0 the TRANSFER DATA command bit bit 10 of IR w...

Страница 105: ...d 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 Words 0000 to 0999 1000 to 1999 000 to 255...

Страница 106: ...ginning at the transfer number specified by word n 2 bits 15 to 08 The beginning word and ending word computed from the num ber of transfers must be within one of the data areas designated during data...

Страница 107: ...Unit is powered up it is ordinarily necessary to execute ORIGIN SEARCH first You can use the present position preset function instead however when it is sufficient to set a specific numerical value a...

Страница 108: ...der to use the preset function If this bit is set to 0 the beginning transfer number is set in bits 15 to 08 as described in Beginning Word Number under Section 4 9 2 IR word n 3 bits 15 to 00 This nu...

Страница 109: ...in 4 digit BCD code Number of transfers Not required IR word n bit 10 After the above settings are made TRANSFER DATA is executed by turning ON this bit This can all be done in one scan Execution Exam...

Страница 110: ...ition These three HIGH SPEED JOG LOW SPEED JOG and INCH are ex ecuted when their respective command bits turn ON in the IR area As with other commands the Position Control Unit makes use of the DM are...

Страница 111: ...are used for Special I O Units When a Position Control Unit is used they are allocated as I O refresh areas For a detailed explanation see Section 3 4 For a detailed table of words and bits in the IR...

Страница 112: ...G com mand bit IR word n bit 13 turns ON effective on signal s rising edge Feeding continues until the command bit turns OFF 1 0 1 0 Time LOW SPEED JOG IR n bit 13 Pulse output Busy flag IR 12 bit n 5...

Страница 113: ...ioning decelerates to a stop when STOP is executed When CHANGE SPEED is executed positioning accelerates or decelerates to the designated speed Specify the target speed to be used for CHANGE SPEED by...

Страница 114: ...ts as fol lows 0 STOP executed in response to external interrupts 1 CHANGE SPEED executed in response to external interrupts If pin 6 is ON and pin 7 is OFF STOP is executed in response to external in...

Страница 115: ...n be written in simultaneously with the rising edge of the work bit 4 11 1 STOP STOP can be executed during pulse output for START ORIGIN SEARCH ORIGIN RETURN HIGH SPEED JOG and LOW SPEED JOG to decel...

Страница 116: ...speed 5 for action 0 decelerate to the target speed speed 8 for action 1 and finally stop at the target position for action 1 When STOP is executed during positioning action 0 however positioning imme...

Страница 117: ...not an increment is exceeded during deceleration for STOP as can happen when STOP is executed during the end of a continuous position ing action If START is executed again before this situation is cor...

Страница 118: ...t Pulse output Positioning Completed flag IR n 5 bit 00 Error flag IR n 5 bit 05 Busy flag IR n 5 bit 12 STOP Executed flag IR n 5 bit 15 Error code IR n 6 Positioning action number IR n 7 bits 07 to...

Страница 119: ...bit 00 Busy flag IR n 5 bit 12 STOP Executed flag IR n 5 bit 15 Positioning action number IR n 7 bits 07 to 00 Output code IR n 7 bits 11 to 08 0 0 1 Output code of action 0 Output code of action 1 0...

Страница 120: ...ing HIGH SPEED JOG feeding will be stopped just as if the HIGH SPEED JOG command bit IR 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 IR n...

Страница 121: ...be executed according to whatever po sition data is set When it is executed for a second time see the following example diagram positioning is interrupted and decelerates to a stop See also Completio...

Страница 122: ...ut code IR n 7 bits 11 to 08 1 0 1 0 1 0 1 0 1 0 1 0 P P 1 Time Positioning is already started but the flag turns OFF one scan later When STOP is executed for the second time positioning is interrupte...

Страница 123: ...switch settings If bit 06 is used the data will simulta neously be input to IR word n 2 If you use an external interrupt signal how ever be sure to input the data at least one scan time early or it wi...

Страница 124: ...TART The example in Section 5 7 illustrates possible search patterns under ORIGIN SEARCH while that in 5 8 illustrates one possible use of zones controlling manual feeding operations Section 5 9 shows...

Страница 125: ...HIGH SPEED 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 1099 0 0 0 6 Deceleration ORIGIN RET...

Страница 126: ...BUSY CW CCW ERROR CW and busy LEDs light when 10012 direction is OFF ALARM Programming Console Display Indicates changes in present po sition 10013 c109 c108 ON 0000 2340 7 Stop LOW SPEED JOG 10013 c...

Страница 127: ...sition Control Unit 24 VDC Feeding is executed to positions lying at equal distances in the same direc tion from a specific point repeatedly using the same positioning action and then RESET ORIGIN ORI...

Страница 128: ...U 13 03000 03002 03002 03002 03000 10512 10511 10502 10512 10500 03001 10502 10512 10008 10015 Operation stop switch No origin Busy flag Busy ORIGIN SEARCH START Present position reset Start switch At...

Страница 129: ...0 0 0 6 Positioning action 1 Positioning action 2 Speed 1 Speed 2 Acceleration 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 t...

Страница 130: ...DATA immediately rewrites the Posi tion Control Unit s memory Therefore the transfer program must be executed a second time this time from DM 1022 if the previous origin positioning ac tion is to be...

Страница 131: ...ank end 0 continuous 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 0 0 DM 0015 0 0 0 1 DM 0...

Страница 132: ...ng 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 beginning with DM 0010 Transfer Completed flag Tran...

Страница 133: ...0 0 0 6 Deceleration Initial speed 0 to F ORIGIN SEARCH 1 to F ORIGIN RETURN speed 1 to F DM 1000 1 0 0 0 DM 1001 1 2 1 2 Three consecutive words are transferred for positioning action 0 The bits of I...

Страница 134: ...01 MOV 21 0000 101 DIFU 13 03003 Data transfer switches Start switches 102 Beginning action no positioning action 0 103 Beginning word no word 1 104 Number of transfers 1 PC data area no 1 I O TRANSFE...

Страница 135: ...imit 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 use...

Страница 136: ...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 0...

Страница 137: ...25313 10004 10002 10012 10011 10013 10000 10001 10015 MOV 21 001 101 MOV 21 105 002 END 01 Unit Number 0 Allocated DM words DM 1000 through DM 1099 The first two digits of the word number have been el...

Страница 138: ...88 89 90 91 92 93 94 95 96 97 98 99 W 15 00 Function Positioning action 15 15 Positioning action 16 16 Positioning action 17 17 Positioning action 18 18 Positioning action 19 19 Speed 1 Speed 2 Speed...

Страница 139: ...origin signal Operation 10002 SW ORIGIN SEARCH The possible search patterns for ORIGIN SEARCH using both an origin sig nal and an origin proximity signal are as follows CCW CCW CCW CW CW CW Origin pr...

Страница 140: ...DM 1009 0 3 0 0 DM 1010 0 0 0 0 DM 1011 0 2 0 0 DM 1012 0 0 0 0 DM 1013 5 0 0 0 DM 1014 0 0 0 0 DM 1015 0 1 0 0 DM 1016 0 0 0 0 Zone 0 CW limit Zone 0 CCW limit Zone 1 CW limit Zone 1 CCW limit Zone 0...

Страница 141: ...1 0 Speed unit Multiplying the Speed Unit by 100 where speed No 1 x 100 speed No 2 x 1 speed No 3 x 100 DM 1003 X X 1 X DM 1082 2 0 0 0 DM 1083 1 0 0 0 DM 1084 1 0 0 0 DM 1097 0 0 0 A Multiplies spee...

Страница 142: ...41 5 0 0 0 DM 1042 0 0 0 1 DM 1043 3 0 0 3 DM 1044 1 0 0 0 DM 1045 0 0 0 0 0 7 bank end 5 continuous 1 9000 Speed No 4 DM 1085 DM 1084 Speed No 3 START CCW Stop 1000 15000 CW Stop START This program i...

Страница 143: ...ag 10000 03000 03101 03100 03100 10000 03000 03101 03100 03101 03101 03100 0 assigned switch DIFU 13 10000 DIFU 13 03000 MOV 21 0000 101 MOV 21 0005 101 DIFU 13 10001 Designates 0 as the next position...

Страница 144: ...Restart bits For a complete list of alarm codes see Appendix A For a list of error codes see Appendix B 6 1 Alarms and Errors 138 6 2 Outputs to the IR Area 138 6 3 Alarm Error Indicators 138 6 4 Erro...

Страница 145: ...generated during pulse output e g when an emer gency stop results from CW limit input An error code begins with a 5 or 9 Refer to Appendix A and Appendix B for specific alarm and error codes 6 2 Outpu...

Страница 146: ...RROR command bit word n bit 5 is turned ON The Busy flag does not turn ON The case where alarm code 1501 and then error code 5000 are generated is given here as an example READ ERROR command bit IR n...

Страница 147: ...nctioning Special I O Unit with a new Unit The malfunctioning Unit displays only when the I O table is read Too many Special I O Units Same unit number has been assigned to more than one I O Unit PC w...

Страница 148: ...are turned off on then back off 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 0100 0 AR 0101 1 AR 0102 2 AR 0103...

Страница 149: ...driver Required number of pulses supplied 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 chroscope PC program e...

Страница 150: ...rval of the trapezoidal acceleration deceleration To measure the frequency during acceleration and deceleration an F V conver ter and X Y recorder can be used For regular maintenance observation of th...

Страница 151: ...pply input CCW pulse output CW pulse output 5 VDC power supply Approx 15 mA Approx 15mA Motor driver for 5V input example R 220 CCW input CW input UP Down Counter Addition Subtraction RSTL reset CHIBC...

Страница 152: ...CPU11 E Position Control Unit 1 axis Directly connectable to servomotor driver compatible with line driver speeds 1 to 250 000 pps C200H NC112 Programming Console Hand held with backlight Except for C...

Страница 153: ...eds high speed and proximity speed available Backlash compensation 0 to 9 999 pulses Manual operation High speed jog low speed jog and inching Internal current 200 mA max at 5 VDC consumption from Rac...

Страница 154: ...fications Response time Open collector signal A11 B11 All the above specifications apply except that the input current is 6 mA 12 V to 13 mA 24 V Mode 0 1 ms max Modes 1 and 2 0 1 ms max Mode 3 Not us...

Страница 155: ...al LOW SPEED JOG speed no 1 to F hexadecimal HIGH SPEED JOG speed no 1 to F hexadecimal Origin compensation value 0000 to 9999 BCD Origin compensation direction digit 0 CW 1 CCW Not used Speed unit mu...

Страница 156: ...n digit Zone 0 CCW side 0 CW 1 CCW x106 x105 x104 x103 x102 x101 x100 m 14 m 13 direction 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 157: ...ntal Positioning 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...

Страница 158: ...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 159: ...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 8 Unit for...

Страница 160: ...OP when set to 0 Valid speed coefficient When set to 1 the speed coefficient set in bits 05 to 00 of IR n 2 is valid When set to 0 the speed coefficient of the target speed is set at 1 0 RESET ORIGIN...

Страница 161: ...0 outside zone 1 1 inside zone 1 Zone 2 flag 0 outside zone 2 1 inside zone 2 Teaching Completed flag completed v starting Transfer Completed flag completed v starting No origin flag 1 no origin Busy...

Страница 162: ...e zone ranges set in DM 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 turns OFF when TRANSFER DATA i...

Страница 163: ...After the bank has been completed or after positioning action 19 has been executed the initial positioning action set in DM word m is used Driver completed signal This bit turns ON during input of the...

Страница 164: ...eed designated by the number is 0 or there is a BCD error in the speed designated by the number Yes Speed contradiction 1500 Table for trapezoidal acceleration deceleration cannot be created due to er...

Страница 165: ...or in the target position for positioning action 0 Yes 2001 to 2019 There is a BCD error in the target position for the positioning action designated by the last two digits of the alarm code Speed BCD...

Страница 166: ...EED 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 using HIGH SPEED JOG LOW SPEED JOG or INCH following...

Страница 167: ...ly After transferring data the error code will be erased for the next operation if data has been prop erly corrected For data that cannot be transferred restart after correct ing DM Check wiring Turn...

Страница 168: ...TRANSFER DATA Check program This error code will be erased by the next TRANSFER DATA Check program This error code will be erased by the next TRANSFER DATA Check program and data in PC Hardware may b...

Страница 169: ...CD Beginning word n 3 bits 00 to 15 4 digits BCD General purpose DM Area D00000 to D00999 00 0000 to 0999 DM Area for Special I O Units D20000 to D20999 00 1000 to 1999 See note 2 I O Area CIO 0000 to...

Страница 170: ...the allocated DM Area 2 Reset the power or turn the Unit Restart flag from OFF to ON Transferring Data Use the TRANSFER DATA command to send data in the case where the above settings for position spee...

Страница 171: ...ing example shows how to transfer the data for three positioning actions starting from D00010 The initial data is stored in D20022 to D20030 The data and positioning ac tions are shown below Speed 4 S...

Страница 172: ...er n 3 Beginning word number n 4 PC data area and number of transfers Position action 0 is speci fied as the destination D00010 is specified as the beginning word of the data to be transferred The dat...

Страница 173: ...stored into positioning action numbers 0 1 and 2 Speed 4 Speed 3 D20022 3 0 0 2 D20023 0 0 0 0 D20024 0 0 0 1 D20025 4 0 0 0 D20026 5 0 0 0 D20027 0 0 0 1 D20028 3 0 0 3 D20029 0 0 0 0 D20030 0 0 0 0...

Страница 174: ...Turns ON the START command bit word n bit 00 for one cycle with the rising edge of the start switch START command bit b If the 0 assigned switch is ON 0000 is set as the initial positioning action wor...

Страница 175: ...osition action 0 is selected Start switch START command bit 200000 Word n bit 00 Bank End flag 200501 Word n 5 bit 01 0 assigned switch Valid initial positioning number bit 200001 Word n bit 01 One cy...

Страница 176: ...ion codes are as follows single pause continuous bank end and ex tended A positioning action completion code that causes the next positioning action to be executed immediately upon completion of the c...

Страница 177: ...cally by the system to provide sta tus information A computer that is used to transfer data to or receive data from a PC in a Host Link System The host computer is used for data management and overall...

Страница 178: ...code speed number and target position These actions are generally referred to by number and completion code For example 6 continuous indicates positioning action 6 with a continuous completion code Th...

Страница 179: ...position of a motor while it is stopped Whenever the motor axis moves the rotary encod er sends a feedback pulse to an error counter causing a rotation voltage to be generated in the reverse directio...

Страница 180: ...or data calculation or other manipulation in programming In the IR area all bits not used as input or output bits can be used as work bits A range of positions which can be defined so that flags are t...

Страница 181: ...ming Console 92 RELEASE PROHIBIT 89 115 RESET ORIGIN 93 115 execution examples 119 START 60 88 activation time 56 command bit 67 DM Area settings 60 88 executing positioning actions 128 execution exam...

Страница 182: ...gs for ORIGIN SEARCH 71 88 settings for START 60 88 transferring data from 45 writing data into 44 writing into with TEACH 93 zones 50 dwell time 65 80 execution example 69 E emergency stop 89 flag 90...

Страница 183: ...GIN SEARCH executed in 81 88 servomotor driver connection examples 36 mode switch 12 17 40 MONITOR mode 45 motor drivers rated at 5 VDC 31 mounting Position Control Unit to CPU Rack 4 N NO and NC inpu...

Страница 184: ...oximity 14 15 16 17 18 19 20 origin proximity signal 74 77 78 81 origin search completed 29 35 wiring 36 origin signal slit disc used as 74 positioning completed 20 29 35 wiring 36 Z phase 18 34 35 si...

Страница 185: ...ed 29 origin adjustment command 33 output connection examples 29 40 precautions 38 40 servomotor driver connection examples mode 1 34 mode 2 35 mode 3 36 stepping motor driver connection 34 to connect...

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