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Interpolation Speeds

The speed set for the X axis will be used for linear and circular interpolation.
For circular arc interpolation, this speed will be the speed along the tangent
to the arc, as shown below.

For linear interpolation, the speeds along the X and Y axes can be figured as
follows:

= V

cos

= V

sin

Interpolation

Section 6-4

Содержание SYSMAC C500-NC222-E

Страница 1: ...OPERATION MANUAL Two axis Position Control Unit NC221 Mode SYSMAC C500 NC222 E Cat No W138 E1 03...

Страница 2: ...C500 NC222 E Two axis Position Control Unit NC221 Mode Operation Manual Revised June 2003...

Страница 3: ...iv...

Страница 4: ...llowing headings appear in the left column of the manual to help you locate different types of information Indicates information of particular interest for efficient and convenient opera tion of the p...

Страница 5: ...vi...

Страница 6: ...g 17 2 1 M D Connector 18 2 2 EXT IN Connector 21 2 3 Faulty Wiring Diagnostic Function 22 2 4 Motor Driver Connection Examples 24 2 5 Wiring Precautions 26 SECTION 3 Data Configuration 27 3 1 Overvie...

Страница 7: ...ssion Program 105 8 3 Basic Program Examples 108 8 4 Application Program Examples 115 SECTION 9 External Display Switches and Indicators 129 9 1 External Display 130 9 2 Display Descriptions 131 9 3 S...

Страница 8: ...and other information necessary for installation and connection of the Position Control Unit Section 3 provides the minimum information necessary to assemble and test a servomotor driver system using...

Страница 9: ...in this section is important for the safe and reliable application of the PC You must read this section and understand the information contained before attempting to set up or operate a PC system 1 I...

Страница 10: ...ing OMRON PCs Be sure to read this manual before attempting to use the software and keep this manual close at hand for reference during operation WARNING It is extreme important that a PC and all PC U...

Страница 11: ...er supplies and voltages may damage the Units Take measures to stabilize the power supply to conform to the rated supply if it is not stable Provide circuit breakers and other safety measures to provi...

Страница 12: ...rol Unit can control the axes independently or simultaneously Both straight line and circular arc interpolation are also possible This section describes the basic features components and operation of...

Страница 13: ...be used with a C500 C1000H or C2000H PC The C500 CPU11 EV1 CPU can be used with the C500 CVM1 CV500 CV1000 or CV2000 PC Any C1000H and C2000H CPU may be used 1 2 Basic Operating Principles The basic...

Страница 14: ...along the X axis the Y axis or both simulta neously Before beginning execution of positioning actions it is necessary to define the origin as a reference point by for example executing origin search...

Страница 15: ...ge to actual data Operate Teaching Box Yes No No no error No Yes Trial operation Mount motors to mechanical system Final wiring Create PC program application Yes error Confirm actual operation Refer t...

Страница 16: ...ed to a Slave Rack Control inputs PC C500 TU002 E Teaching Box Feedback inputs control voltages 24 VDC power supply External interrupt switch Control panel External input switches External input switc...

Страница 17: ...a particular operation is carried out according to programmed instructions but in which no feedback is provided for auto matic adjustments In a closed loop system PC controls an external process with...

Страница 18: ...d feedback Position feedback feedback pulses Speed voltage D A converter Desired position Error counter Servomotor pulse string 1 First the error counter receives a target position in units of encoder...

Страница 19: ...alent to the target position and the motor stops rotating when the error counter count and the speed voltage becomes zero stopping motor rotation 4 While the motor is stopped the rotary encoder consta...

Страница 20: ...or by conversion to a speed voltage for the servomotor driver Thus the position equals the total count of target positions shaded area in the figure and the speed will depend on the desired position p...

Страница 21: ...ode is different from that of the C500 NC221 E Accordingly the output distribution cycle and external input read timing of the C500 NC222 E in NC221 mode are dif ferent from those of the C500 NC221 E...

Страница 22: ...e as shown in the above timing chart on the right hand side however may be produced The difference in tact time is caused by the period A which can be however solved by adjusting the speed data or mov...

Страница 23: ...Pattern 1 accel eration and deceleration pattern 2 103 Position data 500 pulses speed data 1 M code 04 dwell timer 1 INC Pattern 0 accel eration and deceleration pattern 1 Position data 1 000 pulses...

Страница 24: ...768 00032768 Dwell timer 450 850 Dwell timer 0 0 1 0 451 851 Dwell timer 1 100 1 100 452 852 Dwell timer 2 200 1 200 453 853 Dwell timer 3 300 0 300 454 854 Dwell timer 4 400 100 400 455 855 Dwell tim...

Страница 25: ...s speed data 3 M code 07 dwell timer 0 ABS Pattern 1 acceleration and deceleration pat tern 0 Position data 0 pulses speed data 3 M code 07 dwell timer 0 ABS Pattern 1 acceleration and deceleration pa...

Страница 26: ...0 Home shift 0 0 0 811 Maximum speed 10000 FFFFFFFF 1 see note 40010000 812 Jog forward maximum speed 2000 FFFFFFFF 2 see note 10002000 813 Origin search direc tion 0 0 0 814 Origin com pensation 0 0...

Страница 27: ...903 Speed data 3 3000 3000 3000 904 Speed data 4 4000 4000 4000 905 Speed data 5 5000 5000 5000 906 Speed data 6 6000 6000 6000 907 Speed data 7 7000 7000 7000 908 Speed data 8 8000 8000 8000 909 Spee...

Страница 28: ...17 SECTION 2 Wiring 2 1 M D Connector 18 2 2 EXT IN Connector 21 2 3 Faulty Wiring Diagnostic Function 22 2 4 Motor Driver Connection Examples 24 2 5 Wiring Precautions 26...

Страница 29: ...ver I O Control voltage outputs and feedback pulse inputs go through here The con nector type and pin layouts are shown below 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 2 6x6 15...

Страница 30: ...A feedback input for X axis 0 V output for X axis speed voltage to servomotor driver X axis speed voltage output to servomotor driver Ground terminal 24 VDC input terminal for OUT output Phase Z feed...

Страница 31: ...Photocoupler ii Phase B phase B X Y axes iii Phase Z phase Z X Y axes Phase A Phase A Phase B Phase B Phase Z Phase Z Typical Encoder 5V 0V A out B out Z out Output Circuitry OUT Outputs and Speeds DC...

Страница 32: ...in No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Symbol DC GND CCWLX STPX ORGX EMGX CWLX FG 24V 24V DC GND CCWLY STPY ORGY EMGY CWLY Description Ground 0 V terminal for external 24 VDC power supply Limit...

Страница 33: ...ter is larger than the value in the error counter when the external interrupt is received In this ca pacity an external interrupt can be used to stop the workpiece after an estab lished number of puls...

Страница 34: ...igure by a control voltage output in the CW direction The reversed wiring thus causes further CW rotation when the servomotor driver receives this control voltage The error counter continues to total...

Страница 35: ...6 17 18 19 20 21 22 23 24 25 CN1 COM MING RUN Z Z B B A A AG REF GND DC Power supply 0V 24V M D connector EXT IN connector External interrupt switch Emergency stop switch CCW limit Origin CW limit Ser...

Страница 36: ...5 6 7 8 9 10 11 12 13 14 15 16 6 5 4 9 10 6 7 9 10 3 4 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 M D connector EXT IN connector DC GND CCWL X STP X ORG X EMG X CWL X FG 24V 2...

Страница 37: ...e absorbing components close to the relay or solenoid For a DC relay use a surge absorbing diode with a voltage tolerance at least five times greater than the circuit voltage DC RY Solenoid SOL Surge...

Страница 38: ...data most conveniently with the Teaching Box but it is also possible to send data from the PC to the Position Control Unit Data is automatically transferred from EEPROM to RAM when the Position Contr...

Страница 39: ...f an object at tached to a motor by the number of pulses n required for this movement The pulse rate thus equals x n In actual operation the data input in normal units of distance is translated by the...

Страница 40: ...ulses 409 3 Zone setting 0 to 9 999 pulses 410 3 Home shift 999 999 pulses 414 3 Maximum speed 1 to 300 000 pps 412 3 Maximum jogging speed 1 to 300 000 pps 413 2 Origin search direction 0 or 1 414 3...

Страница 41: ...C for transfers If the Teaching Box is used see operation manual W145 The data within the parenthesis con tains the PCU address for the data being described Designates the unit to be used with the Tea...

Страница 42: ...ge Resulting rotation Positive in direction of Positive voltage 0 CW Positive CW increasing absolute CCW Positive CCW positions Negative voltage 1 CW Negative CW CCW Negative CCW Negative in direction...

Страница 43: ...e dif ference signals Phases A and B you require from the feedback pulses Mul tiplier 1 sets the motor resolution equal to the encoder resolution This means an encoder with a resolution of 1 000 pulse...

Страница 44: ...hase A when Phase B is high With Multiplier 4 feedback pulses are generated in addition at the leading edge of Phase B when Phase A is high and at the trailing edge of Phase B when Phase A is low Caut...

Страница 45: ...0 in bit 12 15 14 13 12 0 0 0 0 1 Minus 2 Plus The top word of the data read area varies with the axis when reading the error counter value The top word of the data read area when reading the X and Y...

Страница 46: ...ag ON OFF In position Flag Positioning Flag Positioning Completed Flag Stopped Flag Desired position Within the in position zone setting Count in error counter Backlash refers to the amount of mechani...

Страница 47: ...depending on the setting of the sign bit in the Attribute 1 field To prevent overrunning of the motor an error occurs when execution of positioning actions beyond the set value is attempted This param...

Страница 48: ...ositioning start point Positioning end point Acceleration Zone flag set Deceleration Zone flag set Address 103 102 101 100 Positioning start point Positioning end point Acceleration Zone flag set Dece...

Страница 49: ...s the maximum JOG speed You can set this parameter to prevent overrunning of the motor The speed set here will be the maximum at which the motor will run during JOG even if a command is executed with...

Страница 50: ...tection Phase Z detection Moves at low origin search speed Mechanical origin Origin compensation Origin compensation operation Origin compensation 2 Address 0 This speed is used in origin search until...

Страница 51: ...r an origin input is detected An origin search starts with the high speed and changes to this low speed from the origin input detection until the first phase Z detection See the previous figure under...

Страница 52: ...Deceleration Stop value low in comparison to the jogging speed If you want to ensure that a specific distance is moved after receiving an external interrupt set the Deceleration Stop value high in com...

Страница 53: ...Default 0 3 4 Setting Positioning Actions Write in the data for positioning actions last after making all of the other set tings Parameter settings are described in the previous subsections dwell tim...

Страница 54: ...positions so that when the workpiece passes particular posi tions the PC will respond with appropriate actions The M code is valid when the positioning action has been completed In this field you desi...

Страница 55: ...cumulative rounding error if the selected unit is millimeter or inch Finally the position field sign divides the position field range centered at the origin from 99 999 999 pulses to 99 999 999 pulse...

Страница 56: ...om the meaning in oth er Position Control Units Here positioning actions include the change in speed acceleration or deceleration for the next positioning action instead of the change in speed for the...

Страница 57: ...tioning action will be executed according to its parameters Naturally if the next posi tioning action is also disabled operation will then be based on the completion code for it In simple terms the co...

Страница 58: ...et up a ladder diagram program to execute three positioning actions at addresses 101 102 and 103 the following positioning movements could be achieved by enabling disabling different actions In all ca...

Страница 59: ...to 9 990 ms Default 0 to 900 ms Position destination 1 3 6 Setting Acceleration and Deceleration Times The acceleration and deceleration times are stored in addresses 460 469 for the X axis and 869 8...

Страница 60: ...ly JOG commands XJOG YJOG IJOG acceleration only Origin search commands XORG YORG IORG Pauses XHLD YHLD IHLD deceleration only and Pause re leases XREL YREL IREL acceleration only 3 7 Setting Speeds S...

Страница 61: ...acceleration time 100 ms deceleration time 100 ms Dwell time 500 ms Absolute continuous acceleration time 100 ms deceleration time 300 ms Dwell time 0 ms Absolute terminating acceleration time 100 ms...

Страница 62: ...d Deceleration stop Address 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 Setting 0 1 0 01 200 10 0 999 999 999 999 01000100 0 10 000 2 000 0 0 5 000 5 1 000 500 Attribut...

Страница 63: ...cel time 3 Accel Decel time 4 Accel Decel time 5 Accel Decel time 6 Accel Decel time 7 Accel Decel time 8 Accel Decel time 9 Setting 00100010 00100020 00100030 00100040 00100050 00200020 00200030 0020...

Страница 64: ...1 000 pulses speed 3 kpps M code 09 Position 0 pulses speed 1 kpps M code 10 Attributes Dwell time 500 ms Incremental terminating acceleration 200 ms deceleration 200 ms Dwell time 0 ms Absolute cont...

Страница 65: ...rch speed Origin search acceleration and deceleration Low origin search speed Deceleration stop Setting 0 1 0 01 200 10 0 999 999 999 999 01000100 0 10 000 2 000 0 0 5 000 5 1 000 500 Attributes Pulse...

Страница 66: ...07 908 909 Description Speed 0 Speed 1 Speed 2 Speed 3 Speed 4 Speed 5 Speed 6 Speed 7 Speed 8 Speed 9 Setting 10 000 1 000 2 000 3 000 4 000 5 000 6 000 7 000 8 000 9 000 Attributes pps pps pps pps p...

Страница 67: ...C 4 1 Compatible Models and Words 58 4 2 PC Programs 59 4 2 1 Basic Command Transmission Program PC to Position Control Unit 60 4 2 2 Basic Status Flag Reception Program Position Control Unit to PC 60...

Страница 68: ...l Unit for communication with the PC Word n OUT n 1 IN Bit 00 01 02 03 15 00 01 02 03 15 Name PC Busy PC Writing PC Read Completed PCU Busy Reading PCU PCU Write Completed Description Used in WRIT 87...

Страница 69: ...ddresses 100 to 999 addresses 000 to 052 RAM EEPROM One or more commands stored in the DM area of the PC are transmitted in a stream to the Position Control Unit where they are executed sequentially T...

Страница 70: ...rd D I O word for transfer destination word n occupied by the PCU EQ Equals flag 4 2 2 Basic Status Flag Reception Program Position Control Unit to PC Status flag reception should be written at the en...

Страница 71: ...to about a 1 in 10 chance that READ 88 will not be executed as programmed This situation is illustrated below Writing status to RAM PCU Approx 10 ms READ 88 reading status from PC Scan time Not execu...

Страница 72: ...aving Data Data Transfers Parameters and positioning actions stored in the DM area can be transferred to RAM in the PCU using a program like the one shown below Be sure the first DM word contains an a...

Страница 73: ...le the NC222 E is positioning i e while one or more axes are moving DM 1000 DM 1001 DM 1002 DM 1003 DM 1004 DM 1005 DM 1006 DM 1007 DM 1008 DM 1009 DM 1010 DM 1011 DM 1012 DM 1013 DM 1014 DM 1015 DM 1...

Страница 74: ...an then be changed by transferring data with WRIT 87 or from the Teaching Box This data will be deleted and replaced by EEPROM data the next time power is turned off and back on There is a command ava...

Страница 75: ...certain PCU commands and the status information 5 1 Flag Transitions and Types 66 5 2 Status Word Allocations 68 5 3 Status Word Details 70 5 3 1 System Flags 70 5 3 2 Error Code and System Error Flag...

Страница 76: ...command code definitions Emergency Stop Pause Positioning Jogging Inching Origin Search Positioning Completed HLD REL SRT PLS ORG STP SRT JOG PLS ORG EMG ERST Dwelling Origin Flags Command codes STP E...

Страница 77: ...into a memory area in the PC Their contents are as follows System status flags Error codes System error status flags Error codes Status flags Current position M code Multiplier data Current positioni...

Страница 78: ...Teach ing Box Con nected External Display Con nected PC Commu nications Disabled Interpo lating Straight Line Reading EE PROM Writing EE PROM EE PROM Write Com pleted Speeds Cleared Commu nications Er...

Страница 79: ...cy Stop Current Position Sign CW Move ment CCW Move ment Accel erating Constant Speed Deceler ating In Posi tion Accel eration Zone Decel eration Zone Origin OUT2 Output OUT1 Output CWLS Input CCWLS I...

Страница 80: ...rpolation 0 0 7 Interpolating Circular Arc Indicates circular arc interpolation When processing circular arc interpolation When processing other than circular arc interpolation 0 0 8 PC Communications...

Страница 81: ...Indicates command error affecting interpolation When error code of 50 to 53 is generated for a Start command When proper command is received 0 No change 11 System Data Processing Error Indicates comma...

Страница 82: ...tion Content ON OFF Initially On system error 0 Current Position Sign Indicates current position as positive or negative When current position is negative When current position is zero 0 or positive o...

Страница 83: ...ears all parameters When at least one parameter is registered 0 or 1 No change 14 Origin Set Indicates establishment and existence of origin After ORG is completed or when CCHG is received When a syst...

Страница 84: ...a system error occurs 0 0 9 Acceleration Zone Indicates position is within acceleration zone When SRT or JOG is received When the starting position and current position differ by the set value when S...

Страница 85: ...ates current position in BCD 106 digit 12 13 14 15 Designates current position in BCD 107 digit X Axis Word D 6 Y Axis Word D 13 Rightmost Digits Bit Function Content Updated Cleared Initially On syst...

Страница 86: ...t are set 0 0 5 3 8 Multiplier and Current Positioning Action Address X Axis Word D 8 Y Axis Word D 15 Bit Function Content Updated Cleared Initially On system error 0 1 2 3 Current positioning action...

Страница 87: ...dress in BCD 100 digit When power is turned on or when a start command is received 0 No change 12 13 14 15 Designates current speed address in BCD 101 digits 5 4 Flag Changes For ordinary positioning...

Страница 88: ...ompleted Origin Search CW CCW Movement Origin Input Origin Origin Set During JOG operations flags change in the following manner Flags are set during the shaded areas STP Time Speed Stop Positioning J...

Страница 89: ...the following manner when HLD Pause and REL Pause Release are executed HLD Time Speed Stop Positioning Positioning Completed Pause M Code Accelerating Constant Speed Decelerating CW and CCW Movement I...

Страница 90: ...to control PCU operation from the PC 6 1 Command Format 82 6 2 Command Descriptions 84 6 2 1 System Commands 84 6 2 2 Servo Control Commands 85 6 2 3 Data Processing Commands 87 6 3 Command Processing...

Страница 91: ...his section these ac companying data words are depicted below the OP code and operand word If the number of additional data words exceeds 8 you enter 9 for the operand count and an extra data word tha...

Страница 92: ...ol com mands Y axis 02 YSRT Start YSTP Decel eration stop YJOG Jogging YPLS Inching YORG Origin search YOVR Over ride YHLD Pause YREL Pause release YEMG Emer gency stop Interpola tion 03 ISRT Start IS...

Страница 93: ...skip com mands by designat ing the number of words to be skipped a Operand count 0 9 b Extended operand count 009 to 125 when a is set to 9 Error reset ERST 0 0 2 0 OP code Clears the error External...

Страница 94: ...tion b Positioning action address when a 1 to 8 b Extension operand number 009 to 125 when a 9 c Positioning action address A Axis designation 1 X axis 2 Y axis 3 both axes a Acceleration and deceler...

Страница 95: ...stop for the desig nated axis Works the same as an ex ternal interrupt A Axis designation 1 X axis 2 Y axis 3 Both axes A Axis designation 1 X axis 2 Y axis 3 Both axes A Axis designation 1 X axis 2...

Страница 96: ...esses them selves a Speed data 0 Does not clear 1 Clears b Parameter data 0 Does not clear 1 Clears X axis 2 Clears Y axis 3 Clears both axes c Positioning data Same as b a Operand number 1 to 8 Opera...

Страница 97: ...ents of the current position to the desig nated value for the designated axis When the digit in the desig nated data word field is 1 home shift is enabled for po sitioning that follows a Source addres...

Страница 98: ...ed Command error occurs Start Command Delays The time required from when a start command is received until a speed volt age is output is as follows Normally Approx 6 ms When one axis is started while...

Страница 99: ...terpolation below the intermediate interpo lation point P0 and end point P1 are selected 0 3 0 1 1 2 3 0 Consider the command P1 P0 Starting Point Interpolation start with one operand Positioning acti...

Страница 100: ...int No interpo lation Intermediate point Attrib ute 2 Completion code 0 0 0 Circular arc interpolation direc tion CW CCW Automatically determined Positioning action enable Enabled Enabled Enabled X an...

Страница 101: ...following table presents a short list of hypothetical positioning actions For specific field entries refer to 3 4 Setting Positioning Actions Address Position Interpolation Code Positioning Action En...

Страница 102: ...aight Line Interpolation The following table presents a hypothetical list of positioning actions all with interpolation code 01 as end points The accompanying figure shows two interpolation routes The...

Страница 103: ...and circular interpolation For circular arc interpolation this speed will be the speed along the tangent to the arc as shown below Y X V For linear interpolation the speeds along the X and Y axes can...

Страница 104: ...X axis continuous positioning Straight line inter polation Continuous straight line interpolation Circular arc interpolation using in termediate point Circular arc interpo lation using center Axis Fi...

Страница 105: ...tion describes how to establish the origin either by defining the current position as the origin or by using origin and limit inputs to establish the mechanical origin 7 1 CCHG 98 7 2 Origin Search XO...

Страница 106: ...es to a halt and then movement starts again at the low origin search speed parameter stored at addresses 417 for the X axis and 817 for the Y axis The motor axis or axes stops at the first phase Z pul...

Страница 107: ...edge of the origin input 3 The origin is established at the first phase Z pulse after the trailing edge of the origin input 0 Speed Origin search high speed Origin search low speed Phase Z CCWLS CWLS...

Страница 108: ...metimes the origin may be preferred a few pulses CW or CCW from the phase Z pulse In order to correct the origin s position set the origin compensation parameter addresses 414 for the X axis and 814 f...

Страница 109: ...s 108 8 3 1 Positioning to a Single Point X Axis 108 8 3 2 Positioning to a Single Point Y Axis 108 8 3 3 Straight Line Interpolation to a Single Point X Y Axis 110 8 3 4 Circular Arc Interpolation Ce...

Страница 110: ...11 b8 b7 b4 b3 b0 Remark m 0 1 0 1 Positioning to point A Section 8 3 1 m 1 1 0 0 0 m 2 m 3 0 3 0 1 Straight line interpolation to origin Section 8 3 3 m 4 1 0 2 0 m 5 m 6 0 3 0 1 Circular arc interpo...

Страница 111: ...k 9 1 5 4 4 k 10 1 0 3 4 X axis address 103 Point C circular arc center k 11 0 0 0 1 k 12 0 0 0 0 k 13 0 2 0 0 k 14 0 0 C 6 k 15 1 0 4 4 X axis address 104 interpolation end point k 16 0 0 0 0 k 17 0...

Страница 112: ...0 0 k 58 0 1 2 1 k 59 1 1 0 4 k 60 0 0 0 0 Y axis address 502 origin straight line interpolation end point k 61 0 0 0 0 end point k 62 0 2 3 0 k 63 1 1 4 4 k 64 0 0 0 1 Y axis address 503 m point C c...

Страница 113: ...en closed in parentheses For example l 3 08 would be word 3 bit 08 in the tables of subsection 5 2 Refer to the tables keeping in mind that all words begin with l l 0 for word 0 8 2 Data Transmission...

Страница 114: ...tes Refer to 3 4 Setting Posi tioning Actions for further details X Axis Address Position pulses Speed M code Dwell time Acceleration and Decelera tion time Attribute 1 Attribute 2 Remarks 100 10 000...

Страница 115: ...sitioning actions j 6 00 set as differentiated input l 15 Command Ready Transfers the 9 positioning actions of the Y axis Without any empty ad dresses the group of 9 positioning actions is considered...

Страница 116: ...gin j 01 j 03 l 15 Command Ready j 02 25506 25506 j 15 j 02 j 03 Normally ON Positioning Completed Position of point A Reads flags l 3 08 25313 Start command to point A Ladder Diagram 8 3 2 Positionin...

Страница 117: ...dy j 1 02 25506 25506 j 15 j 1 02 j 1 03 Normally ON Positioning Completed Reads flags l 3 08 25313 25506 j 1 04 READ 88 0017 n 1 l Point A Positioning Completed Point A CMP 20 l 14 0021 25506 j 1 15...

Страница 118: ...point C to indicate completed posi tioning Y axis pulse 0 origin X axis pulse Time s 1 kpps Speed pps C 10 000 10 000 X Y axes Origin C DIFU 13 j 2 01 WRIT 87 0002 DM m 3 n CMP 20 l 7 0030 l 7 CMP 20...

Страница 119: ...id an error An error occurs when the three points chosen cannot produce a circular arc Compu tation in millimeter and inch units can generate rounding errors Acceleration and deceleration times are no...

Страница 120: ...indicate completed positioning For circular arc inter polation with a designated intermediate point the entire circumference of a circle cannot be produced because the center cannot be computed Again...

Страница 121: ...triggers the integrated signal the Y axis motor to move via point B to point C Next the Y axis M code 21 triggers the straight line inter polation to the origin followed by two consecutive circular ar...

Страница 122: ...eady j 5 09 25506 j 5 10 j 5 09 l 7 CMP 20 0030 25506 j 5 11 DIFU 13 j 5 12 READ 88 0017 n 1 l j 5 11 l 4 00 Start input Origin 25313 Normally ON 25313 Normally ON Point C Origin Reads flags Start com...

Страница 123: ...atically return to the origin Y axis pulse 0 origin X axis pulse X Y Origin Time s Origin Positioning point Speed pps X Y axes interpolation AR Area Allocations n n 1 n 2 n 3 n 4 n 5 n 6 n 7 n 8 n 9 O...

Страница 124: ...0 9 0 X axis position leftmost digits X axis position rightmost digits Y axis position leftmost digits Y axis position rightmost digits Speed rightmost digits b7 b4 0 5 4 0 5 4 1 0 0 0 4 1 0 0 0 4 0...

Страница 125: ...sitioning Completed l 3 08 TIM 000 j 10 07 l 7 MOV 21 n 8 0000 MOV 21 n 8 TIM 000 WRIT 87 0002 DM q 3 n j 10 08 j 10 09 l 15 Command Ready j 10 10 j 10 10 j 10 09 25506 READ 87 0017 n 1 n Normally ON...

Страница 126: ...n and returning to the origin at a speed of 1 pps X axis pulse 0 origin 5 000 2 500 5 000 5 000 R R radius 0 Speed pps Speed pps X axis Y axis 0 Origin Y axis pulse IR Area Allocations n n 1 n 2 n 3 n...

Страница 127: ...36 r 37 r 38 r 39 b15 b12 1 0 0 0 0 1 0 2 0 0 1 0 2 0 0 1 0 2 0 0 1 0 5 0 0 1 0 5 0 0 1 0 0 0 0 0 0 0 1 5 0 0 5 1 5 0 0 5 1 5 0 0 5 1 5 0 0 0 1 5 0 0 0 1 5 0 0 0 1 5 b11 b8 b7 b4 0 0 0 7 4 1 0 0 7 4...

Страница 128: ...73 r 74 r 75 r 76 r 77 r 78 r 79 b15 b12 5 0 0 0 5 0 0 0 5 0 5 0 0 5 0 0 0 5 0 0 0 5 0 0 0 0 5 0 0 0 0 0 0 1 5 0 0 1 5 0 0 0 1 5 0 0 1 5 0 0 1 5 0 0 0 1 5 0 0 0 1 5 b11 b8 b7 b4 0 0 7 4 1 0 7 4 2 0 0...

Страница 129: ...DM r n j 11 04 j 11 07 l 15 Command Ready j 11 06 l 11 06 l 11 07 25506 WRIT 87 0035 DM r 40 n j 11 07 j 11 09 l 15 Command Ready j 11 08 l 11 08 l 11 09 25506 WRIT 87 0005 DM s n j 11 10 j 11 11 l 1...

Страница 130: ...5 are respectively output at each position while the axes stop for 0 5 second After the 25 positions the motors return to the origin Y axis pulse X axis pulse 0 origin 10 000 5 6 15 25 16 4 7 14 17 24...

Страница 131: ...50 b15 b12 1 0 0 0 0 1 0 5 0 0 1 0 0 0 0 1 0 5 0 0 1 0 0 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 5 b11 b8 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0...

Страница 132: ...b12 0 5 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 5 b11 b8 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 0 1 0 1 0 0 1 0 1 0 0 1 0 1 0 0 1 0...

Страница 133: ...4 t 135 t 136 t 137 t 138 t 139 b15 b12 0 5 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 1 0 0 0 0 5 0 0 0 0 b11 b8 0 0 1 0 1 0 0 1 0 1 0 0 1 0 1 0 0 1 0 1 0 0 1 0 2 0 0 1 0 2 0 0 1 0 2 0 0 0...

Страница 134: ...8 t 199 t 200 t 201 t 202 b7 b4 0 0 0 1 0 2 0 3 0 4 0 1 0 5 0 6 0 7 0 8 0 2 0 9 0 0 0 1 0 2 0 3 0 3 0 4 0 5 0 6 0 4 0 7 0 8 0 9 0 0 0 5 b11 b8 3 0 2 0 2 0 2 0 2 0 1 0 2 0 2 0 2 0 2 0 1 0 2 0 2 1 2 1 2...

Страница 135: ...mmands Transfers commands j 12 12 DIFU 13 l 3 08 0005 TIM01 l 7 MOV 21 n 2 j 12 13 DIFU 13 l 10 08 0005 TIM002 l 14 MOV 21 n 2 CMP 20 l 7 0026 j 12 07 25506 Origin Origin j 12 14 DIFU 13 TIM001 START...

Страница 136: ...129 SECTION 9 External Display Switches and Indicators 9 1 External Display 130 9 2 Display Descriptions 131 9 3 Switches and Indicators 133...

Страница 137: ...g Current Position mode and the error code during Error Code mode Moving Between Display Modes The C500 ND201 External Display has four display modes which can be se lected by pressing the MODE and RE...

Страница 138: ...tion is displayed in the selected unit pulse mm inch The various units have the following ranges 1 For pulse 99 999 999 to 99 999 999 This is the maximum range of the device in absolute figures 2 For...

Страница 139: ...de coefficient if in effect 0 7 in the figure Displays system and command error codes whenever an error occurs The display mode automatically turns to Error Code mode in such cases E0 lights at the ax...

Страница 140: ...ion operation No CCW direction operation No errors RUN X Y CW CCW ERROR LED Display M D Motor Driver Converter Connect the servomotor drivers here This port has I O assignments for speed voltage feedb...

Страница 141: ...135 SECTION 10 Error Processing 10 1 Procedure 136 10 2 Basic Troubleshooting 136 10 3 System Errors 136 10 4 Command Data Errors 136 10 5 Communications Errors 136...

Страница 142: ...rror code 3 Correct the cause of the error 4 Reset the Position Control Unit ERST 10 3 System Errors Caused by reasons other than PC commands System errors have error codes 00 21 See Appendix D Possib...

Страница 143: ...r less for 5 VDC 50 mA or less for 24 VDC Between all external terminals and frame ground 500 VAC for 1 minute at 50 60 Hz Power 100 VAC a Normal mode 1 2 kV b Common mode 1 2 kV I O 24 VDC a Normal m...

Страница 144: ...Origin external interrupt CW limit CCW limit Emergency stop Input voltage 24 VDC 10 Input current 8 mA ON voltage 12V min OFF voltage 4V max ON delay time 2 ms or less OFF delay time 2 ms or less Pha...

Страница 145: ...ification OUT1 OUT2 Open collector 40 mA at 24 VDC 0 1 mA or less 1 1 V or less 24 VDC 10 Speed voltage 10 to 10 VDC 10 mA approx 1 kW impedance Item Output types Maximum open close capacity Leak curr...

Страница 146: ...hing Box or External Display 300 positions per axes Straight line interpolation end point Circular arc interpolation arc center and end point or arc intermediate and end points 100 for both axes 1 300...

Страница 147: ...00 VA or less Between all AC external terminals and frame ground 50 MW or greater at 500 VDC Between all external terminals and frame ground 1 000 VAC for 1 minute 50 60 Hz Power a Normal mode 1 2 kV...

Страница 148: ...External Display Specifications Appendix B 142 External Dimensions Unit mm 262 270 15 15 70 40 40 66 252 4 M4 Square hole 262 5 Mounting Hole Dimensions 64 148 135 137 180 2...

Страница 149: ...ther 1 the PC sent an EMG 2 the external emergency stop input turned ON or 3 an emer gency stop was entered at the Teaching Box The error counter count exceeded its maximum value 215 bits when a workp...

Страница 150: ...and status Correction 50 Data errors Interpolation data error 1 When ISRT is transferred Data designated by ISRT is not interpolation data Correct the data and re transmit the data 51 Interpolation d...

Страница 151: ...arity error Constant Parity check uncovered an abnormality Clear the error with ERST and follow the steps below If the error does not clear there may be a hardware problem which is not user serviceabl...

Страница 152: ...99 Zones 0 9 999 acceleration 0 9 999 deceleration Home shift 999 999 Maximum speed 1 300 000 Maximum jogging speed 1 300 000 Origin search direction 0 1 Origin compen sation 999 999 High origin searc...

Страница 153: ...ction 8 Positioning action 9 Positioning action 10 Positioning action 11 Positioning action 12 Positioning action 13 Positioning action 14 Positioning action 15 Positioning action 16 Positioning actio...

Страница 154: ...21 Speed 22 Speed 23 Speed 24 Speed 25 Speed 26 Speed 27 Speed 28 Speed 29 Speed 30 Speed 31 Speed 33 Speed 32 Speed 34 Speed 35 Speed 36 Speed 37 Speed 38 Speed 39 Speed 40 Speed 41 Speed 42 Speed 43...

Страница 155: ...om which the shaft extends from the motor for connection CW CCW limits Limits on the CW and CCW sides of the origin which can be internally set to restrict rotation of the shaft data area A memory sto...

Страница 156: ...n time origin compensation A parameter used to correct the origin from the position determined according to the origin input signal origin proximity signal A signal input to indicate when the position...

Страница 157: ...tion is to be reached at the completion of the action teaching Writing the present position into memory via the Teaching Box as the target position for the designated positioning action terminating co...

Страница 158: ...ber of 2 control system configuration of 6 D data allocations 29 backup 2 capacity and storage 2 communication between PC and PCU 58 Intelligent I O Read and Write instructions 59 configuration 2 27 s...

Страница 159: ...on and deceleration 40 addresses for parameters 98 high and low speed 98 high speed 39 low speed 40 P parameter deceleration stop 22 multiplier 32 origin search 98 parameters 2 allocations 29 number p...

Страница 160: ...ection parameters 44 S semiclosed loop system 6 servoclamp 8 servolock 8 servomotor drivers 6 7 9 18 23 32 133 solenoids protection for 26 speeds application 49 changes for positioning 44 current addr...

Страница 161: ...orrected High Origin Search Speed graph and Origin Search Acceleration and Deceleration graph on p 44 Corrected operations for which acceleration and deceleration times are effective p 52 Command OP C...

Страница 162: ...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 163: ...Cat No W138 E1 03 Note Specifications subject to change without notice Printed in Japan Authorized Distributor...

Страница 164: ...Cat No W138 E1 03 SYSMAC C500 NC222 E Two axis Position Control Unit NC221 Mode OPERATION MANUAL...

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