OMRON C200H NC211 Position Control Unit Operation Manual

Cat. No. W166-E1-03

SYSMAC

C200H-NC211

Position Control Unit

OPERATION MANUAL

C200H-NC211 Position Control Unit

Operation Manual

Revised February 2003

iv

Notice:

OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to the product.

!

DANGER

Indicates information that, if not heeded, is likely to result in loss of life or serious injury.

!

WARNING

Indicates information that, if not heeded, could possibly result in loss of life or serious injury.

!

Caution

Indicates information that, if not heeded, could result in relatively serious or minor injury, damage to the product, or faulty operation.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means

“word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for anything else.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of information.

Note Indicates information of particular interest for efficient and convenient operation

of the product.

1, 2, 3...

1.

Indicates lists of one sort or another, such as procedures, checklists, etc.



OMRON, 1990

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

v

vi

TABLE OF CONTENTS

SECTION 1

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2 Model Differences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-5 Control System Principles

1-6 Programming Precautions

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

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

SECTION 2

Before Operation

2-1 Operational Flow

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

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

2-2 Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3 Switch Settings Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 3

Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1 Wiring Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2 Data Configuration and Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3 DM Area Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 4

Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1 Setting Up Data Memories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2 Unit Table Creation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 5

IR Area Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1 IR Area Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2 IR Area Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3 IR Area Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-4 Execution Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-5 ORIGIN SEARCH Completion Examples

5-6 Start/Stop

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

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

SECTION 6

Manual Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-1 IR Area Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2 HIGH-SPEED JOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3 LOW-SPEED JOG

6-4 INCH

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

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

6-5 RESET ORIGIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-6 External Interrupt Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-7 STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-8 CHANGE SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-9 CHANGE SPEED COEFFICIENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

67

68

95

125

126

127

128

129

130

131

134

146

147

17

18

20

24

33

48

1

2

11

16

3

6

9

97

98

100

105

106

119

122

49

50

52

54

vii

viii

TABLE OF CONTENTS

SECTION 7

The TEACH Command . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-1 IR Area Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-2 Execution Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-3 Teaching from the Programming Console . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-4 TRANSFER DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-5 Present Position Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 8

Error Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-1 Alarms and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-2 Alarm/Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-3 RELEASE PROHIBIT

8-4 READ ERROR

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

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

8-5 Troubleshooting from the PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-6 Detection of Abnormal Pulse Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-7 Alarm Code List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-8 Error Code List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 9

Programming Examples . . . . . . . . . . . . . . . . . . . . . . . . . .

9-1 Example 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-2 Example 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-3 Example 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-4 Example 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-5 Example 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-6 Example 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-7 Example 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-8 Example 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-9 Example 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-10 Example 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-11 Example 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendices

A Application in CS1-series PCs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

151

153

155

156

158

165

169

170

172

173

176

179

181

183

185

189

210

218

219

221

229

190

196

199

201

203

208

233

241

245

247

251

255

About this Manual:

This manual describes the operation of the NC211-C200H Programmable Control Unit (PCU). The PCU is a special I/O device that receives positioning commands, either externally or from a PC, and uses that data to control the operation of a stepping motor or servomotor driver.

Section 1 provides an introduction to the features and possible system configurations of the PCU. It also explains the differences between the NC211-C200H and the older NC112-C200H PCU.

Section 2 contains information on how to prepare the PCU for operation, including switch setting and wiring information.

Section 3 presents data configuration and allocation information.

Section 4 presents and explains the operation of PCU commands.

Section 5 presents the IR area data format and execution examples illustrating different configurations.

Section 6 explains the Manual operation commands of the PCU.

Section 7 explains the TEACH command and presents several examples.

Section 8 explains Error Processing.

Section 9 presents 11 programming examples which pull together all of the material in this manual.

!

WARNING

Failure to read and understand the information provided in this manual may result in personal injury or death, damage to the product, or product failure. Please read each section in its entirety and be sure you understand the information provided in the section and related sections before attempting any of the procedures or operations given.

ix

SECTION 1

Introduction

1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2 Model Differences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-5 Control System Principles

1-5-1 Open-Loop System

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

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

1-5-2 Semiclosed-loop System

1-6 Programming Precautions

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

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

2

3

6

9

11

13

15

16

1

Features

Section Overview

Section 1-1

The C200H-NC211 Position Control Unit is a Special I/O Unit that receives positioning commands, either externally or from a Programmable Controller (PC), and uses that data to output control pulses to a stepping motor driver or a servomotor 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 read and study these sections carefully; an understanding of the control system is essential for successful operation.

1-1 Features

Applicable Motor Drivers

The pulse train output can be easily connected to either of the following devices:

Compact Size

1, 2, 3...

1. Stepping motor driver

2. Servomotor driver designed for pulse train input

Number of Control Axes and Controlling Capacity

This Unit is distinguished by having two control axes. It is capable of controlling two axes simultaneously (linear interpolation) and controlling each axis independently. It controls speeds and positions through parameters recorded in the

DM (Data Memory) Area of the C200H PC.

The Unit is the same size as other Special I/O Units, but its greater capacity makes for increased space efficiency and easier multi-axial control.

Data Transfer

Upward Compatibility

Positioning actions, speeds, and speed changes contained in the DM area or other areas of the PC can be quickly transferred via a TRANSFER DATA command, even during positioning. More flexible control is now possible.

To ensure compatibility with single-axis Position Control units, this Unit has commands and status allocations similar to the C200H-NC112.

2

Model Differences

Section 1-2

1-2 Model Differences

The C200H-NC211 incorporates the following additional functions and improvements over the C200H-NC112.

Two Control Axes

Increased Positioning Data

Capacity

Improved Data Transfer

Performance

There are now two control axes, making linear interpolation possible. Of course each axis can also be operated independently.

The positioning data capacity of each axis has been increased from 20 to 53.

When more than 20 positioning actions are needed, back-panel DIP switch pins

No. 7-9 can be set to expand the usable DM area (in 200-word segments from

DM 0100 to 0999).

Speed and position data can be transferred even during positioning.

Improved Speed Change

Performance

Increased Capacity

The speed coefficient can now be used to change speed even during positioning.

Two axes provide the word and data memory capacity of two Special I/O Units.

The machine number which immediately follows the assigned machine number cannot be set to the other unit.

Item

Available words

Data Memory

C200H-NC112

n to n+9 m to m+99

C200H-NC211

n to n+19 m to m+199

3

Model Differences

Additional DM Area

Functions

Section 1-2

00

01

02

03

04

The origin and origin proximity signal settings are no longer made with the backpanel switch. Instead, they are now set in the following DM words.

15 00

0 0 0 0 0

(X) DM word m+21

(Y) DM word m+121

bit Designation

ORIGIN SEARCH direction

Origin proximity signal presence

Origin proximity type

Origin signal type

ORIGIN SEARCH method

N.O: Normally-open contacts

N.C: Normally-closed contacts

1

CCW present

N.O.

N.O.

present

CW absent

N.C.

0

N.C.

absent

4

Model Differences

Section 1-2

Additional IR Area Functions

n+1

X-axis

Word

n+6

Y-axis

Additional Codes for

Target Position Data

Bit Function

07

15

CHANGE SPEED COEFFICIENT

Transfer buffer

The following code types have been added to distinguish between single-axis target positioning data and interpolation data.

x+1 x

Code x10

6 x10

5 x10

4 x10

3 x10

2 x10

1 x10

0

0 CW

1 CCW

2 CW

3 CCW

4 CW

5 CCW

6 CW

7 CCW

Absolute value

Incremental value

Absolute value

Incremental value

Single-axis end point

Interpolation end point

5

System Configuration

Section 1-3

1-3 System Configuration

The basic configurations are shown below and on the next page. Unit outputs are connected to a motor driver, for either a stepping motor or servomotor that can receive pulse train inputs. The Unit is controlled by inputs from devices and/ or a control panel. It, in turn, outputs pulse trains and direction signals to control the motor driver. The motor driver controls either a stepping motor or a servomotor, which in turn controls a positioning device (such as a feed screw). Some configurations also require an Input Unit on the C200H PC to control the motor driver.

Stepping Motor Driver Connection

Position Control Unit

C200H-NC211

C200H PC

Signal line for stepping motor control

Power source

Stepping motor driver

Hand-held Programming

Console C200H-PRO27

Control panel

Control switch

Power source

Stepping motor driver

Stepping motor

Stepping motor

6

System Configuration

Servomotor Driver Connection

C200H PC

Signal line for servomotor driver control

Position Control Unit

C200H-NC211

Section 1-3

Power source

Power source

DC Servomotor

Driver

R88D-EP06/EP/

12 or AC Servomotor Driver

R88D-SR/RP

DC Servomotor Driver

R88D-EP06/EP/12 or

AC Servomotor Driver

R88D-SR/RP

DC Servomotor

DC Servomotor

Hand-held Programming

Console C200H-PRO27

Control panel

Control switch

7

System Configuration

Section 1-3

Maximum Number of

Special I/O Units per PC

Mounting Location

Number of Special I/O Units

Connectable to Remote I/O

The 200H-NC211 Position Control Unit differs from other Special I/O Units in that it occupies twice the usual IR and DM area. Normally, a maximum of 10 Special I/O Units, including Position Control Units, High-Speed Counters, etc., can be mounted to the same PC. The NC211, however, counts as two Units, so a maximum of only five 200H-NC221 Units can be connected per PC.

Also be aware that it is possible to connect a combination of Units that require more power than can be provided by the available power supply. For a specific configuration, refer to specifications in the appropriate hardware manuals.

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 from mounting peripheral devices directly to the PC’s CPU. When mounting to an Expansion

I/O Rack or Remote Slave I/O rack, however, any slot may be used.

In addition to this, for remote I/O devices there are limitations, as described below, due to data transfer capacities.

Please note the following limitations on the number of Special I/O Units which can be connected to Remote I/O Slave Racks.

The numbers given in the following table assume that no other devices are being used, and represent the maximum number of Special I/O Units that can be used on a Remote I/O Slave Rack when the Units are all from group A, B, C or D.

A

Number of

High-speed

Counter, Position

Control (NC111/

NC112), ASCII or

Analog Input Units.

Total of 4 Units

B

Number of

Multi-point I/O

Units.

C

Number of

Temperature

Sensor Units.

D

Number of Position

Control Units

(NC211).

Total of 8 Units Total of 6 Units Total of 2 Units

A combination of Units from different groups must satisfy both of the following equations:

3A + B + 2C + 6D

≤

12

A + B + C + D

≤

8

8

Components

Section 1-4

1-4 Components

In addition to the front-panel components described below, there is a DIP switch located on the back panel. Pin settings for this switch, which are described in

Section 2-2 Switch Settings, determine certain aspects of control system operation.

Indicators

RUN: indicates operation is in progress

X: indicates X-axis operation/buffer transfer

Y: indicates Y-axis operation/buffer transfer

CW: indicates controlled system

(motor) is revolving clockwise

CCW: indicates controlled system

(motor) is revolving counterclockwise

ALARM: blinks when an abnormality has occurred

ERROR: lights when an error has occurred

Setting switches*

MACHINE No.

Allocates a unit number (0 to 8) to the Position Control Unit

MODE Selects an operating mode (0 to 3).

Connector

Used to connect the Position

Control Unit to a stepping motor driver or servomotor driver.

Attach the enclosed connector to the proper cable.

* Before operating these switches, make sure that power to the PC is off.

When setting the switches, use a screwdriver if necessary, but do not apply excessive force.

Do not leave the switches halfway between two setting points or the Position

Control Unit may malfunction.

9

Components

Indicators

Section 1-4

Indicator

RUN

CW

CCW

X

Color

Green

Green

Green

Green

Y

ALARM

(flashing)

ERROR

Green

Red

Red

Function

Lit during normal operation. Goes out for errors.

Lit during output of CW (clockwise) pulses.

Lit during output of CCW (counterclockwise) pulses.

Lit during positioning of X-axis positioning, or when data is being transferred from buffer to memory.

Lit during positioning of Y-axis, or when data is being transferred from buffer to memory.

Flashing when a BCD error exists in initial data, speed data, or positioning data updated with TRANSFER DATA.

Lit when an error has occurred causing operation to stop.

Since the C200H-NC211, in contrast to other Special I/O Units, occupies the space of two units, do not set other units to the machine number which immediately follows the machine number of the C200H-NC211.

The ALARM LED flashes when data for X and Y within the assigned range is not entered in the respective DM areas for the X and Y axes.

When only one axis is used, short-circuit the CW limit and CCW limit of the unused axis to 0 V in the input power supply. The ERROR LED will light if these are not short-circuited, but the axis in use will operate normally.

10

Control System Principles

Section 1-5

1-5 Control System Principles

Control systems can be quite simple or relatively complex. The most basic case is an open-loop system, in which a particular operation is carried out according to programmed instructions, but in which feedback is not provided for automatic adjustment. The C200H-NC211 Position Control Unit can be used in an openloop system in conjunction with a stepping motor.

In a closed-loop system, on the other hand, the PC controls an external process without human intervention. The servomotor provides direct feedback so that actual values (of positions, speeds, and so on) are continuously adjusted to bring them more closely in line with target values. In some systems, the digital feedback signals are transmitted to a digital-to-analog converter to complete the feedback loop, allowing automated control of the process.

A semiclosed-loop system is similar to a closed-loop system, except that feedback is provided by a tachogenerator and a rotary encoder rather than directly by the servomotor. If the C200H-NC211 Position Control Unit is used with a servomotor, the servomotor driver must be able to handle digital signals, and there is no need for a D/A converter. In addition, the servomotor is connected to a tachogenerator and a rotary encoder. The Unit can thus be used in either an open-loop or a semiclosed-loop system.

Both open-loop and semiclosed-loop systems are described in more detail on the following pages.

11

Control System Principles

Data Flow

Position Control Unit C200H-NC211

C200H PC

PC

MPU

BUS

1

I/F

Pulse generator

Section 1-5

Pulse train

Stepping motor driver

Stepping motor

External input

MPU

2

I/O interface

I/O connector

Magnetizing distribution circuit

Power amplifier

Memory

Pulse train

Servomotor driver

Error counter Power amplifier

Servomotor

(Positioning output)

Tachogenerator

Rotary encoder

12

Control System Principles

Section 1-5

1-5-1 Open-Loop 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. Because the

Unit outputs pulse trains, it is generally used with a stepping motor. The angle of rotation of a stepping motor can be controlled through the number of pulse signals supplied to the motor driver. The number of rotations of the stepping motor is proportional to the number of pulses supplied by the Unit, and the rotational speed of the stepping motor is proportional to the frequency of the pulse train.

Angle of rotation

Angle of rotation

Positioning output

1 2 n

Positioning pulse

13

Control System Principles

Simplified Positioning

System

Section 1-5

The following diagram and parameters illustrate a simplified positioning system.

V

N

Stepping motor

Reduction gear M

Object being positioned

Feed screw pitch

P

M : Reduction ratio

P : Feed screw pitch (mm/revolution)

V : Feed velocity of object being positioned (mm/s)

θ s

: Stepping angle per pulse (degree/pulse)

The positioning accuracy in mm/pulse is computed as follows:

Positioning accuracy = P/(pulses per revolution x M)

= P/((360/

θ s

) x M))

= (P x

θ s

)/(360 x M)

The required pulse frequency from the Unit (pulses/second) is computed as follows:

Pulse frequency = V/Positioning accuracy

= (360 x M x V)/(P x

θ s

)

And the required number of pulses to feed an object by a distance L in mm is computed as follows:

Number of pulses = L/Positioning accuracy

= (360 x M x L)/(P x

θ s

)

14

Control System Principles

Section 1-5

1-5-2 Semiclosed-loop System

When the Position Control Unit is used in a semiclosed-loop system, the system supplies feedback to compensate for any discrepancy between target values and actual values in position or speed. This system detects motor rotation amounts, for example, computes the error between the target value and actual movement value, and zeroes the error through feedback. The diagram below illustrates the basic configuration of a semiclosed-loop system.

Target position

Servomotor driver

Servomotor

Error counter Power amplifier

Position output

Tachogenerator

Speed feedback

Rotary encoder

Position feedback (feedback pulses)

1, 2, 3...

1. First, the target position is transmitted to the error counter in units of encoder pulses. The servomotor driver must be able to handle digital input.

2. The motor rotates at a speed corresponding to the speed voltage. The rotary encoder connected to the motor axis rotates in sync with the motor, generates feedback pulses, and subtracts error counter contents.

3. Consequently, the encoder rotation is equivalent 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 position through correction. In the event that the motor axis slightly moves, the error counter receives a feedback pulse from the rotary encoder, whereby a rotation voltage is emitted in the reverse direction from which the rotary encoder moved, causing the motor to rotate toward its original position. This operation is called servolock or servoclamp.

5. In order to execute positioning with acceleration and deceleration, target positions are set consecutively in the error counter for processing.

6. The target position becomes the count for the error counter and controls the motor by conversion to a speed voltage for the servomotor driver. The position thus equals the total count of target positions and the speed will depend on the target position per unit time.

15

Programming Precautions

Section 1-6

1-6 Programming Precautions

Starting Simultaneous

Single-axis Operation of the

X and Y Axes

Timing Restrictions for the

START Command

I/O Refresh Instruction

(IORF(97))

When the X and Y axes are started simultaneously as independent axes, the X axis will be started first and the Y-axis startup will be delayed by 10 to 50 ms while internal startup processing is being performed. When interpolation operation is used, both axes start simultaneously.

If a START command is sent while the axis is decelerating to a stop, the START command will not be executed. In particular, an Interpolation START command will not be executed (it will be ignored) if either the X axis or Y axis is decelerating to a stop.

Thoroughly read and understand the functions of IORF(97) before executing this instruction. If IORF(97) is used incorrectly, the proper commands may not be sent to the Position Control Unit, resulting in incorrect operation.

For example if IORF(97) is executed after a START command is sent to the Position Control Unit from an interrupt subroutine and regular cyclic refreshing is disabled, the OFF transition in the START command bit will not be recognized, preventing the Unit from starting operation.

16

SECTION 2

Before Operation

2-1 Operational Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3 Switch Settings Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-1 Output Connection Examples

2-4-2 Input Connection Examples

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

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

2-4-3 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

20

24

33

40

44

47

48

17

Operational Flow

Section Overview

Section 2-1

Before the Position Control Unit can be operated, switch settings and wiring must be correct. 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 settings and wiring match your positioning system specifications.

2-1 Operational Flow

The basic procedure used to initially operate the Unit is outlined below. Refer to applicable sections of the manual for details on each of these steps.

Item

Procedure

Refer to:

Wiring

Start

Wiring external inputs

Wiring motor to driver

Origin, origin proximity, CW/CCW limits, emergency stop, external interrupt

Follow motor and driver and instruction manuals for wiring details

2-4 Wiring

Wiring Position Control

Unit to driver

Data setting

Setting backpanel DIP switch

Data setting

Writing PC program

•

Output pulse selection

•

External interrupt selection

•

External interrupt response

•

Allocation for DM area for position data expansion

DM area (key input via Programming

Console)

•

Parameters; Positioning actions

•

Speeds; Origin search direction

•

Origin proximity signal type

•

Presence of origin proximity signal

•

Origin signal type

•

Origin search method

Programming IR area (key input via

Programming Console)

2-2 Switch Settings

Section 4 Commands

Section 9 Programming

Examples

18

Operational Flow

Item

Trial run

Error processing

Procedure

Restart by resetting power or AR area restart bit

Position Control

Unit reads DM area

ORIGIN SEARCH, manual operation, start, etc.

No

Alarm/error

LED lit?

Yes

Error exists

READ ERROR

Correct error

Alarm/error

LED flashes?

Yes

No

READ ERROR

Correct data causing alarm

Section 2-1

Refer to:

8-5 Troubleshooting

From the PC

AR area error and restart bits for

Special I/O Units

8-4 READ ERROR

Section 8 Error

Processing

19

Switch Settings

Section 2-2

2-2 Switch Settings

Always turn off PC power before setting the unit number switch. Use a regular screwdriver, being careful not to damage the slot in the screw. Be sure not to leave the switch midway between settings.

Unit Number Switch

(“MACHINE NO. ”)

This switch is labeled “MACHINE NO.” on the front panel, but its setting affects what is called the unit number throughout this manual.

Switch Function

Unit number (“Machine No.”) Used to set the unit number (between 0 and 8).

Do not set the same number for more than one Unit.

Doing so will cause an error and prevent operation.

Mode Used to set the mode from 0 to 3.

Mode Switch

This switch sets one of operation modes 0 to 3. Select an appropriate operation mode in accordance with the motor driver or signal lines to be used.

Since the C200H-NC211 occupies as much internal space as two Units, another

Unit cannot be assigned the unit number that immediately follows the C200H-

NC211’s unit number. If this is done, a setting error will result and the unit will not operate.

NC211

0

Pulse

Pulse

Motor

Driver

M

This mode is used to control a stepping motor driver. In this mode, connect a sensor to the origin signal lines

(Connectors No. 10, 11, 32,

33). The response time of the origin signal is 1 ms.

X axis

Input power supply

Origin

Origin proximity

22/

34

10

11

7

24 VDC

20

Switch Settings

1

This mode is used to control a servomotor driver.

The origin line driver input signals lines and deviation counter reset output signal lines are connected, but the positioning completed signal lines are not used. The response time of the origin line driver input is 0.1 ms.

NC211

Pulse

X axis

Input power supply

Origin prox.

Origin line driver

22/

34

7

9

11

Deviation counter reset

4

Output power supply

23

24 VDC

5VDC

Servomotor

Driver

Z-phase output

Deviation counter reset input

M

E

Section 2-2

2

This mode is used with a servomotor driver. It is the same as mode 1, but uses the positioning completed signal lines.

NC211

Pulse

X axis

Input power supply

Origin prox.

22/

34

7

Positioning completed

8

9

Origin line driver

11

Deviation counter reset

4

24 VDC

5VDC

Output power supply

23

Servomotor

Driver

Positioning completed signal output

Z-phase output

Deviation counter reset input

M

E

3

This mode is used with a servomotor driver when using an origin adjustment command.

NC211

Pulse

Servomotor

Driver

X axis

Input power supply

Origin prox.

22/

34

7

Positioning completed

8

24 VDC

Positioning completed signal output

M

E

Origin line driver

9

11

5VDC

Origin-adjustment command input

21

Switch Settings

Section 2-2

Note

1. The above wiring diagrams for modes 1, 2, and 3 are applicable when an

OMRON R88D Servomotor Driver is used.

Adjust the servomotor driver so that its positioning complete signal turns

OFF while the motor is operating and ON when the motor stops.

2. The “No proximity signal” setting (bit 01 OFF) is effective only in mode 0.

In modes 1, 2, and 3, the Unit will operate with the proximity signal even if the axis is set to “No proximity signal.”

Functions of the Back-Panel DIP Switch

Pin

No.

1

2

Switch designation

ON

Output pulse selection

Pulse/direction output

External interrupt selection

Determined by

OFF

CW/CCW output

Variable

Bit 06 of word n

0

1

External interrupt signal input causes deceleration and

STOP

External interrupt signal input causes

CHANGE

SPEED

Axis

X

3

4

5

External interrupt response

Output pulse selection

External interrupt selection

CHANGE SPEED

Pulse/direction output

Determined by

Deceleration STOP

CW/CCW output

Variable

Bit 06 of word n+5

0

1

External interrupt signal input causes deceleration and

STOP

External interrupt signal input causes

CHANGE

SPEED

Y

6

7

8

9

10

External interrupt response

Allocation of DM area for position data expansion x2

0 x2

1 x2

2

CHANGE SPEED

0-7

Not used. Must be set to OFF.

Deceleration STOP

Setting. See table below.

X/Y

22

Switch Settings

Pins 1 and 4:

Output Pulse Selection

Section 2-2

6

7

4

5

2

3

0

1

Since 200 words of the DM area are allotted for each setting, do not set numbers already used by other Units.

Setting No.

DM area for positioning data expansion

Unexpanded

DM 0100 to 0299

DM 0200 to 0399

DM 0300 to 0499

DM 0400 to 0599

DM 0500 to 0699

DM 0600 to 0799

DM 0700 to 0899

Select the appropriate output pulse according to the motor drive specifications.

CW CCW

ON

Pulse

Direction Output transistor ON Output transistor OFF

CW CCW

OFF

CW

CCW

Pins 2, 5, 3 and 6:

External Interrupts

Pins 7-9:

Assigning the DM Area for

Positioning Data Expansion

When pins 2 and 5 are OFF, external interrupt signals can be used both for STOP and CHANGE SPEED.

When pins 2 and 5 are ON, pins 3 and 6 can be used to set the external interrupt signal to STOP or CHANGE SPEED.

Each Unit is allocated 20 positioning actions in the DM area for each axis. If more than 20 positioning actions are required, set pins 7-9 from 1 to 7 to expand the available DM area. Up to 33 additional positioning actions can be made available for both X and Y axes (for a total of 53, including the above).

23

Switch Settings Examples

Section 2-3

2-3 Switch Settings Examples

Mode 0 Connection

Example 1:

This example shows the use of a stepping motor with an external sensor signal connected to the origin signal.

Do not make any connection to the Z-phase input (9 (X)/ 31 (Y)).

The following diagram illustrates connection in which only the X axis is used. The same wiring could be used to with the Y axis.

Position Control Unit

Stepping motor driver, for example, model

UDX5114 made by Oriental Co.

Stepping motor UPH599

+CW

–CW

+CCW

–CCW

CW output

2(X)

24(Y)

CCW output

13(X)

15(Y) power supply for output

1

0 V 23

Origin proximity input

7(X)

29(Y)

Origin

Input

10(X)

11(X)

32(Y)

33(Y) power supply for output

22/34

+

24

VDC

Limit switch (N.O. or N.C. input)

+

24

VDC

Signal

24 V/0 V

E32

OMRON Photoelectric Switch

E3S-X3 CE4

(NPN output type)

Limit switch

(N.C. input)

CCW limit input

17(X)

20(Y)

CW limit input

Emergency

STOP input

18(X)

21(Y)

19(X/Y)

!

Caution

When only one axis is used, short-circuit the CW limit input and CCW limit input of unused axis to 0 V in 24 VDC. If these are not short-circuited, the ERROR LED will light, although the axis in use will operate normally.

24

Switch Settings Examples

Section 2-3

Switch Settings

Front switches

Sets the Unit No.

Sets the Mode No. to 0.

DM area settings

15

DM word m+21 (X axis)

0 0 0 F

DM word m+121 (Y axis)

00

Back panel switch

1 OFF CW/CCW output

2 External interrupt

5

6

3 signal (See note)

4 OFF CW/CCW output

7

External interrupt signal (See note)

DM Area setting for

X

Y

8

9 position data expansion

(See note)

10 OFF Be sure to set to OFF.

X/Y

Bit Setting Contents of setting

00 1 ORIGIN SEARCH direction CCW

01

02

1

1

Origin proximity exists

Origin proximity is N.O. input

03

04

1 Origin is N.O. input

0 No origin proximity reverse

Note: Refer to page 18 for set-

tings of pins 2, 3, and 5 to 9.

ORIGIN SEARCH

Origin search is started after the rising edge of the origin proximity signal and ends with the rising edge of the origin signal.

ORIGIN

SEARCH

Origin proximity signal

Origin signal

Pulse output

Time

Busy flag

25

Switch Settings Examples

Example 2:

Mode 1 Connection

Section 2-3

This example shows the use of a servomotor driver with the Z-phase of the encoder as the origin signal.

Do not connect anything to the origin signal (10 (X) /32 (Y)). This example uses an OMRON Servomotor Driver.

The following diagram illustrates connection in which only the X axis is used. The same wiring could be used for the Y axis.

Position Control Unit

CW output

2(X)

24(Y)

13(X)

CCW output

15(Y)

Power supply for output

1

0 V

23

Deviation counter reset output

4(X)

26(Y)

OMRON R88D-EP12

Servomotor Driver

1

2

+CW

–CW

3

4

+CCW

–CCW

24 VDC

+

5VDC

Limit switch (NC) input)

13, 14

23

24 EM

+5 V

RUN

28 RESET

Servomotor

R88M-E/S

Z-phase input

+

9(X)

–

11(X)

Z-phase input

+

31(Y)

–

33(Y)

Input power supply

Origin proximity input

CCW limit input

CW limit input

Emergency

STOP input

22/34

7(X)

29(Y)

17(X)

20(Y)

18(X)

21(Y)

19

(X/Y)

12 to 24 VDC

+

Limit switch

(NO (or NC) input)

Limit switch

(NC input)

22

33

+Z

–Z

!

Caution

When only one axis is used, short-circuit the CW limit input and CCW limit input of unused axis to 0 V in 12 to 24 VDC.

If these are not short-circuited, the ERROR LED will light, but the axis in use will operate normally.

26

Switch Settings Examples

Front switches

Section 2-3

Sets the Unit No.

Sets the Mode No. to 1.

DM Area settings

15

DM word m+21 (X axis)

0 0 1 F

DM word m+121 (Y axis)

00

Back panel switch

1 OFF CW/CCW output

2 External interrupt

5

6

3 signal (See note)

4 OFF CW/CCW output

External interrupt

signal (See note)

X

Y

7

8

DM Area setting for position data expansion X/Y

9 (See note)

10 OFF Be sure to set to OFF.

Bit Setting Contents of setting

00 1 ORIGIN SEARCH direction CCW

01

02

1

1

Origin proximity exists

Origin proximity is N.O. input

03

04

1 Origin is N.O. input

1 Origin proximity reverse

Note: Refer to page 18 for set-

tings of pins 2, 3, and 5 to 9.

ORIGIN SEARCH

ORIGIN

SEARCH

Origin proximity signal

Z phase signal

Pulse output

Deviation counter reset output

Busy flag

ORIGIN SEARCH begins after the origin proximity signal has risen and fallen, and stops on completion of the first Z-phase signal after deceleration ends.

Approx. 20ms

Time

27

Switch Settings Examples

Example 3:

Mode 2 Connection

Section 2-3

This example also shows a servomotor driver with the Z-phase of the encoder as the origin signal.

Here the positioning signal of the servomotor driver serves as the ORIGIN

SEARCH completion and the positioning completion signals. Only the X axis is shown, although the same wiring would be used for using the Y axis.

Be sure to adjust the settings of the servomotor driver so that the positioning completion signal is OFF when the motor is operating and ON when it halts. Do not connect anything to the origin signal (10 (X) /32 (Y)).

Position Control Unit

CW output

2(X)

24(Y)

13(X)

CCW output

15(Y)

Power supply for output

1

0 V

23

+

24 VDC

+

5VDC

Limit switch (NC) input)

Deviation counter reset output

4(X)

26(Y)

OMRON R88D-EP12

Servomotor Driver

1

2

+CW

–CW

3

4

+CCW

–CCW

13, 14

23

24

28

EM

+5 V

RUN

RESET

Servomotor

R88M-E/S

Z-phase input

Z-phase input

+ 9(X)

–

11(X)

+

31(Y)

–

33(Y)

Positioning completion input

8(X)

30(Y)

Input power supply

22/34

Origin proximity input

CCW limit input

CW limit input

Emergency

STOP input

7(X)

29(Y)

17(X)

20(Y)

18(X)

21(Y)

19

(X/Y)

Limit switch

(NC input)

22

33

+Z

–Z

12 to 24 VDC

+

Limit switch

(NO (or NC) input)

7

8

INP

GND

CAUTION

When only one axis is used, short-circuit the CW limit input and CCW limit input of unused axis to 0 V in 12 to

24 VDC.

If these are not short-circuited, the ER-

ROR LED will light, but the axis in use will operate normally.

28

Switch Settings Examples

Section 2-3

Switch Settings

Front switches

Sets the Unit No.

Sets the Mode No. to 2.

DM Area settings

15

DM word m+21 (X axis)

0 0 1 F

DM word m+121 (Y axis)

00

Back panel switch

1 OFF CW/CCW output

2

3

External interrupt signal (See note)

4 OFF CW/CCW output

5 External interrupt

X

Y

8

9

6

7

signal (See note)

DM Area setting for position data expansion

(See note)

10 OFF Be sure to set to OFF.

X/Y

Bit Setting Contents of setting

00 1 ORIGIN SEARCH direction CCW

01

02

1

1

Origin proximity exists

Origin proximity is N.O. input

03

04

1 Origin is N.O. input

1 Origin proximity reverse

Note: Refer to page 18 for set-

tings of pins 2, 3, and 5 to 9.

ORIGIN SEARCH

Origin search is started after the origin proximity signal has risen and fallen, and stops with completion of the first Z-phase signal after deceleration has stopped.

ORIGIN

SEARCH

Origin proximity signal

Z phase signal

Pulse output

Deviation counter reset output

Time

Approx. 20ms

Busy flag

29

Switch Settings Examples

Example 4:

Mode 3 Connection

Section 2-3

This is an example using the origin adjustment function of OMRON’s Servomotor Drive. The positioning completion signal (INP) is used as the ORIGIN

SEARCH completion and the positioning completion signal. OMRON’s Servomotor Drive R88D-EP/SR allows accurate origin decompletion.

Be sure to adjust the settings of the servomotor driver so that the positioning completion signal is OFF when the motor is operating and ON when it halts.

The following diagram illustrates a connection example in which only the X axis is used. The same wiring would be used for the Y axis.

Position Control Unit

CW output

2(X)

24(Y)

CCW output

13(X)

15(Y)

Power supply for output

1

0 V

23

+

24 VDC

+

5VDC

Limit switch (NC) input)

Origin adjustment command output

5(X)

27(Y)

OMRON R88D-EP12

Servomotor Driver

1

2

+CW

–CW

3

4

+CCW

–CCW

13, 14

23

24

27

EM

+5 V

RUN

H-RET

Servomotor

R88M-E/S

Positioning completion input

Input power supply

8(X)

30(Y)

22/34

Origin proximity input

CCW limit input

CW limit input

Emergency

STOP input

7(X)

29(Y)

17(X)

20(Y)

18(X)

21(Y)

19

(X/Y)

12 to 24 VDC

+

Limit switch

(NO (or NC) input)

7

8

INP

GND

Limit switch

(NC input)

CAUTION

When only one axis is used, short-circuit the CW limit input and CCW limit input of unused axis to 0 V in 12 to

24 VDC.

If these are not short-circuited, the ER-

ROR LED will light, but the axis in use will operate normally.

30

Switch Settings Examples

Switch Settings

Front switches

Sets the Unit No.

Sets the Mode No. to 3.

DM Area settings

15

DM word m+21 (X axis)

0 0 1 F

DM word m+121 (Y axis)

00

Section 2-3

Back panel switch

1 OFF CW/CCW output

2 External interrupt

3 signal (See note)

6

7

4 OFF CW/CCW output

5 External interrupt

signal (See note)

DM Area setting for

X

Y

8

9 position data expansion

(See note)

10 OFF Be sure to set to OFF.

X/Y

02

03

04

Bit Setting Contents of setting

00 1 ORIGIN SEARCH direction CCW

01 1 Origin proximity exists

1

1

1

Origin proximity is N.O. input

Origin is N.O. input

Origin proximity reverse

Note: Refer to page 18 for set-

tings of pins 2, 3, and 5 to 9.

31

Switch Settings Examples

ORIGIN SEARCH

Section 2-3

ORIGIN SEARCH begins after the origin proximity signal has risen and fallen, and the origin adjustment command is output to the servomotor driver after deceleration ends. The positioning completed signal is then input from the servomotor driver and origin search ends. The driver stops automatically with the first

Z-phase input after it has received the origin adjustment signal.

ORIGIN

SEARCH

Origin proximity signal

Pulse output

Origin adjustment command output

Positioning completion input

Busy flag

Time

32

Wiring

Section 2-4

2-4 Wiring

External Input Connection

Method

Position Control Unit

C200H-NC211

The following diagram shows I/O connections.

C200H PC

Emergency stop switch

Control panel

Input

Output

Motor driver

External interrupt switch

CCW limit switch

Origin switch (sensor)

Mechanical system

Origin proximity switch

CW limit switch

Motor

X axis

CCW

CW

Emergency stop switch

Control panel

External interrupt switch

Output

Input

Motor driver

CCW limit switch

Origin switch (sensor)

Origin proximity switch

CW limit switch

Motor

CCW

CW

Y axis

33

Wiring

Section 2-4

Connector Pin Arrangement

The following shows the I/O connector arrangement as viewed from the front of the Position Control Unit.

Pin

No

12

11

10

9

8

7

6

5

4

3

2

1

Designation

FG

(frame ground)

X-axis

Origin (0 V/-Z)

X-axis

Origin input (12-24 VDC)

X-axis

Origin driver input (+Z)

X-axis

Positioning completion input

(0 V)

X-axis

Origin proximity input (0 V)

X-axis

External interrupt input (0 V)

X-axis (open collector)

Origin-adjustment command output

X-axis (open collector)

Deviation counter reset output

X-axis

CW pulse/pulse output

X-axis (with 1.6K

Ω

resistance)

CW pulse/pulse output

Output power supply

24 VDC

18

17

16

15

14

13

Pin

No

22

21

20

19

X/Y axis for input (12-24 VDC)

Y-axis

CW limit input (0 V)

Y-axis

CCW limit input (0 V)

X/Y axis

Emergency stop input (0 V)

X-axis

Designation

CW limit input (0 V)

X-axis

CCW limit input

Y-axis

CCW pulse/direction output

Y-axis (with 1.6K

Ω

resistance)

CCW pulse/direction output

X-axis

CCW pulse/direction output

X-axis (with 1.6K

Ω

resistance)

CCW pulse/direction output

Pin

No

34

33

32

31

30

29

28

27

26

25

24

23

Designation

X/Y axis for input (12-24 VDC)

Y-axis

Origin (0 V/-Z)

Y-axis

Origin input (12-24 VDC)

Y-axis

Origin driver input (+Z)

Y-axis

Positioning completion input

(0 V)

Y-axis

Positioning proximity input

(0 V)

Y-axis

External interrupt input (0 V)

Y-axis (open collector)

Origin-adjustment command output

Y-axis (open collector)

Deviation counter reset output

Y-axis

CW pulse/pulse output

Y-axis (with 1.6K

Ω

resistance)

CW pulse/pulse output

Output power supply

0 V

Note

1. The common sides of each output (2-5, 13-16, 24-27) are all short-circuited to No. 23 pin output power supplies (0 V).

2. The common sides of all inputs apart from the origin inputs and origin line driver inputs (6-8, 17-21, 28-30) are all short-circuited through diodes to the common for No. 22/34 pin input (12-24 V DC).

3. Origin common 11 is paired with 9 or 10, and 33 is paired with 31 or 32.

External wiring connectors

The external wiring connectors are item MR-34LF, made by Honda Telecommunications Industries (soldered type, included with main unit).

!

Caution

•

Use 24

±

10% VDC as the pulse output power supply.

•

Use either the origin input (10, 11/32, 33) or the origin line driver input (9,

11/31, 33), but not both.

•

The leakage current must be less than 1.3 mA when two-wire type sensors are used.

•

When only one axis is used, short-circuit the CW limit input and CCW limit input of the unused axis to the 0 V in 12 to 24 VDC. If it is not short-circuited, the

ERROR LED with light, but the axis in use will operate normally.

34

Wiring

Connector Wiring Method

Section 2-4

•

Use solder to attach the connectors accompanying the unit.

•

Use wires with cross-sectional areas of 0.3 mm

2 or less.

•

Take care not to short-circuit neighboring terminals when soldering.

•

Cover the soldered part of the wire with insulation tubing.

•

When using a multi-core cable, wire output and input separately.

Differentiating Cables

Insulator

Lead (0.3 mm

2

max.)

Connector

Output cables

Input cables

35

Wiring

Assembling Connectors

Connector

(jack)

Small pan-head screws

Case

Section 2-4

36

Wiring

Outputs

Constant voltage circuit

1 Output power supply, 24 VDC

23 Output power supply, 0 V

1.6k

Ω

(1/2W)

2 (X)/24(Y) CW pulse/pulse output

(with 1.6 k

Ω

resistance)

3 (X)/25(Y) CW pulse/pulse output

Section 2-4

1.6 k

Ω

(1/2W)

13 (X)/15(Y) CCW pulse/direction output

(with 1.6 k

Ω

resistance)

14 (X)/16(Y) CCW pulse/direction output

Note: Select output via back-panel switch 1(X)/4(Y)

4 (X)/26(Y) Deviation counter reset output

5 (X)/27(Y) Origin-adjustment

command output

37

Wiring

Inputs

Section 2-4

22

34

X/Y axis input

(12-24 VDC)

620

620

620

620

620

620

Ω

Ω

Ω

Ω

Ω

Ω

620

Ω

2 k

Ω

(1W)

2 k

2 k

Ω

Ω

(1W)

(1W)

6

(X)/28(Y) External interrupt input (0 VDC)

(N.O. input)

7

(X)/29(Y) Origin proximity input

(N.O./N.C. input is selected according to setting of DM word m+21/DM word m+121)

8

(X)/30(Y) Positioning completion input (0 V

)

2 k

Ω

(1W)

17

(X)/20(Y) CCW limit input (0 V)

(N.C. Input)

2 k

Ω

(1W)

18

(X)/21(Y) CW limit input (0 V)

(N.C. Input)

2 k

Ω

(1W)

2 k

Ω

(1W)

150

Ω

19

(X/Y) Emergency STOP (0 V)

(N.C. Input)

10

(X)/32(Y) Origin input (12-24 VDC)

(N.O./N.C. input is selected according to setting of DM word m+21/DM word m+121)

9

(X)/31(Y)

(Origin line driver Input (+Z)

Corresponds to line driver output

11

(X)/33(Y) Origin (0 V/-Z)

38

Wiring

Section 2-4

•

Connect the open/close power switch for above 12 mA, except for the origin line driver input.

•

For the origin input/origin line driver:

X axis: (10, 11)/(9, 11)

Y axis: (32, 33)/31, 33)

Mode 0: Response time is 1 ms.

This mode is used when sensors and other open collector outputs are connected.

Mode 1/2: Response time is 0.1 ms

These modes are used when the encoder’s Z-phase output (line driver output) is connected.

!

Caution

Use either (10,11) and (9,11) or (32,33) and (31,33), but not both. Connecting both may damage the internal circuit.

39

Wiring

Section 2-4

2-4-1 Output Connection Examples

The diagrams on the following pages illustrate examples of connections to motor drivers. Always confirm motor driver specifications before making connections. Connect between 7 mA and 30 mA loads to the outputs of the Position

Control Unit, or add bypass resistance for loads less than 7 mA.

The built-in 1.6 k

Ω

resistors can be used as bypass resistors. If, as in the following example diagram, the load current is 4 mA, then: Output transistor current

(7 mA) = Load current (4 mA) + Bypass current (3 mA).

The output circuit of the Position Control Unit is provided with 1.6 k

Ω

(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 collector output with 1.6 k

Ω

series resistance

Output

7 to 30 mA

Output transistor

Open collector output

Output

7 to 30 mA

Open collector output with 1.6 k

Ω parallel resistance

Output

Output

7 to 30 mA

7 to 30 mA

Output transistor

Pulses are not output when the output transistor in the pulse output section is OFF. (For direction output, OFF indicates CCW.)

ON

Output transistor

OFF

During pulse output

40

Wiring

Section 2-4

Example 1:

Outputting CW and CCW

Pulses

Position Control Unit

24-VDC input

CW pulse output

In this example, the 1.6 k

Ω

resistors of the Position Control Unit are used to allow a 24-VDC power supply to be used with a motor driver rated at 5 VDC.

When wiring your system, carefully note the current required by the motor driver.

1

1.6 k

Ω

2(X)/24(Y)

+

24 VDC power supply

–

(Do not share this power supply with other pins.)

Motor driver (rated at 5 VDC)

(For example R=220

Ω

)

+

–

Approx.

7 mA

Approx.

12 mA

1.6 k

Ω

13(X)15(Y)

+

–

CCW pulse output

Approx.

7 mA

Approx.

12 mA

23

Twisted pair cable

!

Caution

Beware of the danger of electric shock from the motor driver.

41

Wiring

Example 2:

Outputting Pulse and

Direction Signals with a

24-VDC Supply

Position Control Unit

24-VDC input

Pulse (CW+CCW) output

Direction output

Section 2-4

When the Position Control Unit is used to output voltage levels, the low level is obtained when the output transistor turns ON, while the level goes high when the transistor turns OFF. When voltage-level output is used, the level is L for output

ON, and H for output OFF.

+

24 VDC power supply

–

Motor driver (rated at 5 VDC)

1

1.6 k

Ω

1.6 k

Ω

3(X)/25(Y)

7 to 30 mA

14(X)/16(Y)

23

7 to 30 mA

Pulse input

Direction input

42

Wiring

Section 2-4

Example 3:

Deviation Counter Reset

Output

Position Control Unit

1

Output power supply

24 VDC input

4(X)/26(Y)

23

There is approximately 20 ms of output when ORIGIN SEARCH is completed in

Modes 1 or 2.

+

24 VDC power supply

–

–

5 VDC power supply

+

OMRON R88D-EP

Servomotor Driver

13

+5V

28

RESET

Example 4:

Origin Adjustment

Command Output

Position Control Unit

1

Output power supply

24 VDC input

5(X)/27(Y)

23

This example shows output in Mode 3.

+

24 VDC power supply

–

–

5 VDC power supply

+

13

+5V

27

H. SET

OMRON R88D-EP

Servomotor Driver

43

Wiring

Section 2-4

2-4-2 Input Connection Examples

The respective inputs are N.O. (normally open) and N.C. (normally closed).

When not used, leave the N.O. input pins open, and the N.C. input pins connected to the power supply.

OMRON C200H-NC211 Position Control Unit

22

34

+

12-24 VDC power supply

–

External interrupt input

Origin proximity input

Positioning completion input

CCW limit input

620

Ω

2 k

Ω

(1W)

6(X)/28(Y)

620

Ω

2 k

Ω

(1W)

7(X)/29(Y)

620

Ω 2 k

Ω

(1W)

8(X)/30(Y)

620

Ω

2 k

Ω

(1W)

17(X)/20(Y)

CW limit input

Emergency stop input

620

Ω 2 k

Ω

(1W)

18(X)/21(Y)

620

Ω

2 k

Ω

(1W)

19

N.O. input

Use DM words m+21/m+121 to set

N.O. or N.C. to match the inputs used.

N.C. input

N.C. input

N.C. input

Note Connect the switch for open/close power of 12 mA for each input.

44

Wiring

Section 2-4

Origin Input Connection

Examples

The examples below shows input connection when open collector sensor output and the encoder’s Z-phase line driver output are used.

Origin Input (10-11 (X)/32-33 (Y))

Position Control Unit

150

Ω

2 k

Ω

12-24 VDC power supply

9(X)/

31(Y)

Leave these pins open

+ –

+v

OMRON E3S-X3 CE4

(NPN output type)

Photoelectric Switch

10(X)/32(Y)

Signal

620

Ω

11(X)/33(Y)

0v

Origin Line Driver Input (9-11 (X) /31-33 (Y))

Position Control Unit

2 k

Ω

Leave these pins open

10(X)/ 32(Y)

150

Ω

9(X)/31(Y)

620

Ω

11(X)/33(Y)

OMRON R88D-EP

Servomotor Driver

22

+z

33

–z

Make separate preparations for the Z-phase signal power supply

45

Wiring

Section 2-4

Positioning Completion

Connection Example

The positioning completed input signal is also used as an origin search completed signal in modes 2 and 3. Adjust the setting of the servomotor driver so that this signal always turns off while the servomotor is operating, and on when the motor stops.

Position Control Unit

22/34

12-24 VDC power supply

+ –

620

Ω

2 k

Ω

(W)

8(X)/30(Y)

7

INP

8

0v

OMRON R88D-EP

Servomotor Driver

46

Wiring

Section 2-4

2-4-3 Wiring Precautions

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 and time consuming. To avoid such noise-generated operational errors and improve system reliability, always observe the following precautions in wiring the system.

•

Cables must be of the required diameter.

•

Power lines (e.g., AC power supply, motor power line) and control lines (e.g., pulse output lines, external I/O signal lines) must be wired separately. Never put these lines into the same duct or make them into a single bundle.

•

Use shielded cable for control lines.

•

Attach a surge absorber to all inductive loads, such as relays, solenoids, and solenoid valves.

AC relays

+

DC relays

DC

RY

Diode for surge absorption AC

RY

Surge absorber

–

Note Connect the diode and surge absorber as close as possible to the relay. Use a

diode capable of withstanding a voltage five times higher than the circuit voltage.

Solenoids

SOL Surge absorber

•

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 electric spark machine or when there is any supply generating high frequency noise).

•

Twisted pair cable is recommended for power lines.

•

Use No. 3 or greater grounding contacts, and the thickest possible wire, greater than 1.25 mm

2

.

47

Dimensions

2-5 Dimensions

Unit Dimensions (unit: mm)

Mounted Dimensions (unit: mm)

130

35

8

100.5

Section 2-5

Rack

Cable

Approx. 200

117

48

SECTION 3

Operation

3-1 Wiring Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2 Data Configuration and Allocation

3-3 DM Area Allocation

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

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

50

52

54

49

Wiring Data

Section Overview

3-1 Wiring Data

C200H

Section 3-1

This section covers all aspects of Position Control Unit operation other than commands, which are covered in the following section. Included in this section are the basic operating procedure, the type of output pulses possible, the basic data format and configuration, 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.

Programming

Console

Data is written, via the Programming Console, or any other programming device into the section of the DM area designated for Special I/O Units.

The specific words are DM 1000-1999, with 200 of these words allocated for each unit number assigned to a Position 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 the 3-word change operation of the Programming Console.

Programming Console Display

D1824 D1823 D1822

0012 5000 2000

Key Input Sequence

DM

B

1 8

C

2

C

2

MONTR

EXT CHG

The above procedure prepares memory location DM 1824 so that new data can be keyed in. Pressing the CHG key again moves the cursor to DM 1823. After inputting data, press the write key to execute the rewrite. The above example shows X axis positioning action #0 of Unit #8.

50

Wiring Data

Section 3-1

Special I/O Unit Restart Bits

AR Word Bits 100-109

Restart bits can be used to transfer altered DM area data to the Unit without turning power off and on. Modified DM data is sent immediately to the Unit. Refer to the following table for restart bit allocations. The following example of Programming Console operation shows how to access the restart bit for Unit #0. The ladder diagram section after it shows how to achieve the same operation through programming.

Restart Bits

These restart bits are turned ON and back OFF again to restart Special I/O Units.

Bit Unit Number

AR 0100

AR 0101

AR 0102

AR 0103

AR 0104

AR 0105

AR 0106

AR 0107

AR 0108

AR 0109

5

6

3

4

0

1

2

7

8

9

Programming Console Display

A0101

^OFF

Key Input Sequence

SHIFT

CONT

#

SHIFT

B

1

MONTR

REC

RESET

HR

PLAY

SET

B

1

REC

RESET

A

0

Program Example: Unit #1

Restart switch

DIFU (13) AR0101

51

Data Configuration and Allocation

Section 3-2

3-2 Data Configuration and Allocation

IR words 100 through 199 are allocated as Special I/O areas. Each Position

Control Unit is allocated twenty consecutive words. The first word for each Unit, designated in this manual as n, can be computed from the unit number as follows: n = 100 + 10 x unit number.

IR Example

1 unit

#

0

1 unit

#

9

Each Unit is also allocated 200 consecutive words as a fixed data area. These words are in the DM area and run from DM 1000 through DM 1999. The first word for each Unit, m, can also also be computed from the unit number: m = 1000 + 100 x unit number (for the X-axis settings).

m = 1100 + 100 x unit number (for the Y-axis settings).

DM Example

1 unit

#

0 0

1 unit

#

9 9

These allocations are shown on the following page for all unit numbers. Details of allocations within these words are given under the operations or commands to which they apply. The tables on the following pages give a quick overview of word and bit allocations.

52

Data Configuration and Allocation

Section 3-2

C200H PC

IR Area

Words 100 to 119

Words 110 to 129

Words 120 to 139

Words 130 to 149

Words 140 to 159

Words 150 to 169

Words 160 to 179

Words 170 to 189

Words 180 to 199

DM Area

Words 1000 to 1199

Words 1100 to 1299

Words 1200 to 1399

Words 1300 to 1499

Words 1400 to 1599

Words 1500 to 1699

Words 1600 to 1799

Words 1700 to 1899

Words 1800 to 1999

Position Data Setting#

(Data expansion memory)

Words 0100 to 0299

Words 0200 to 0399

1

2

Words 0300 to 0499

Words 0400 to 0599

Words 0500 to 0699

Words 0600 to 0799

3

4

5

6

Words 0700 to 0899 7

Unit #0

Unit #1

Unit #2

Unit #3

Unit #4

Unit #5

Unit #6

Unit #7

Unit #8

Unit #0

Unit #1

Unit #2

Unit #3

Unit #4

Unit #5

Unit #6

Unit #7

Unit #8

Model C200H-NC211

I/O Refresh Data Areas

Words n to (n+4)

(X)

OUT refresh n+5 to n+9

(Y)

OUT refresh

Data is transferred between the PC and each Position

Control Unit each time I/O data of the PC is refreshed.

(n+10) to

(n+14)

IN refresh

Data is automatically transferred from the PC to each Position

Control Unit on power application or when the

AR area restart bit is turned ON.

Fixed Data Areas

Data

(X)

Words m to m+21

Parameters

Words m+22 to m+81

Position

Words m+82 to m+97

Speed

Words m+98

Acceleration

Words m+99

Deceleration

Expansion Data Area l to l+99

Position data n+15 to n+19

IN refresh

Twenty words are used

(n= 100 + 10 x unit no.)

(Y)

Data

Words m+100 to m+121

Parameters

Words m+122 to m+181

Position

Words m+182 to m+197

Speed

Word m+198

Acceleration

Word m+199

Deceleration

200 words are used

(m= 1000 + 100 x unit no.) l+100 to l+199

Position data

200 words are used

(L= 100 x unit no.)

·

For each Special I/O Unit, the C200H-NC211 allocates 20 words in IR area

100-199 as I/O refresh data area.

·

200 words for each Unit are allocated in the DM area 1000-1999 as the fixed data area.

·

If need be, back-panel DIP switch pins 7-9 can be set to use 200-word segments in DM 0100-0899 as expanded memory for positioning data.

53

DM Area Allocation

Section 3-3

3-3 DM Area Allocation

Data Coding

Coding Sheets

Although decimal notation is generally used for data in this manual, data is handled in the system as binary-coded decimal (BCD) unless otherwise noted. Note that this data is generally input as decimal, whereas hexadecimal data is input as hexadecimal. The number of digits given for certain data refers to the decimal digits. For example, “7 digits with direction” indicates that the lowest word and rightmost 12 bits of the highest word are allocated to the 7-digit decimal value; the leftmost four bits are allocated to the direction digit.

The tables on the following pages can serve as general coding sheets for the DM area, both X and Y axes. Information describing the functions of all of the bits in the DM area is presented beginning on page 57.

The numbers shown for the DM words in the following table represent only the final two digits of each word number. In other words, the first two digits (which would be the same for all words) are not shown. The X-axis 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 1000 plus 100 times the unit number. Thus, for example, it would be 1000 for Unit no. 0, 1100 for Unit no. 1, and so on. For the

Y-axis, the word m is equal to 1000 plus 200 times the unit number. The Y-axis value for Unit no. 1 would be 1200.

54

DM Area Allocation

DM Area Coding Sheet A1

W

00

01

02

03

04

05

15

06

0

Unit no.

00 Function

Initial position nos.; speed nos.

W

34

15

Origin compensation and direction

0-9999

Backlash compensation 0-9999

35

36

37

38

CW limit

39

40

07

08

0

CCW limit

41

09

42

Zone 0 CW limit

10

43

11

12

Zone 0 CCW limit

44

45

13

14

Zone 1 CW limit

46

47

15

16

Zone 1 CCW limit

48

49

17

50

Zone 2 CW limit

18

19

51

52

Zone 2 CCW limit

20

21

0 0

22

Origin signal type

53

54

Positioning action #0

0

55

56

23

24

57

25

26

Positioning action #1 1

58

59

27

28

29

Positioning action #2

2

60

61

62

30

31

63

64

32

33

Positioning action #3

3

65

66

Axis

00

DM 1_ 00 to 1 _99

Function

Transfer no.

W 15

Positioning action #4

Positioning action #5

Positioning action #6

Positioning action #7

Positioning action #8

Positioning action #9

Positioning action #10

Positioning action #11

Positioning action #12

Positioning action #13

Positioning action #14

9 83

84

85

10

86

87

11

88

89

90

12

91

92

93

94

13

95

96

97

4

67

68

69

5

70

71

72

73

6

74

75

76

7

77

78

8

79

80

81

82

14

98

99

Section 3-3

00

X axis: Unit no.

Y axis: Unit no. +1

Function

Transfer no.

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 #3

Speed #4

Speed #5

Speed #6

Speed #7

Speed #8

Speed #9

20

21

22

Speed #10

Speed #11

Speed #12

Speed #13

Speed #14

Speed #15

Speed units

23

24

Acceleration 25

Deceleration

55

DM Area Allocation

28

29

30

24

25

26

27

31

32

21

22

23

17

18

19

20

12

13

14

15

16

09

10

11

05

06

07

08

00

01

02

03

04

DM Area Coding Sheet A2

W 15 00

Unit no.

W 15 Function

Transfer no.

Positioning action #20

Positioning action #21

Positioning action #22

Positioning action #23

Positioning action #24

Positioning action #25

Positioning action #26

Positioning action #27

Positioning action #28

Positioning action #29

Positioning action #30

33

20

34

35

36

21

37

38

39

22

40

41

42

23

43

44

45

24

46

47

48

25 49

50

51

26

52

53

54

27

55

56

57

28

58

59

60

29

61

62

63

30

64

65

Axis

DM 0_ 00 to 0 _98

00 Function

Transfer no.

Positioning action #31

Positioning action #32

Positioning action #33

Positioning action #34

Positioning action #34

Positioning action #36

Positioning action #37

Positioning action #38

Positioning action #39

Positioning action #40

Positioning action #41

W

75

34

76

77

35

78

79

80

81

36 82

31

66

67

68

32

69

70

71

72

33

73

74

37

38

39

40

41

95

96

97

98

90

91

92

93

94

87

88

89

83

84

85

86

15

Section 3-3

X axis: DIP SW setting

Y axis: DIP SW setting+1

00 Function

Transfer no.

Positioning action #42

42

Positioning action #43

43

Positioning action #44

44

Positioning action #45

45

Positioning action #46

46

Positioning action #47

47

Positioning action #48

48

Positioning action #49

49

Positioning action #50

50

Positioning action #51

51

Positioning action #52

52

56

DM Area Allocation

Section 3-3

DM Area Allocations

m + 5

Word Bit

m + 105 15 to 00 Internally set value of CW limit

**06

Function

X axis Y axis

m m + 100 07 to 00 Initial position no., 00 to 52 (BCD): Initial START and START after bank end.

11 to 08 Initial speed no., 0 to F (hexadecimal)

15 to 12 ORIGIN RETURN speed no., 1 to F (hexadecimal) m + 1 m + 101

03 to 00 ORIGIN SEARCH proximity speed no., 1 to F (hexadecimal)

07 to 04 ORIGIN SEARCH high speed no., 1 to F (hexadecimal)

11 to 08 LOW-SPEED JOG speed no., 1 to F (hexadecimal)

15 to 12 HIGH-SPEED JOG speed no., 1 to F (hexadecimal) m + 2 m + 3 m + 4 m + 102 05 to 00 Origin compensation value, 0000 to 9999 (BCD) m + 103

00 Origin compensation direction digit (0: CW; 1: CCW)

03 to 01 Not used

04 Speed unit multiplication 0: multiplies speed unit by 1 (if m+97: 0) or 10 (if m+97: 1)

1: multiplies speed unit by 1 (if m+97: 0) or 100 (if m+97: 1)

07 to 05 Not used

11 to 08 ORIGIN SEARCH dwell time, 0 to F (hexadecimal), in units of 0.1 s

15 to 12 ORIGIN RETURN dwell time 0 to F (hexadecimal), in units of 0.1 s m + 104 15 to 00 Backlash compensation value, 0000 to 9999 (BCD)

**05

0 x10

6 x10

5 x10

4 x10

3 x10

2 x10

1 x10

0

(7 digits BCD) m + 6 m + 106 11 to 00 Internally set value of CW limit

**06 **05

(7 digits BCD) m + 7 m + 8

0 x10

6 x10

5 x10

4 x10

3 x10

2 x10

1 x10

0

15 to 12 Not used m + 107 15 to 00 Internally set value of CCW limit

**08 m + 108

11 to 00 x10

6 x10

5 x10

4 x10

3

**07 x10

2 x10

1 x10

0

(7 digits BCD) m + 9

15 to 12 Not used m + 109 15 to 00 Zone 0: CW side m+10 m+9 m + 10 m + 110 15 to 00 tion di ti di it)

0 CW

1 CCW

57

DM Area Allocation

Word

X axis Y axis

m + 11 m + 111 15 to 00 Zone 0: CCW side

**12 direcm + 12 m + 112 15 to 00

0 CW

1 CCW m + 13 m + 113 15 to 00 Zone 1: CW side

**14 direcm + 14 m + 114 15 to 00

0 CW

1 CCW m + 15 m + 115 15 to 00 Zone 1: CCW side

**16 m + 16 m + 116 15 to 00 tion

0 CW

1 CCW m + 17 m + 117 15 to 00 Zone 2: CW side

**18 direcm + 18 m + 118 15 to 00

0 CW

1 CCW m + 19 m + 119 15 to 00 Zone 2: CCW side

**20 m + 20 m + 120 15 to 00 tion

0 CW

1 CCW

**15

**17

**11

**13

Section 3-3

(7 digits BCD with

(7 digits BCD with di ti di it)

(7 digits BCD with

**19 di ti di it)

58

DM Area Allocation

Section 3-3

Word

X axis Y axis

m + 21 m + 121 00

01

1

0

1

0

CCW

CW

Proximity present

No proximity (This setting is invalid in modes 1, 2, and 3.)

N.O. contact point ( ) 02

03

04 ORIGIN SEARCH method

1

0

1

0

1

0

N.C. contact point ( )

N.O. contact point ( )

N.C. contact point ( )

Proximity reverse present

No proximity reverse m + 22 m + 122

15 to 05 Not used

03 to 00 Completion code

07 to 04 Dwell time

11 to 08 Output code

15 to 12 Target speed no.

m + 23 m + 123 15 to 00 Target position (pulses) m+24

0: Single

1: Pause

2: Continuous

3: Bank end

4: Extended

5: Ext. with positioning

0 to F (hexadecimal) in units of 0.1 s

0 to F (hexadecimal)

1 to F (hexadecimal) m+23

(

Positioning action #0

(Transfer direction x10

6 x10

5 x10

4 x10

3 x10

2 x10

1 x10

0 m + 24 m + 124 15 to 00

0 CW

1 CCW

2 CW

3 CCW

Absolute

Incremental

Single-axis completion point

0 CW

1 CCW

2 CW

3 CCW

Absolute

Incremental

Interpolation completion point

Data format same as for positioning action #0 Positioning action #1

(Transfer data #1) m + 25 m + 26 m + 27 m + 28 m + 29 m + 30 m + 125 m + 126 m + 127 m + 128 m + 129 m + 130

Data format same as for positioning action #0 Positioning action #2

(Transfer data #2)

Note The “No proximity signal” setting (bit 01 OFF) is effective only in mode 0.

In modes 1, 2, and 3, the Unit will operate with the proximity signal even if “No proximity signal.”

59

DM Area Allocation

Word

m + 58 m + 59 m + 60 m + 61 m + 62 m + 63 m + 64 m + 65 m + 66 m + 67 m + 68 m + 69 m + 70 m + 71 m + 72 m + 73 m + 74 m + 75

X axis Y axis

m + 31 m + 32 m + 33 m + 131 m + 132 m + 133 m + 34 m + 35 m + 36 m + 134 m + 135 m + 136 m + 37 m + 38 m + 39 m + 40 m + 41 m + 42 m + 43 m + 44 m + 45 m + 46 m + 47 m + 48 m + 49 m + 50 m + 51 m + 52 m + 53 m + 54 m + 55 m + 56 m + 57 m + 137 m + 138 m + 139 m + 140 m + 141 m + 142 m + 143 m + 144 m + 145 m + 146 m + 147 m + 148 m + 149 m + 150 m + 151 m + 152 m + 153 m + 154 m + 155 m + 156 m + 157 m + 158 m + 159 m + 160 m + 161 m + 162 m + 163 m + 164 m + 165 m + 166 m + 167 m + 168 m + 169 m + 170 m + 171 m + 172 m + 173 m + 174 m + 175

Bit Function

Data format same as for positioning action #0 Positioning action #3

(Transfer data #3)

Data format same as for positioning action #0 Positioning action #4

(Transfer data #4)

Data format same as for positioning action #0 Positioning action #5

(Transfer data #5)

Data format same as for positioning action #0 Positioning action #6

(Transfer data #6)

Data format same as for positioning action #0 Positioning action #7

(Transfer data #7)

Data format same as for positioning action #0 Positioning action #8

(Transfer data #8)

Data format same as for positioning action #0 Positioning action #9

(Transfer data #9)

Data format same as for positioning action #0 Positioning action #10

(Transfer data #10)

Data format same as for positioning action #0 Positioning action #11

(Transfer data #11)

Data format same as for positioning action #0 Positioning action #12

(Transfer data #12)

Data format same as for positioning action #0 Positioning action #13

(Transfer data #13)

Data format same as for positioning action #0 Positioning action #14

(Transfer data #14)

Data format same as for positioning action #0 Positioning action #15

(Transfer data #15)

Data format same as for positioning action #0 Positioning action #16

(Transfer data #16)

Data format same as for positioning action #0 Positioning action #17

(Transfer data #17)

Section 3-3

60

DM Area Allocation

Word

X axis Y axis

m + 76 m + 77 m + 78 m + 176 m + 177 m + 178 m + 79 m + 80 m + 81 m + 179 m + 180 m + 181

Data format same as for positioning action #0

Data format same as for positioning action #0 m + 82 m + 182 15 to 00 Speed #1 m + 83 m + 183 15 to 00 Speed #2 m + 84 m + 184 15 to 00 Speed #3 m + 85 m + 185 15 to 00 Speed #4 m + 86 m + 186 15 to 00 Speed #5 m + 87 m + 187 15 to 00 Speed #6 m + 88 m + 188 15 to 00 Speed #7 m + 89 m + 189 15 to 00 Speed #8 m + 90 m + 190 15 to 00 Speed #9 m + 91 m + 191 15 to 00 Speed #10 m + 92 m + 192 15 to 00 Speed #11 m + 93 m + 193 15 to 00 Speed #12 m + 94 m + 194 15 to 00 Speed #13 m + 95 m + 195 15 to 00 Speed #14 m + 96 m + 196 15 to 00 Speed #15

0001 to 9999 (BCD)

0001 to 9999 (BCD)

0001 to 9999 (BCD)

0001 to 9999 (BCD)

0001 to 9999 (BCD)

0001 to 9999 (BCD)

0001 to 9999 (BCD)

0001 to 9999 (BCD)

0001 to 9999 (BCD)

0001 to 9999 (BCD)

0001 to 9999 (BCD)

0001 to 9999 (BCD)

0001 to 9999 (BCD)

0001 to 9999 (BCD)

0001 to 9999 (BCD)

Positioning action #18

(Transfer data #18)

Positioning action #19

(Transfer data #19)

Transfer data #53

Transfer data #54

Transfer data #55

Transfer data #56

Transfer data #57

Section 3-3

61

DM Area Allocation

Word

X axis Y axis

m + 97 m + 197 00

01

02

03

04

05

06

07

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

08

09

10

11

12

13

Unit for speed #8

Unit for speed #9

Unit for speed #10

Unit for speed #11

Unit for speed #12

Unit for speed #13

14

15

Unit for speed #14

Unit for speed #15 m + 98 m + 198 15 to 00 Acceleration data

(speed incremented in ms) m + 99 m + 199 15 to 00 Deceleration data

(speed decremented in ms) bit 04: 0

0 x 1 pps

1 x 10 pps

0 x 1 pps

1 x 100 pps

2 to 2,000 (BCD) x10

3 x10

2 x10

1 x10

0

2 to 2,000 (BCD) x10

3 x10

2 x10

1 x10

0

Section 3-3

Transfer d #58

62

DM Area Allocation

Expanded DM Area (If Used)

l + 30 l + 31 l + 32 l + 33 l + 34 l + 35 l + 36 l + 37 l + 38 l + 39 l + 40 l + 41 l + 42 l + 43 l + 44 l + 6 l + 7 l + 8 l + 9 l + 10 l + 11 l + 12 l + 13 l + 14 l + 15 l + 16 l + 17 l + 18 l + 19 l + 20 l + 21 l + 22 l + 23 l + 24 l + 25 l + 26 l + 27 l + 28 l + 29

X axis

l l + 1 l + 2 l + 3 l + 4 l + 5

Word

Y axis

l + 100 l + 101 l + 102 l + 103 l + 104 l + 105 l + 106 l + 107 l + 108 l + 109 l + 110 l + 111 l + 112 l + 113 l + 114 l + 115 l + 116 l + 117 l + 118 l + 119 l + 120 l + 121 l + 122 l + 123 l + 124 l + 125 l + 126 l + 127 l + 128 l + 129 l + 130 l + 131 l + 132 l + 133 l + 134 l + 135 l + 136 l + 137 l + 138 l + 139 l + 140 l + 141 l + 142 l + 143 l + 144

Bit Function

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 positioning action #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 positioning action #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 positioning action #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

Section 3-3

Positioning action #20

(Transfer data #20)

Positioning action #21

(Transfer data #21)

Positioning action #22

(Transfer data #22)

Positioning action #23

(Transfer data #23)

Positioning action #24

(Transfer data #24)

Positioning action #25

(Transfer data #25)

Positioning action #26

(Transfer data #26)

Positioning action #27

(Transfer data #27)

Positioning action #28

(Transfer data #28)

Positioning action #29

(Transfer data #29)

Positioning action #30

(Transfer data #30)

Positioning action #31

(Transfer data #31)

Positioning action #32

(Transfer data #32)

Positioning action #33

(Transfer data #33)

Positioning action #34

(Transfer data #34)

63

DM Area Allocation

Expanded DM Area Continued

l + 75 l + 76 l + 77 l + 78 l + 79 l + 80 l + 81 l + 82 l + 83 l + 84 l + 85 l + 86 l + 87 l + 88 l + 89 l + 51 l + 52 l + 53 l + 54 l + 55 l + 56 l + 57 l + 58 l + 59 l + 60 l + 61 l + 62 l + 63 l + 64 l + 65 l + 66 l + 67 l + 68 l + 69 l + 70 l + 71 l + 72 l + 73 l + 74

X axis

l + 45 l + 46 l + 47 l + 48 l + 49 l + 50

Word

Y axis

l + 145 l + 146 l + 147 l + 148 l + 149 l + 150 l + 151 l + 152 l + 153 l + 154 l + 155 l + 156 l + 157 l + 158 l + 159 l + 160 l + 161 l + 162 l + 163 l + 164 l + 165 l + 166 l + 167 l + 168 l + 169 l + 170 l + 171 l + 172 l + 173 l + 174 l + 175 l + 176 l + 177 l + 178 l + 179 l + 180 l + 181 l + 182 l + 183 l + 184 l + 185 l + 186 l + 187 l + 188 l + 189

Bit Function

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 positioning action #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 positioning action #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 positioning action #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

Section 3-3

Positioning action #35

(Transfer data #35)

Positioning action #36

(Transfer data #36)

Positioning action #37

(Transfer data #37)

Positioning action #38

(Transfer data #38)

Positioning action #39

(Transfer data #39)

Positioning action #40

(Transfer data #40)

Positioning action #41

(Transfer data #41)

Positioning action #42

(Transfer data #42)

Positioning action #43

(Transfer data #43)

Positioning action #44

(Transfer data #44)

Positioning action #45

(Transfer data #45)

Positioning action #46

(Transfer data #46)

Positioning action #47

(Transfer data #47)

Positioning action #48

(Transfer data #48)

Positioning action #49

(Transfer data #49)

64

DM Area Allocation

Section 3-3

X axis

Word

Y axis

l + 90 l + 91 l + 92 l + 190 l + 191 l + 192 l + 93 l + 94 l + 95 l + 96 l + 97 l + 98 l + 193 l + 194 l + 195 l + 196 l + 197 l + 198

Data format same as for positioning action #0

Data format same as for positioning action #0

Data format same as for positioning action #0

Positioning action #50

(Transfer data #50)

Positioning action #51

(Transfer data #51)

Positioning action #52

(Transfer data #52)

Required Minimum DM Area Settings

X-axis

Word 15 00

Y-axis

Word 15 00 m + 00

Origin return speed

No.

1-F

≈

m + 01 m + 21

≈

Highspeed

JOG speed

No. 1-F

0

Initial speed

No.

0-F

Lowspeed

JOG speed

No. 1-F

0

Initial position

No. 00 to 52

Origin search highspeed

No. 1-F

Origin search proximity speed

No. 1-F

≈

Origin classification 00-1F m + 22 to m + 81

Positioning actions (No.0-19) m + 82 to m + 96 m + 98 m + 99

Speeds #1 to #15, for speed numbers designated in words

DM m + 00 and DM m + 01.

Acceleration data

Deceleration data m + 100

Origin return speed

No.

1-F

≈

m + 101 m + 121

≈

Highspeed

JOG speed

No. 1-F

0

Initial speed

No.

0-F

Lowspeed

JOG speed

No. 1-F

0

Initial position

No. 00 to 52

Origin search highspeed

No. 1-F

Origin search proximity speed

No. 1-F

≈

Origin classification 00-1F m + 122 to m + 181

Positioning actions (No.0-19) m + 182 to m + 196 m + 198 m + 199

Speeds #1 to #15, for speed numbers designated in words

DM m + 100 and DM m + 101.

Acceleration data

Deceleration data

(m = 1000 + 100 x unit number)

The data in the hatched portion is required so that the alarm LED does not flash.

(The other data memories are 0.) However, they should be set so that: the Highspeed JOG speed is greater than the Low-speed JOG speed, and the ORIGIN

SEARCH high speed is greater than the ORIGIN SEARCH low speed.

Refer to Section 9 Programming Examples, Example 1 for an explanation of setting parameters.

Even when only a single axis is used, the hatched data should be set.

If it is not set, the “ALARM” LED will flash, but the axis in use will operate normally.

This data enables manual operation (JOG, INCH). For ORIGIN SEARCH, when the origin classification is set and positioning is carried out, it sets the position data and speed data.

65

SECTION 4

Commands

4-1 Setting Up Data Memories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2 Unit Table Creation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

68

95

67

Setting Up Data Memories

Section 4-1

Section Overview

The Position Control Unit provides fourteen 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 3-2 Data Configuration and Allocation for an outline of the structure of

Unit data, and to 5-1 IR Area Data Format for format specifications for particular types of data. Applications of most commands are presented in Section 9 Programming Examples.

4-1 Setting Up Data Memories

DM Area Settings

Words 1000 to 1999 of the DM area of the PC are used as data storage areas for 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 output codes.

15-12 11-08 07-04 03-00

M x10

1 x10

0

(m = 1000 + 100 x unit number)

Initial Positioning Action

Number

Initial positioning action number

Initial speed number

Origin return speed number

X: Bits 07-00 of DM word m

Y: Bits 07-00 of DM word m+100

Set to a value between 00 and 52 (BCD). This number is used at:

•

Initial START after turning on the Unit (if bit 01 of word n is 0)

•

START after bank ends

•

START after completion of positioning action #19

To use this initial positioning action number in the above situations, set bit 01 of word n to zero. If bit 01 of word n is set to one, the initial positioning action number designated in the IR area is used for the initial START after turning on the Unit, allowing for a different starting point for positioning system initialization. These settings refer to data set in DM words m+21 through m+81/DM words

l

through

l

+99.

68

Setting Up Data Memories

Initial Speed Number

Section 4-1

X: Bits 11-08 of DM word m

Y: Bits 11-08 of DM word m+100

Set to a value between zero and F (hex). An initial speed number of zero indicates a speed of zero. All the other speed numbers set here refer to the speeds set in DM words m+82 through m+97/bit 04 of DM word m+3.

Target speed Target speed

Acceleration

Acceleration

Time

ORIGIN RETURN Speed

Number

Initial speed #0 Initial speed number other than 0

X: Bits 15-12 of DM word m

Y: Bits 15-12 of DM word m+100

ORIGIN RETURN speed number

Set to an integer between 0 and F (hex).

This is the speed used to return to an already-searched origin

ORIGIN RETURN speed

ORIGIN RETURN speed

Acceleration

Acceleration

Time

Initial speed #0 Initial speed number other than 0

ORIGIN SEARCH Proximity

Speed Number (Low Speed)

X: Bits 03-00 of DM word m+1

Y: Bits 03-00 of DM word m+101

ORIGIN SEARCH proximity speed number

Set to an integer between 1 and F (hex).

•

The speed number set here refers to one of the speeds set in DM words m+82-m+97/ Bit 04 of DM word m+3.

•

It cannot be set higher than the ORIGIN SEARCH high speed number.

•

If there is no origin proximity signal, the speed designated here is used for the entire ORIGIN SEARCH operation.

69

Setting Up Data Memories

Section 4-1

ORIGIN SEARCH

High Speed Number

X: Bits 07-04 of DM word m+1

Y: Bits 07-04 of DM word m+101

ORIGIN SEARCH high speed number

Set to an integer between 1 and F (hex).

•

The speed number set here refers to one of the speeds set in DM words m+82-m+97/Bit 04 of DM word m+3.

•

The speed designated here is used only if an origin proximity signal is present.

ORIGIN SEARCH high speed

Acceleration

ORIGIN SEARCH

Proximity speed

Initial speed

Deceleration

Initial speed

Proximity speed

With origin proximity signal Without origin proximity signal

LOW-SPEED JOG Speed

Number

HIGH-SPEED JOG Speed

Number

X: Bits 11-08 of DM word m+1

Y: Bits 11-08 of DM word m+101

LOW-SPEED JOG: set to an integer between 1 and F (hex).

•

It cannot be set higher than the HIGH-SPEED JOG number.

•

The speed number set here refers to one of the speeds set in DM words m+82 to m+97 (Bit 4 of word m+3)

X: Bits 15-12 of DM word m+1

Y: Bits 15-12 of DM word m+101

HIGH-SPEED JOG: set to an integer between 1 and F (hex).

•

The speed number set here refers to one of the speeds set in DM words m+82 to m+97 (Bit 4 of word m+3)

70

Setting Up Data Memories

Origin Compensation

Section 4-1

If the position determined by origin signal input is to be treated as the origin (position 0), set word m+2 to 0. If there is an origin compensation value set in word m+2, then, after the position determined by origin signal input is reached, compensation will be executed at proximity speed in the direction set in bit 00 of word m+3.

In the example of origin compensation diagrammed below, bit 00 of word m+3 is set at 1, so origin compensation is counterclockwise.

Proximity signal

Origin signal

Pulse output

CCW

ORIGIN SEARCH high speed

Acceleration

Proximity speed Deceleration

0.5 s pause

Compensation

Proximity speed

Search direction: CCW

Initial speed

CW positioning axis

M+3

15-12 11-08 07-04 03-01

04 00

01-03 not used

See Above

Special Unit Coefficient

Origin Search Dwell Time

Origin Return Dwell Time

71

Setting Up Data Memories

Speed Coefficient

X: Bit 04 of DM word m+82-m+97/DM word m+3

Y: Bit 04 of DM word m+182-m+197/DM word m+103 m+82

15 00 x10

3 x10

2 x10

1 x10

0

Speed No. 1

Section 4-1

to to

Set speeds in BCD from

0000 to 9999.

m+96 x10

3 x10

2 x10

1 x10

0

Speed No. 15 m+97

0

Speed Unit

Bit No.

15 00 m+3

ORIGIN SEARCH Dwell

Time

ORIGIN RETURN Dwell

Time

04

Each bit sets the corresponding speed as follows.

Bit 00 is not used. Bit 01 is assigned to speed no. 1, bit 02 to speed no. 2, bit 03 to speed no. 3, and so on, up to bit 15.

Coefficient

0

Unit Condition

Speed unit multiplied by 1

0

1 Speed unit multiplied by 10

0 Speed unit multiplied by 1

1

1 Speed unit multiplied by 100

Speed Unit coefficient

Bit 00 of DM word m+97 is not used. Bits 01-15 contain the speed units for speed numbers 1-15.

X: Bits 11-08 of DM word m+3

Y: Bits 11-08 of DM word m+103

Set to an integer between 0 and F (hex) in units of 0.1 seconds. After the ORIGIN

SEARCH has ended and the dwell time elapsed, the busy flag turns OFF and the next action is enabled.

X: Bits 15-12 of DM word m+3

Y: Bits 15-12 of DM word m+103

Set to an integer between 0 and F (hex) in units of 0.1 seconds. After the ORIGIN

RETURN has ended and the dwell time elapsed, the busy flag turns OFF and the next action is enabled.

72

Setting Up Data Memories

Section 4-1

Backlash Compensation

Backlash compensation can be used to compensate for the amount of mechanical play present in gears, particularly when the direction of positioning actions changes.

Using Backlash

Compensation

Note This explanation relates to the X axis, but the same format is used for the Y axis.

There is only one parameter that needs to be set to compensate for backlash.

Backlash compensation can correct the sort of mechanical interlocking error shown in the illustration.

ÍÍÍÍÍÍÍÍÍÍÍÍ

ÍÍÍÍÍÍÍÍÍÍÍÍ

ÍÍÍÍÍÍÍÍÍÍÍÍ

ÍÍÍÍÍÍÍÍÍÍÍÍ

ÍÍÍÍÍÍÍÍÍÍÍÍ

Backlash

When the CW and CCW directions are reversed, the number of pulses set in the data memory are output at the rate corresponding to the initial speed, then normal control proceeds.

Time

ÍÍ

ÍÍ

Compensation

If STOP is executed during backlash compensation for any operations requiring acceleration or deceleration (HIGH-SPEED JOG, ORIGIN SEARCH, ORIGIN

RETURN, and START), the Unit will stop feeding immediately after outputting the initial step of the acceleration or deceleration, which will include the backlash compensation set above.

STOP executed

ÍÍ

ÍÍ Compensation

Stop position

Time

73

Setting Up Data Memories

Section 4-1

m+5

Note This explanation is made with respect to the X axis: case of the Y axis is essen-

tially the same. Backlash compensation is not performed if the origin is undefined.

15 00 x10

3

x10

2

x10

1

x10

0

Value set within CW limit m+6 m+5 m+6

x10

6

x10

5

x10

4

x10

6

x10

5

x10

4 x10

3

x10

2

x10

1

x10

0

Setting value: 1-8,388,606 m+7 m+8

15 00 x10

3

x10

2

x10

1

x10

0

Value set within CCW limit m+8 m+7

x10

6

x10

5

x10

4 x10

3

x10

2

x10

1

x10

0

x10

6

x10

5

x10

4

Setting value: 1-8,388,607

When the setting value is 0, the limits are automatically set to:

•

CW = 8,388,607

•

CCW = 8,388,608.

74

Setting Up Data Memories

Internal CW/CCW Limits

Limits on the CW and CCW sides of the origin can be set internally to restrict Unit operation to within these limits.

Internally set value of CCW limit Internally set value of CW limit

CCW

0

CW

Positioning axis

Internal CW Limit

Internal CCW Limit

X: Words m+6 to m+5

Y: Word m+106 to m+105

X: Words m+8 to m+7

Y: Word m+108 to m+107

Section 4-1

Operation

Positioning Actions

If either of these limits is reached during execution of positioning actions, pulse output will stop, and an error code, either 5030 or 5031, will be generated.

Manual Operation

If either of these limits is reached during execution of LOW-SPEED JOG, HIGH-

SPEED JOG, or INCH, pulse output will stop, and an error code, either 5070 or

5071, will be generated.

Note When X axis and Y axis START are initiated simultaneously, X axis START re-

ceives priority. Since X axis processing takes 10-50 ms, Y axis START is delayed by this period.

START will not occur during STOP even if the START command is given.

If an interpolation START command is initiated for the X or Y axis during STOP,

START will not occur and the command will be ignored.

75

Setting Up Data Memories

Zones

CCW

Section 4-1

Up to three zones can be set in the DM area. If one or more zones have been set, zone flags in the IR area can be used to determine if the present position is within any established zones. A zone flag is ON (1) when the present position is within the zone; OFF (0) when it is not. Zones can be set to cover a wide range of positions or narrowed to cover only part of a single positioning action. Zones can also be set to overlap, if target. For application example, see programming Example

8 in Section 9. This explanation is made with respect to the X-axis. The case of the Y axis is essentially the same.

Origin

0

CW

Position axis

Zone 0

Zone Flag 0

Zone 1

Zone Flag 1

Zone 2

Zone Flag 2

Positioning Data

Regions spanning multiple positioning data, or some small regions and the like may be set freely using positioning data and independent regions. Whether the current position lies inside or outside the region is indicated.

76

Setting Up Data Memories

Zone Settings

15 00 m+9 x10

3

x10

2

x10

1

x10

0 m+10

Direction

x10

6

x10

5

x10

4

Section 4-1

Zone 0 CW m+10 m+9

Direction

x10

6

x10

5

x10

4 x10

3

x10

2

x10

1

x10

0

0 CW

1 CCW m+11 m+12

15 00 x10

3

x10

2

x10

1

x10

0

Direction x10

6

x10

5

x10

4

Zone 0 CCW m+12 m+11

Direction x10

6

x10

5

x10

4 x10

3

x10

2

x10

1

x10

0

0 CW

1 CCW

Zones 1 and 2, CW/CCW are set similarly.

Zone 1 CW m+13 m+14 m+15 m+16 m+17 m+18 m+19 m+20

Zone 1 CCW

Zone 2 CW

Zone 2 CCW

The CW and CCW sides of Zones 0, 1 and 2 form two sets of data. When the values of all four word are 0, it is assumed that there is no zone setting and no decision is executed. When the origin is confirmed and the current position is acquired, this decision is executed.

77

Setting Up Data Memories

Origin Signal and Proximity

Signal

X: DM word m+21

Y: DM word m+121

Position Command Data

15-12 11-08 07-04 03-01

M+22

Completion Code

Position Dwell Time

Output Code

Target Speed Number

Positioning Data

15 00

M+23 x10

3

x10

2

x10

1

x10

0

M+24

Direction

x10

6

x10

5

x10

4

Section 4-1

m+21

0 0 0 0 0

04 00

(m=1000 + 100 x unit number) bit

00

01

02

03

04

Designation

ORIGIN SEARCH direction

Origin proximity signal presence

Origin proximity type

Origin signal type

1

CCW present

N.O.

N.O.

ORIGIN SEARCH method present

N.O: Normally-open contacts

N.C: Normally-closed contacts absent

0

CW absent

N.C.

N.C.

78

Setting Up Data Memories

Positioning Actions

Completion Code

Section 4-1

X: DM words m+22 through m+81/DM words

l

through

l

+98

Y: DM words m+122 through m+181/DM words

l

+100 through

l

+198

Positioning actions (or sequences) consist of a completion code, dwell time, output 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 completion code of 2 (continuous). The settings for positioning action #0, DM words m+22 through m+24, are explained below. The same procedure is followed for any other positioning action. Refer to

Section 3-3 DM Area Allocations for detailed word and bit allocations. If you are using an expanded DM area, set positioning action #s 20-52 in the same way.

X: Bits 03-00 of DM word m+22

Y: Bits 03-00 of DM word m+122

Set from 0 to 5 to specify the one of the six types of completions (described below). Also refer to Section 5-4 Execution Examples.

03 to 00 m+22

Completion code: 0 to 5

Only codes 0 through 3 can be used with interpolation; codes

4 and 5 cannot be used.

0

1

Single

Pause

4

5

2

3

Continuous

Bank

Extended

Extended with positioning

79

Setting Up Data Memories

0: Single

1: Pause

Section 4-1

The target position and target speed are reached and feeding stops. After completion of this action, START is required to execute the next positioning action.

Target speed

Deceleration Acceleration

Initial speed

Stop from initial speed

Time

START Target position

The target position and target speed are reached, and the next positioning action is automatically started following the dwell time.

Target speed

2: Continuous

Time

Dwell time

START Pause

Start of next positioning action

As soon as the target position for the first positioning action is reached, the next positioning action is started. The first target position is reached at the target speed set for the next positioning action, so that the next positioning action can be executed immediately.

Target speed for first positioning action

Target speed for next positioning action

START

Time

Target position for first positioning action

80

Setting Up Data Memories

3: Bank end

Section 4-1

The term “bank” refers to a combination of several positioning actions or sequences. The target position and target speed are reached and feeding stops.

The next positioning action to be executed will be the initial positioning action number in bits 07-00 of DM word m. START is required to resume execution of positioning actions.

Target speed

4: Extended

Time

START

Stop

The Unit continually outputs pulses at the speed set for the positioning action.

The Unit will not calculate the present position, and the no-origin flag (bit 11 of word n+10) will go ON during operation. The direction of pulse output is determined by the direction digit set in the positioning data. Extended positioning actions are terminated with STOP. START is required to resume execution of positioning actions.

Target speed

Time

START

Stop

STOP executed

81

Setting Up Data Memories

5: Extended With

Positioning

Section 4-1

The Unit continually outputs pulses at the speed set for the positioning action.

The Unit will not calculate the present position, and the no-origin flag (bit 11 of word n+5) will go ON during operation. The direction of pulse output is determined by the direction bit set for the positioning action. When STOP is executed, the present position is reset and positioning is executed according to the data set for the positioning action. START is required in order to resume execution of positioning actions.

(B) Present position reset;.

No-origin flag OFF

Target speed

Time

START

(C) Stop

(A) STOP executed

CHANGE SPEED valid

CHANGE SPEED cannot be executed.

The extended action can be terminated by executing STOP again.

STOP can be executed by either an external input signal or by setting bit 15 of IR word n. For details, refer to Section 5-6 STOP.

82

Setting Up Data Memories

Delay Time

Section 4-1

From position A to position B in the above diagram, there is a delay time of approximately 2 ms. From position B to position C, there may be a maximum additional delay time of 2 ms. The delay time between points A and B does not affect the present position set in words n+13 and n+14. During the delay time between B and C, the present position in those words is reset to zero and then updated. The delay time is also output to those words.

Positioning Action No. 0 for Unit No.0

DM 1022

DM 1023

DM 1024

Speed #1: 10K pps

1 0 0 5

0 0 0 0

0 0 0 1

Completion code: 5

Target position: 10000

Direction: CW

After STOP, the present position is as follows:

Word 113 0 0 0 3

Word 114 0 0 0 1

In this example, the present position after operation has stopped is 10003. Since the target position was 10000, the actual position has exceeded the target position by 3 pulses. Since the speed was set to 10K pps, 3/10,000 = 0.003 s =

0.3 ms. Thus the delay time is 0.3 ms.

If the target position is near the position at which STOP is executed, pulse output will cease before deceleration is completed. However, no error code will be output. Also remember that the next START cannot be executed while the STOP command bit is set to one.

83

Setting Up Data Memories

Dwell Time

X: Bits 07-04 of DM word m+22

Y: Bits 07-04 of DM word m+122

07-04 m+22

0

Output Code

Section 4-1

ORIGIN SEARCH dwell time

Set to an integer between 0 and F

(hex) in units of 0.1 seconds. After pulse output stops and the dwell time has elapsed, the busy flag turns OFF and the next action is enabled.

The next action can be executed when the busy flag turns OFF after the dwell time has expired. In other words, the positioning completed flag remains OFF and the busy flag remains ON until the dwell time has expired. (Refer to Section

5-4 Execution Examples.)

X: Bits 11-08 of DM word m+22

Y: Bits 11-08 of DM word m+122

Set to an integer between 0-F (hex).

These codes can be set as desired by the user. Upon completion of the positioning action, they are output to bits 11-08 of word n+12 in the OUT refresh area.

m+22

15 to12 11 to 08

Output code: 0 to F (hexadecimal)

(Output to word n+12, bits 11 to 08.)

Target speed number:

1 to F (hexadecimal) n+12

Positioning action number x10

1 x10

0

11 to 08 07 to 00

84

Setting Up Data Memories

Section 4-1

Target Speed Number

X: Bits 15-12 of DM word m+22

Y: Bits 15-12 of DM word m+122

Target Position

Set to a value between 1 and F (hex). The speed numbers set here refer to the speeds set in DM words m+82 through m+97/bit 04 of DM word m+3. The speed unit is set in DM word m+97 and bit 04 of word m+3. A speed coefficient is set in bits 05 of word m+2; its setting is explained in Section 6-1 IR Area Settings.

X: DM words m+23 and m+24

Y: DM words m+123 and m+124

The target position is set by the lowest seven digits, i.e., all four digits of word 23 and the lowest three digits of word 24. The remaining digit of word 24 is used as the direction digit. (Refer to Section 3-3 DM Area Allocations.)

Maximum values are as follows:

CW: 8388606 pulses

CCW: 8388607 pulses

Absolute values are measured from the origin. Increment values are measured from the present position. Positions resulting from increments must be between

–8,388,607 and +8,388,606.

15 00 m+23 x10

3

x10

2

x10

1

x10

0 m+24 m+23 m+24

Sign

x10

6 x10

5 x10

4

Direction

x10

6

x10

5 x10

4 x10

3 x10

1 x10

1

x10

0

2

3

4

5

6

7

0

1

CW

CCW

CW

CCW

CW

CCW

CW

CCW

Target position:

Set with 7-digit BCD absolute value

Single axis end point incremental value absolute value

Interpolation end point incremental value

A Y axis direction setting for interpolation can be chosen from 0-3 or from 4-7.

85

Setting Up Data Memories

CCW

–8388607

Absolute value

Section 4-1

CCW direction increment value

CW

8388606

Absolute value

Single axis end point

CCW direction increment value

Present position

(Origin)

0

CCW direction increment value

Target position

Interpolation end

8388606

CW

CW direction increment value

Absolute value

Interpolation Settings

–8388607 Absolute value

CCW

Absolute value expresses a displacement from the origin. Increment value expresses a displacement from the present position. When set for single-axis completion, the X and Y axes operate separately. When interpolated completion is set, linear positioning between the present position and target position is carried out. The result of adding an increment value to the present position must be positive for CW movement and negative for CCW movement.

Note that the TEACH command can be used to write target positions into the DM area. Refer to Section 7 TEACH for details.

When setting an interpolation end point, choose a direction setting from four and seven for the target position, and set the same positioning action number for the

X and Y axes. Interpolation begins when the X axis START command bit (bit 00 of word n) turns ON. The positioning action number executed for X axis will also be executed for the Y axis. If Y axis START command bit (bit 00 of word n+5) is

ON, nothing will be executed except independent Y axis operation. Execution is carried out with the initial positioning action number, initial speed number, acceleration, deceleration, target speed number, output code, and dwell time set for the X axis.

During interpolation, completion code 2 (Continuous) cannot be used with single-axis operation and completion code 3 (Bank end) cannot be used for the

X axis only. When X-axis completion is set to code 2 or 3, the Y-axis completion code will also become code 2 or 3, with the completion code setting for the Y axis being ignored. Interpolation with completion codes 4 (Extended) and 5 (Extended with positioning) is also not carried out.

86

Setting Up Data Memories

When the X-axis Positioning Action Number is 0

m+22 m+24

Target speed

Output code

Dwell time

Completion code

Direction m+23

Section 4-1

Set between 4 and 7

Set to 0 Single, 1 Pause, 2 Continuous, or 3 Bank.

Cannot be set to 4 Extended or 5 Extended with positioning.

These settings become interpolation data.

When the Y-axis

Positioning Action Number is 0

m+122

When the Y axis positioning action number is 0, use the same data settings as for the X axis.

m+124 m+123

Target speed

Output code

Dwell time

Completion code

Direction

Y axis

Origin

ν

ν y

θ

ν x

Set between 0 and 3, or between 4 and 7

When the X-axis completion code is 2, this setting is ignored.

These settings are ignored.

The target speed set for the X axis becomes the interpolation speed for both the

X and Y axes. The velocity component for each axis is illustrated below.

Interpolation end point

ν

ν x

ν y

ν x

ν y

=

ν

cos

θ

=

ν

sin

θ

: Interpolation speed

: X-axis speed

: Y-axis speed

Also refer to the programming examples in Section 9.

X axis

87

Setting Up Data Memories

Section 4-1

Cautions for Using Completion Code 2: Continuous

1. Stepping Motor

Avoid using continuous completion, code 2, with the stepping motor. During interpolation, pulses are output in accordance with the speed changes set for the interpolation and the programmed trajectory. When interpolation is executed continuously, changes in speed for the X and Y axes cause pulses to be output rapidly, and to be stopped suddenly. If the stepping motor does not follow these changes in speed, misadjustment occurs. Consequently, it is prudent to use completion code 2 (Continuous) as little as possible with the stepping motor.

Instead, use completion code 1 (Pause).

Interpolation operation

Y axis

(pulse)

Interpolation speed

(PPS)

Positioning action # a b

#2

Continuous

#2

Continuous point A point B

Speed change

Time

0

45°

A

Position

B

X axis

(pulse)

X axis speed change

X-axis speed

(PPS)

1 b a

2

1

2 b

Time

Y axis speed change

Y-axis speed

(PPS)

1

2

1

2 a b

Time

88

Setting Up Data Memories

2. Programs

CW

Y axis

Section 4-1

During continuous operation, direction cannot be reversed until completion of the positioning action. The following examples illustrate operations that cannot be carried out, because the X axis positioning actions No. 1 and No. 3, and the Y axis positioning actions No. 0 and No. 2, are in the opposite directions. Instead of continuous completion, use completion code 1 (Pause) for positioning action

No. 1, or for all the positioning actions.

CW

Positioning action

#0 #1 #2 #3

X axis

2: Continuous

2: Con.

2: Con.

3: Bank end

Time

CCW

0

CW

X axis Y axis

CCW

CW

Origin

Time

CCW

89

Setting Up Data Memories

3. Pulse Displacement

Section 4-1

Pulse displacement can occur at continuous transition points.

C

B

ν n

0-A interpolation speed =

A-B interpolation speed =

ν

ν c n

ν c

A

’ A

Pulse displacement

θ c

0

The amount depends on the settings of the program, but pulse displacement invariably occurs when continuous completion is used with interpolation.

The maximum pulse displacement vector is

V n

250

, so displacement in the X direction is between 0 and and displacement in the Y direction is between 0 and

V n

250 cos

θ c

,

V n

250 sin

θ c

.

Displacement occurs because acceleration/deceleration patterns for interpolation receive priority. During continuous positioning there is no displacement at the final point (C in the diagram above), so positioning can be executed accurately at that point. For accurate positioning at intermediate points, use completion code 1 (Pause).

90

Setting Up Data Memories

Section 4-1

Speeds

Slight differences exist between speeds set in the DM area and actual speeds.

These differences do not affect positioning accuracy.

m+89 m+90 m+91 m+92 m+93 m+94 m+95 m+96 m+82 m+83 m+84 m+85 m+86 m+87 m+88 m+182 m+183 m+184 m+185 m+186 m+187 m+188 m+189 m+190 m+191 m+192 m+193 m+194 m+195 m+196

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

Speed #1

Speed #2

Speed #3

Speed #4

Speed #5

Speed #6

Speed #7

Speed #8

Speed #9

Speed #10

Speed #11

Speed #12

Speed #13

Speed #14

Speed #15

0000 to 9999 (BCD)

0000 to 9999 (BCD)

0000 to 9999 (BCD)

0000 to 9999 (BCD)

0000 to 9999 (BCD)

0000 to 9999 (BCD)

0000 to 9999 (BCD)

0000 to 9999 (BCD)

0000 to 9999 (BCD)

0000 to 9999 (BCD)

0000 to 9999 (BCD)

0000 to 9999 (BCD)

0000 to 9999 (BCD)

0000 to 9999 (BCD)

0000 to 9999 (BCD)

Settings between 92 and 250,000 pps

Actual speed (pps) =

6,000,000

INT(6,000,000/set value) where,

INT(6,000,000/set value): Divider ratio pps: pulses per second

Pulse output (actual speed)

6 MHz

Counter LSI

Divider

The slight difference occurs because a 6-MHz source clock is divided by the integral divider ratio.

91

Setting Up Data Memories

Example Values:

Set Value (pps)

250,000

180,000

140,000

95,000

3,500

92

Settings between 1 and 91 pps

Actual speed (pps) =

Actual Speed (pps)

250,000.00

181818.18

142,857.14

95,238.10

3,500.58

92.00

23,437.5

INT(23,437.5/set value)

Section 4-1

Example Values:

Pulse output (actual speed)

23,437.5 Hz

Divider

A 23,437.5 Hz source clock is divided by the integral divider ratio.

Set Value (pps)

91

60

Actual Speed (pps)

91.20

60.10

92

Setting Up Data Memories

Section 4-1

Speed Unit Multiplier

15-12 11-08

Word

X-axis Y-axis

m+97 m+197 00

01

02

03

Bit

04

05

06

07

08

09

10

11

12

13

14

15

M+97

Function

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 speed #9

Unit for speed #10

Unit for speed #11

Unit for speed #12

Unit for speed #13

Unit for speed #14

Unit for speed #15

DM word

3(X)/ 103(Y)

0

DM word

0 x 1 pps

07-04 03-01

0

Each bit sets the corresponding speed as follows. Bit 00 is not used.

•

Bit 00 is not used

•

Bit 01 is assigned to speed no.1

•

Bit 02 is assigned to speed no.2

•

Bit 03 is assigned to speed no.3

•

Bit 15 is assigned to speed no.15

93

Setting Up Data Memories

Section 4-1

Acceleration/Deceleration

Acceleration:

X: M word m+98

Y: DM word m+198

Deceleration:

X: DM word m+99

Y: DM word m+199 m+98

15 00 x10

3

x10

2

x10

1

x10

0

Acceleration: 2-2000 (BCD) m+99 x10

3

x10

2

x10

1

x10

0

Deceleration: 2-2000 (BCD)

Indicates the speed change per millisecond (pps: pulse/second).

Trapezoidal

Acceleration/Deceleration

An internal calculation process is used to create a trapezoidal figure from speed, acceleration, and deceleration settings.

Speed

Time

When accelerating or decelerating between two speeds, the speed is varied every unit time in a stepwise fashion. To achieve this, acceleration and deceleration tables are created internally when the Unit is first operated or when TRANS-

FER DATA is used to alter data.

94

Unit Table Creation

Section 4-2

4-2 Unit Table Creation

The internal processing of the Position Control Unit is as follows during table creation.

1, 2, 3...

1. The speed difference,

∆

V, is obtained to express the range of speed settings.

∆

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 that the unit time for each step is 4 ms. The maximum number of steps is 250.

L = (

∆

V/R)

4 where,

R: Acceleration or deceleration data, whichever greater.

∆

V/R: Acceleration (or deceleration) time between MAX and MIN

3. Next, the speed difference (

∆υ

) for each step is obtained.

∆υ

= (

∆

V/L)

4. The divider ratios for all steps are calculated and set in a table.

Target (step) speed Division ratio

Step

1

2

3

Min

MIN +

∆υ

MIN + 2 x

∆υ

L MAX

The dividing ratio is an integer value explained on the preceding page.

95

Unit Table Creation

Section 4-2

5. Example:

Start speed

Maximum value of speed data Nos. 1 to 15

Acceleration

Deceleration

∆

V = 20000 x 2 = 40000

L = (

∆

V/R) = (40000/100) = 100

4 4

∆υ

= 40000/100 = 400

υ (

Speed) pps

40000

39600

39200

38800

400

0 (pps)

20,000 (pps)

100 (pps/1ms)

100 (pps/1ms)

4 ms

R = 400= 100

4

20400

20000

19600

19200

1600

1200

800

400 t (Time)

4

8

12

192 200

196

392 400

204 388 396 ms

96

SECTION 5

IR Area Allocation

5-1 IR Area Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2 IR Area Data Format

5-3 IR Area Settings

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

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

5-4 Execution Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-5 ORIGIN SEARCH Completion Examples

5-6 Start/Stop

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

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

98

100

105

106

119

122

97

IR Area Allocation

Section 5-1

Section Overview

This section presents the IR Area allocation and data formats. It also provides some execution examples to illustrate how the Position Control Unit is used in different configurations.

5-1 IR Area Allocation

Here n represents the first IR word allocated to the Unit and equals 100 plus 10 times the unit number. These tables list the X axis allocations. The Y axis allocations are analogous, but are offset 5 words from the X axis locations. For example, bit 00 of word n is the START command bit for the X axis, while bit 00 of word n+5 is the START command bit for the Y axis.

Word

Bit

00

01

12

13

14

15

08

09

10

11

02

03

04

05

06

07

n

START

Valid initial positioning action number

ORIGIN SEARCH

ORIGIN RETURN

RELEASE PROHIBIT

READ ERROR

CHANGE SPEED

Valid speed coefficient

RESET ORIGIN

TEACH

TRANSFER DATA

HIGH-SPEED JOG

JOG direction

LOW SPEED JOG

INCH

STOP

n+1

Initial i i i action no.

CHANGE

SPEED

COEFFICIENT

TEACH i i i

(07)

n+2

to 00)

Deviation

Buffer transfer TRANSFER

DATA type

n+3

(05 (f

TRANSFER

n+4

PC data area

TRANSFER

Number of f (f

( (BCD) )

98

IR Area Allocation

Word

Bit

00

01

02

03

04

05

06

07

Continued

n+10

Positioning completed flag

Bank completed flag

At-origin flag

Alarm flag

Emergency stop flag

Error flag

Zone 0 flag

Zone 1 flag

n+11

Error code

08

09

10

11

12

13

14

15

Zone 2 flag

Teaching completed flag

Transfer completed flag

No-origin flag

Busy flag

CW limit flag

CCW limit flag

STOP flag

n+12

Positioning completed signal

Emergency stop signal

External interrupt signal

Origin signal

Origin proximity signal

n+13

Present

Section 5-1 n+14

position

99

IR Area Data Format

Section 5-2

5-2 IR Area Data Format

Data is allocated either by bit or by word, though 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.

highest word lowest word direction

10

6

10

5

10

4

10

3

10

2

10

1

10

0

0

1

CW

CCW

Note that the rightmost word is always the lowest word. If the two words were n+8 and n+9, for example, the rightmost word would be n+8 and the leftmost would be n+9. Furthermore, the rightmost digit in each word begins in the lowest bits. Thus, the digits x10

4

and x10

0

above would be held in bits 00 through 03 of their respective words. The direction digit also provides other information when required.

100

IR Area Data Format

Section 5-2

IR Allocation X-axis Output

Word Bit

Outputs (n =

100 x10 x

00

01 n n+1 n+2 n+3 n+4

02

03

04

05

06

07

08

09

13

14

15

10

11

12

00 to 06

07

08 to 14

15

00 to 05

06

07

08 to 14

15

00 to 15

00 to 07

08 to 15

Function ( : leading edge; : trailing edge)

START: At the leading edge ( ) of this bit, the Position Control Unit references bits 01 and 07 of word n+1 and begins positioning.

Valid initial positioning no.: When set to 1, the initial positioning no. set in bits 07 to 00 of word n+1 is valid. When set to 0, the initial positioning no. set in bits 07 to 00 of DM word m is valid.

ORIGIN SEARCH: ( ) Searches for origin proximity signals and origin signals, and determines the origin.

ORIGIN RETURN: ( ) Returns to the origin (as long as the origin has already been determined).

RELEASE PROHIBIT: ( )

READ ERROR: ( )

CHANGE SPEED: ( ) if DIP switch pin no. 2 is ON. If pin no. 2 is OFF, then this bit executes CHANGE SPEED when set to 1 and STOP when set to 0.

Valid speed coefficient: When set to 1, the speed coefficient set in bits 05 to 00 of word n+2 is valid. When set to 0, the speed coefficient of the target speed is set at 1.0.

RESET ORIGIN: ( )

TEACH: ( ) References bits 15 to 08 of word n+1 and registers the present position.

TRANSFER DATA: ( ) References words n+2 to n+4 and begins the transfer of data.

HIGH-SPEED JOG: (0: stops, 1: operates) in the direction indicated by bit 12 of word n.

INCH/JOG direction: (0: CW, 1: CCW)

LOW-SPEED JOG: (0: stops, 1: operates) in the direction indicated by bit 12 of word n.

INCH: ( ) Outputs one pulse.

STOP: ( ) The Positioning cannot be restarted while this bit is set to 1.

Initial positioning action number: 00 to 52 (BCD)

Target speed/coefficient change

TEACH positioning action number: 00 to 52 (BCD)

BUFFER TRANSFER: ( )

Speed coefficient: 00 to 20 (BCD) in units of x 0.1

Speed numbers for CHANGE SPEED: 00 to 15 (00: current number + 1)

Deviation counter reset output (A6-B6) forced ON/OFF bit (1: ON)

Origin adjustment command output (A7-B7) forced ON/OFF bit (1: ON)

Beginning transfer number: 00 to 58 (BCD)

When set to 1, presets the present position during DATA TRANSFER.

Beginning word number for DATA TRANSFER (4 digits BCD)

DATA TRANSFER relay area 0-4 (BCD) (00: DM, 01: I/O, 02: LR, 03: HR, 04: AR)

Quantity of data transmitted 01-59 (BCD)

101

IR Area Data Format

Section 5-2

IR Allocation X-axis Input

Word Bit

Inputs (n = n+11 n+12 n+13

00

01

05

06

07

08

09

02

03

04

10

11

12

13

14

15

00 to 15

00 to 06

07

08 to 11

12

13

14

15

00 to 15

Function ( : leading edge; : trailing edge)

Positioning completed flag: ( : completed, : starting)

Bank completed flag: ( : bank completed, : starting)

At-origin flag: (1: stopped at origin)

Alarm flag: (1: alarm)

Emergency stop flag: :Emergency stop, :pulse output enabled word n+5 of bit 4

Error flag: (1: error)

Zone 0 flag: (0: outside zone 0, 1: inside zone 0)

Zone 1 flag: (0: outside zone 1, 1: inside zone 1)

Zone 2 flag: (0: outside zone 2, 1: inside zone 2)

Teaching completed flag: ( : completed, : starting)

Transfer BUFFER TRANSFER also completed flag: ( : completed, : starting)

No-origin flag: (1: no origin)

Busy flag: (1: busy) during transfer or pulse output (See note.)

CW limit flag: (1: CW limit signal has been detected.)

CCW limit flag: (1: CCW limit signal has been detected.) monitoring

STOP flag: ( : STOP executed, : operation begins)

Error code: 4 digits (BCD)

Positioning action number: 00 to 52 (BCD)

Positioning completed flag: (1: positioning completed)

For external input monitoring

Output code: 0 to F (hexadecimal)

Emergency stop signal: (1: Emergency stop signal is being input.)

External interrupt signal: (1: External interrupt signal is being input.)

Origin signal: (1: Origin signal is being input.)

Origin proximity signal: (1: Origin proximity signal is being input.)

Present position monitoring n+14 00 to 15 x10

3 x10

2 x10

1 x10

0

Code

0 CW

1 CCW

Present position x10

6 x10

5 x10

4

Note If the positioning time is very short, it may not be possible to read the busy flag’s

ON status in a ladder program cycle.

102

IR Area Data Format

Section 5-2

IR Allocation Y-axis Output

Word Bit

Outputs (n =

100 x10 x

00

01 n+5 n+6 n+7 n+8 n+9

02

03

04

05

06

07

08

09

10

11

12

13

14

15

00 to 06

07

08 to 14

15

00 to 05

06

07

08 to 14

15

00 to 15

00 to 07

08 to 15

Function ( : leading edge; : trailing edge)

START: At the leading edge ( ) of this bit, the Position Control Unit references bits 01 and 07 of word n+1 and begins positioning.

Valid initial positioning no.: When set to 1, the initial positioning no. set in bits 07 to 00 of word n+6 is valid. When set to 0, the initial positioning no. set in bits 07 to 00 of DM word m is valid.

ORIGIN SEARCH: ( ) Searches for origin proximity signals and origin signals, and determines the origin.

ORIGIN RETURN: ( ) Returns to the origin (as long as the origin has already been determined).

RELEASE PROHIBIT: ( )

READ ERROR: ( )

CHANGE SPEED: ( ) if DIP switch pin no. 5 is ON. If pin no. 5 is OFF, then this bit executes CHANGE SPEED when set to 1 and STOP when set to 0.

Valid speed coefficient: When set to 1, the speed coefficient set in bits 05 to 00 of word n+7 is valid. When set to 0, the speed coefficient of the target speed is set at 1.0.

RESET ORIGIN: ( )

TEACH: ( ) References bits 15 to 08 of word n+1 and registers the present position.

TRANSFER DATA: ( ) References words n+2 to n+4 and begins the transfer of data.

HIGH-SPEED JOG: (0: stops, 1: operates) in the direction indicated by bit 12 of word n.

INCH/JOG direction: (0: CW, 1: CCW)

LOW-SPEED JOG: (0: stops, 1: operates) in the direction indicated by bit 12 of word n.

INCH: ( ) Outputs one pulse.

STOP: ( ) The Positioning cannot be restarted while this bit is set to 1.

Initial positioning action number: 00 to 52 (BCD)

Target speed/coefficient change: ( )

TEACH positioning action number: 00 to 52 (BCD)

BUFFER TRANSFER: ( )

Speed coefficient: 00 to 20 (BCD) in units of x 0.1

Speed numbers for CHANGE SPEED: 00 to 15 (00: current number + 1)

Deviation counter reset output (A6-B6) forced ON/OFF bit (1: ON)

Origin adjustment command output (A7-B7) forced ON/OFF bit (1: ON)

Beginning transfer number: 00 to 59 (BCD)

When set to 1, presets the present position during DATA TRANSFER.

Beginning word number for DATA TRANSFER (4 digits BCD)

DATA TRANSFER relay area 0-4 (BCD) (00: DM, 01: I/O, 02: LR, 03: HR, 04: AR)

Quantity of data transmitted 01-59 (BCD)

103

IR Area Data Format

Section 5-2

IR Allocation Y-axis Input

Word Bit

Inputs (n = n+16 n+17 n+18

00

01

05

06

07

08

09

02

03

04

10

11

12

13

14

15

00 to 15

00 to 06

07

08 to 11

12

13

14

15

00 to 15

Function ( : leading edge; : trailing edge)

Positioning completed flag: ( : completed, : starting)

Bank completed flag: ( : bank completed, : starting)

At-origin flag: (1: stopped at origin)

Alarm flag: (1: alarm)

Emergency stop flag: :Emergency stop, :pulse output enabled word n+5 of bit 4

Error flag: (1: error)

Zone 0 flag: (0: outside zone 0, 1: inside zone 0)

Zone 1 flag: (0: outside zone 1, 1: inside zone 1)

Zone 2 flag: (0: outside zone 2, 1: inside zone 2)

Teaching completed flag: ( : completed, : starting)

Transfer completed flag: ( : completed, : starting) BUFFER TRANSFER:( )

No-origin flag: (1: no origin)

Busy flag: (1: busy) during transfer or pulse output (See note.)

CW limit flag: (1: CW limit signal has been detected.)

CCW limit flag: (1: CCW limit signal has been detected.) monitoring

STOP flag: ( : STOP executed, : operation begins)

Error code: 4 digits (BCD)

Positioning action number: 00 to 52 (BCD)

Positioning completed flag: (1: positioning completed)

For external input monitoring

Output code: 0 to F (hexadecimal)

Emergency stop signal: (1: Emergency stop signal is being input.)

External interrupt signal: (1: External interrupt signal is being input.)

Origin signal: (1: Origin signal is being input.)

Origin proximity signal: (1: Origin proximity signal is being input.)

Present position monitoring n+19 00 to 15 x10

3 x10

2 x10

1 x10

0

Code

0 CW

1 CCW

Present position x10

6 x10

5 x10

4

Note If the positioning time is very short, it may not be possible to read the busy flag’s

ON status in a ladder program cycle.

104

IR Area Settings

Section 5-3

5-3 IR Area Settings

ORIGIN SEARCH

X: Bit 02 of word n

Y: Bit 02 of word n+5

In C200H PCs, IR words 100 to 199 are used for Special I/O Units. When a Position Control Unit is used, some of these are allocated as I/O refresh areas. For a detailed explanation, refer to Section 3-2 Data Configuration and Allocation. For a detailed list of the words and bits in the IR area, refer to Section 5-1 IR Area

Allocations.

02 n (n = 100 + 10 x unit number)

ORIGIN SEARCH command bit

(ORIGIN SEARCH begins at the rising edge of this bit.)

105

Execution Examples

Section 5-4

5-4 Execution Examples

The following examples illustrate the relationship between the mode number, presence or absence of a proximity signal, presence or absence of proximity reverse, and the execution of positioning actions. The origin and proximity signals both use N.O. inputs (bits 02 and 03 of DM word m+21 ON). An abbreviated explanation is given for the case with N.C. inputs.

Mode 0

Example 1:

When Origin Proximity

Reverse is Enabled

Connect the open collector signals of the sensor, etc., to the origin line driver input (10 and 11 for X, 32 and 33 for Y) of the Position Control Unit. Origin response time is 1.0 ms. Refer to Section 2-4 Wiring.

X: DM word m+21

Y: DM word m+121

(bit 01 ON, bit 04 ON)

As illustrated on the following page, use the origin proximity signal to ensure sufficient deceleration time when using a slit disc for the origin signal.

106

Execution Examples

Section 5-4

Stepping motor

Origin signal

Origin proximity signal

1

0

Origin signal

1

0

Sensor

Pulse output

CCW

ORIGIN SEARCH (Start)

Slit disc

Origin (Stop)

The origin is sought after the origin proximity signal turns OFF.

Deceleration begins when the origin proximity signal turns ON.

CW

CCW

ORIGIN SEARCH

(Start)

Origin (Stop)

CW

Positioning axis

CCW

Origin (Stop)

CW limit

ORIGIN SEARCH

(Start)

CW

107

Execution Examples

Example 2:

When Origin Proximity

Reverse is Disabled

Section 5-4

X: DM word m+21

Y: DM word m+121

( bit 01 ON, bit 04 OFF)

This example shows one pulse of the proximity signal and one pulse of the origin signal.

Origin proximity signal

1

0

Origin signal

1

0

Pulse output

CCW

Origin (Stop)

CW

Positioning axis

ORIGIN SEARCH

(Start)

CW

CCW

Origin (Stop)

ORIGIN SEARCH

(Start)

CCW

Origin (Stop)

CW limit

ORIGIN SEARCH (Start)

CW

108

Execution Examples

Section 5-4

Example 3:

No Origin Proximity Signal

X: DM word m+21

Y: DM word m+121

( bit 01 OFF)

Only the origin signal is used. All positioning actions are carried out at proximity speed (low speed).

Origin signal

1

0

Pulse output

CCW

Origin (Stop)

CW

Positioning axis

ORIGIN SEARCH

(Start)

CCW

CW

Origin (Stop)

ORIGIN SEARCH

(Start)

CCW

CW

Origin (Stop)

ORIGIN SEARCH

(Start)

CW limit

109

Execution Examples

Mode 1

Section 5-4

The Origin response time is 0.1 ms. Connect the encoder’s Z-phase signal to inputs 9 and 11 for the X axis, and to inputs 31 and 33 for Y axis. Be sure to use the proximity signal. Also refer to the wiring information in Section 2-4.

Note In mode 1, the proximity signal is used even if the axis is set for “No proximity

signal” (bit 01 OFF.)

Example 1:

When Origin Proximity

Reverse is Enabled

X: DM word m+21

Y: DM word m+121 ( bit 01 ON, bit 04 ON)

Use the origin proximity signal to ensure sufficient deceleration time when origin proximity reverse is needed.

Origin proximity signal

1

0

Origin signal

1

0

Pulse output

CCW

ORIGIN SEARCH (Start)

CCW

Origin (Stop)

The origin is sought after the origin proximity signal turns OFF.

Deceleration begins when the origin proximity signal turns ON.

CW

Positioning axis

CW

Origin (Stop)

ORIGIN SEARCH (Start)

CCW

Deviation counter reset

0

Stop

Origin (Stop) CW limit

ORIGIN SEARCH (Start)

CW

Time

App. 20 ms

110

Execution Examples

Section 5-4

After positioning has stopped, a deviation counter reset signal of about 20 ms is output.

In this mode, if deceleration has not ended when the origin proximity signal has turned OFF, positioning is stopped by the origin signal input after deceleration has ended. If the deceleration period is short for some reason (such as starting inside the origin proximity area), the Position Control Unit will detect another origin signal. Therefore, be sure that the origin proximity signal period is long enough, i.e., at least as long as the deceleration period.

Origin proximity signal 1

0

Origin signal

1

0

Pulse output

CCW

ORIGIN SEARCH (Start)

CCW

ORIGIN SEARCH (Start)

Origin (Stop)

Positioning axis

CW

Ideal position for origin proximity signal to turn OFF

Positioning axis

CW

Pulse output

CCW

V

L

V

H

Positioning axis

CW

T

D

A general method for calculating the number of pulses within the deceleration interval is presented below.

Deceleration time T

D

= V

H

– V

L

/1000 x R, where R: deceleration data (pps/1 ms);

Number of pulses P

D

for deceleration period = (V

H

+ V

L

) x T

D

/2

= V

H2

– V

L2

/2000 x R.

If V

H

= 20000 pps, V

L

= 1000 pps, and R = 1000 pps/ms, then P

D

= 20000

2

– 1000

2

/2000 x 100 = 1995.

Therefore, approximately 2,000 pulses are required for deceleration.

111

Execution Examples

Example 2:

When Origin Proximity

Reverse is Disabled

Origin proximity signal

1

0

Origin signal

1

0

Section 5-4

X: DM word m+21

Y: DM word m+121 ( bit 01 ON, bit 04 OFF)

In this example, origin proximity reverse is not used. Positioning stops when the first origin signal is input after deceleration has ended.

Pulse output

CCW

Positioning axis

ORIGIN SEARCH (Start)

Origin (Stop)

(The origin is sought after deceleration has ended.)

CW

Be aware that when there is an origin signal during deceleration, the stop position depends on the length of the deceleration interval.

Origin proximity signal

1

0

Origin signal

1

0

Pulse output

CCW stop

Positioning axis

CW start

CCW start stop

CW

112

Execution Examples

Section 5-4

In this example diagram, deceleration from ORIGIN SEARCH high speed to proximity speed (low speed) is completed in the period between the origin proximity signal and the first origin signal.

Origin proximity signal

1

0

Origin signal

1

0

Pulse output

CCW

V

L

V

H

Positioning axis CW

P

D

: Number of pulses for deceleration period (p)

V

H

: ORIGIN SEARCH high speed (pps)

V

L

: Proximity speed (pps)

R: Deceleration data (pps/ms)

P

D

= [(V

H

+ V

L

) x (V

H

– V

L

/1000 x R)]/2 = (V

H2

– V

L2

/2000 x R)

Set the values of V

H

and R, using this expression, so that the value of P

D

falls within the range shown in the above figure.

113

Execution Examples

Mode 2

Section 5-4

This mode is similar to Mode 1, but the servomotor driver positioning completed signal is also used. For the connection of this signal, refer to 2-4 Wiring.

The busy flag turns OFF when the positioning completed signal has been input.

Keep the dwell time set to 0, for however long the dwell time is set, the busy flag takes that much longer to turn OFF.

Note In mode 2, the proximity signal is used even if the axis is set for “No proximity

signal” (bit 01 OFF.)

Pulse output

Stop

The “ON” condition is written as 1 for this signal level.

Time

Positioning completed signal

1

0

Busy flag

1

0

Dwell time

114

Execution Examples

Section 5-4

Mode 3

Example 1:

When Origin Proximity

Reverse is Enabled

Mode 3 makes use of the origin adjustment functions of OMRON Servomotor

Drivers R88D-EP and R88D-SR. The servomotor’s positioning completed signal (INP) is used as the origin search completion signal. Do not use an origin,

Z-phase, or deviation counter reset signal.

Note In mode 3, the proximity signal is used even if the axis is set for “No proximity

signal” (bit 01 OFF.)

X: DM word m+21

Y: DM word m+121

( bit 01 ON, bit 04 ON)

1

Origin proximity signal

0

Origin adjustment command

Positioning completed signal

1

0

1

0

Pulse output

Time

Origin (Stop)

ORIGIN SEARCH (Start)

Busy flag

1

0

115

Execution Examples

Origin adjustment command

Section 5-4

When the servomotor driver receives the origin adjustment command (H.RET) from the Position Control Unit, the deviation counter of the servomotor driver is internally reset by the Z-phase signal (which is output by the encoder) and the servomotor driver stops.

Servomotor Driver Processing:

1

0

Z-phase signal

1

0

Positioning completed signal

1

0

Servomotor driver stops here.

The point at which positioning stops is the same as in modes 1 and 2. There are some differences in operation depending on the starting position for ORIGIN

SEARCH. For details, refer to the examples under Mode 1.

Refer also to the examples under Mode 1 for certain precautions concerning the length of the origin proximity signal. In mode 3, if deceleration has not ended by the time the origin proximity signal has turned OFF, the origin adjustment signal is output when deceleration ends.

116

Execution Examples

Example 2:

When Origin Proximity

Reverse is Disabled

Section 5-4

X: DM word m+21

Y: DM word m+121

( bit 01 ON, bit 04 OFF)

In this example, origin proximity reverse is not used. The origin adjustment command is output after deceleration has ended.

Origin proximity signal

Origin adjustment signal

1

0

Positioning completed signal

1

0

1

0

Pulse output

Time

Start Stop

Busy flag

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 of the deceleration period.

For details on calculating the number of pulses during deceleration, refer to

Mode 1, Example 2: When Origin Proximity Reverse is Disabled.

117

Execution Examples

1

Origin proximity signal

0

Z-phase signal

1

0

Pulse output

(Long deceleration)

Origin adjustment command

1

0

Pulse output

(Short deceleration)

Origin adjustment command

1

0

Stop

Stop

Section 5-4

Time

Time

118

ORIGIN SEARCH Completion Examples

Section 5-5

5-5 ORIGIN SEARCH Completion Examples

Completion Patterns With an Origin Proximity Signal

X: DM word m+23

Y: DM word m+123

(bit 01 ON)

The following two example diagrams both illustrate completion of ORIGIN

SEARCH when an origin proximity signal is present. There is an origin compensation value set in the second example, but not in the first.

Example 1: Without Origin Compensation

1

Origin proximity signal

0

Origin signal

1

0

Deceleration

Proximity speed

Pulse output

High speed

Time

[IN Refresh Data Area flag]

At-origin flag word n+10, bit 02

1

0

No-origin flag word n+10, bit 11

1

0

Busy flag word n+10, bit 12

1

0

119

ORIGIN SEARCH Completion Examples

Example 2: With Origin Compensation

1

Origin signal

0

Proximity speed

Pulse output

IN Refresh Data Area flag

At-origin flag word n+10, bit 02

1

0

No-origin flag word n+10, bit 11

1

0

Busy flag word n+10, bit 12

1

0

Program Example

Start switch

03000

Busy flag

11012

Stop switch

No origin

11011

At origin

11002

Busy flag

11012

Start completed

11000

03001 11012

DIFU(13) 3000

10002 ORIGIN SEARCH

10000 START

DIFU(13) 3001

10003

ORIGIN RETURN

END(01)

Section 5-5

0.5 s

Time

Movement equivalent to compensation value

120

ORIGIN SEARCH Completion Examples

Section 5-5

Completion Patterns

Without an Origin Proximity

Signal

X: DM word m+21

Y: DM word m+121

(bit 01 OFF)

The following two example diagrams both illustrate completion of ORIGIN

SEARCH when no origin proximity signal is present. There is an origin compensation value set in the second example, but not in the first.

Example 1: Without Origin Compensation

1

Origin signal

0

Proximity speed

Pulse output

Time

IN Refresh Data Area flag

At-origin flag word n+10, bit 02

No-origin flag word n+10, bit 11

1

0

1

0

Busy flag word n+10, bit 12

1

0

121

Start/Stop

Section 5-6

5-6 Start/Stop

07

In C200H PCs, IR words 100 to 199 are used for Special I/O Units. When a Position Control Unit is used, some of these words are allocated as I/O refresh areas.

For a detailed explanation, refer to Section 3-2 Data Configuration and Allocation.

01 00 n

15

START

START Activation Time

START

Valid initial positioning action number

Valid speed coefficient

STOP

X: Bit 00 of word n

Y: Bit 00 of word n+5

When bit 00 turns ON, the settings in bits 01 and 07 are referenced and positioning begun. For interpolation moves use bit 00 of word n only; bit 00 of word n+5

(Y axis start) is not valid.

The time required between START command bit recognition and the beginning of pulse output depends on the combinations of position data to be executed.

START Command

Pulse output

Time

Pattern

Pattern 0

Pattern 1 (no. of data = 2)

Pattern 1

(no. of data = max.)

Pattern 2

(no. of continuous data = 2)

Pattern 2

(no. of continuous data = max.)

Pattern 3

Pattern 4

Pattern 5

START activation time

Starting the Y axis alone while the X axis is stopped

Starting the Y axis alone while the X axis is moving

Starting the X axis alone while the Y axis is stopped

18 to 21 ms

18 to 21 ms

18 to 21 ms

18 to 21 ms

38 to 41 ms

18 to 21 ms

18 to 21 ms

18 to 21 ms

Starting the X axis alone while the Y axis is moving

18 to 21 ms

18 to 21 ms

18 to 21 ms

18 to 21 ms

41 to 44 ms

18 to 21 ms

18 to 21 ms

18 to 21 ms

Interpolation

27 to 29 ms

---

---

startup

27 to 29 ms

27 to 29 ms

27 to 29 ms

27 to 30 ms

80 to 83 ms

External Interrupt

Response Time

Note Maximum number of data items = 53

The time required between CHANGE SPEED or STOP command bit recognition and the beginning of execution is at least 4 ms.

122

Start/Stop

Valid Initial Positioning

Action Number

Valid Speed Coefficient

Deceleration/Stop

Command (STOP)

Initial Positioning Action

Number

Section 5-6

X: Bit 01 of word n

Y: Bit 01 of word n+5

1 Bits 07-00 of word n+1 valid

0 Bits 07-00 of DM word m valid

Set this bit to 1 when you have designated the initial positioning number in the

I/O refresh areas. After the initial position is set with bits 07 to 00 of word n+1, set the START command bit. These values are set within the same scan.

Set to zero for the first START after the power is turned on, operation after bank end, and operation after positioning action number 19 (or 52 if using an expanded DM area).

X: Bit 07 of word n

Y: Bit 07 of word n+5

Used when the target speed of the positioning action is to be multiplied by a coefficient. Set the speed coefficient in bits 07 to 00 of word n+2, and then the START command bit within the same scan. This bit can function simultaneously with bit

01 above. When this bit is ZERO, the target speed during START becomes 1.0.

For an example of valid speed coefficient operation, refer to Section 6-9

CHANGE SPEED COEFFICIENT.

X Bit 15 of word n

Y: Bit 15 of word n+5

This bit turns ON when STOP is executed during pulse output. Declaration begins at the deceleration setting of DM word m+99., and eventually stops when a speed of zero is reached. Pulse output cannot be executed as long as this bit remains ON. Refer to Section 6-7 STOP for a more detailed explanation and several examples of STOP execution.

When the START command bit (bit 00 of word n) turns ON, START is executed with the positioning action number specified here if bit 01 of word n is ONE.

X: Bits 06-00 of word n+1

Y: Bits 06-00 of word n+6

06 00 n+1

x10

1

x10

0

Speed Coefficient

X: Bits 05-00 of word of word n+2

X: Bits 05-00 of word of word n+7

05 00 n+2 x10

1

x10

0

Set to an integer between 00 and 52.

Set to an integer between 00 and 20.

This setting represents units of (0.1). A setting of 15, for example, represents a value of (1.5).

This coefficient is valid if bit 07 of word n is ONE when the START command bit

(bit 00 of word n) turns ON. It is valid only during START and cannot be changed during operation.

123

Start/Stop

Section 5-6

The speed coefficient represents a coefficient of the target speed. If its value is set at 00, the speed will be taken at face value and a coefficient of 1.0 will be applied. If the value is set between 01 and 20, the set value will be multiplied by

0.1 to determine the coefficient. The speed coefficient can thus be set in increments from 0.1 to 2.0.

If the speed resulting from the coefficient exceeds 250 kpps or falls below

1 kpps, the speed will be set at 250 kpps or 1 kpps, respectively. The target speed coefficient is taken in when started or when the target speed coefficient change flag, bit 07 of word n+1 for the X axis and n+6 for the Y axis, is turned ON.

When the target speed changes during operation, set bit 07 of word n+1 to ON after changing the target speed. The target speed coefficient has no effect on accelerations and decelerations.

Speed

Acceleration

Coefficient: of 1.5

Target speed (coefficient not used or set at 1.0)

Coefficient: of 0.5

Time

Deviation Counter Reset

Output Signal

Origin Adjustment Output

Signal

X: Bit 06 of word n+2

Y: Bit 06 of word n+7

Bit 06 is only valid during STOP. The deviation counter reset output (A6, B6) is

ON if this bit is set to 1, and OFF if it is set to 0.

X: Bit 07 word n+2

Y: Bit 07 word n+7

Bit 07 is only valid during STOP or manual operation (JOG or INCH). Origin adjustment output is ON if this bit is set to ONE, and OFF if it is set to ZERO.

124

SECTION 6

Manual Operations

6-1 IR Area Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2 HIGH-SPEED JOG

6-3 LOW-SPEED JOG

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

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

6-4 INCH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-5 RESET ORIGIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-6 External Interrupt Commands

6-7 STOP

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

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

6-8 CHANGE SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-9 CHANGE SPEED COEFFICIENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

126

127

128

129

130

131

134

146

147

125

IR Area Settings

Section 6-1

Section Overview

n

There are three manual feeding commands: HIGH-SPEED JOG, LOW-SPEED

JOG and INCH. Acceleration and deceleration are possible with HIGH-SPEED

JOG, but not with LOW-SPEED JOG. INCH operates one pulse at a time. The following explanations are made with respect to the X-axis, but the case of the

Y-axis is the same.

6-1 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 are allocated as I/O refresh areas. For a detailed explanation, refer to Section 3-2 Data Configuration and Allocation. For a detailed table of words and bits in the IR area, refer to Section 5-1 IR Area Allocations.

14 13 12 11

(n = 100 + 10 x Unit number)

Bit

11

12

13

14

Designation

HIGH-SPEED JOG

JOG/INCH direction

LOW-SPEED JOG

INCH

1 operate

CCW

0 stop

CW operate stop

INCH begins on the rising edge of this bit.

126

HIGH-SPEED JOG

Section 6-2

6-2 HIGH-SPEED JOG

The LOW-SPEED JOG command (word n, bit 11) causes the Unit to manually feed at the designated speed (effective on signal’s rising edge). Feeding starts when the command bit is set and continues until it is reset.

1

HIGH-SPEED JOG word n, bit 11

0

Pulse output

Initial speed

HIGH-SPEED JOG speed

Acceleration

Initial position (start)

Deceleration

Initial speed

End position (stop)

Time

Busy flag word n+10, bit 12

1

0

127

LOW-SPEED JOG

Section 6-3

6-3 LOW-SPEED JOG

The LOW-SPEED JOG command (bit 13 of word n) causes the Unit to manually feed at the designated speed (effective on signal’s rising edge). Feeding starts when the command bit is set and continues until it is reset.

LOW-SPEED JOG word n, bit 13

1

0

LOW-SPEED JOG speed

Pulse output

Time

Initial position (start) End position (stop)

Busy flag word n+10, bit 12

1

0

128

INCH

6-4 INCH

INCH word n, bit 14

Pulse output

Busy flag word n+10, bit 12

Section 6-4

1

0

The INCH command (bit 14 of word n) causes the Unit to manually inch one pulse at a time (effective on signal’s rising edge). One pulse will be feed each time this bit is set.

1 pulse (2 ms)

Time

5 ms Approx.

1

0

ON for 1 scan

The busy flag turns ON for only one scan when the scan time is 12 ms or more.

When the scan time is less than 12 ms, it may turn ON for two scans.

129

RESET ORIGIN

Section6-5

6-5 RESET ORIGIN

The RESET ORIGIN command bit, bit 08 of word n, is set to redefine the present position as the origin (effective on signal’s rising edge). Although the following example uses the X axis, the case of the Y axis is essentially the same.

Execution Example

1

RESET ORIGIN word n, bit 08

0

At-origin flag word n+10, bit 02

1

0

No-origin flag word n+10, bit 11

1

0

Busy flag word n+10, bit 12

Present position word n+13 and n+14

1

0

Busy for 1 scan time

Present position changed to 0

See Example 9-2 Programming Examples for more information on using RE-

SET ORIGIN.

130

External Interrupt Commands

Section 6-6

6-6 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 signal input. Specify the target speeds to be used for CHANGE SPEED with the speed numbers set in bits 05 to 00 of IR word n+2. If those bits are set to ZERO, the next speed number after the one currently being executed will be taken as the target speed.

When executing CHANGE SPEED with an external input, designate the speed number from IR word n+2 at least one scan time in advance or it will not be in time. Otherwise, when designating the speed number, use an IR area work bit.

(See IR Area Settings below).

STOP (command executed)

Target speed #1

Acceleration

Time

START End position (positioning stops)

CHANGE SPEED (command executed)

Target speed #1

Acceleration

Deceleration

Target speed #2

Acceleration

Target speed #3

Time

START m+22

15-12 m+82 m+83

Speed #1

Speed #2

Target speed of positioning action

#0

Speed #n m+96

Speed #15

131

External Interrupt Commands

Section 6-6

Connection for External

Interrupt Signal

External input pin no.

22/34

6(X)/28(Y)

The signal’s rising edge is acknowledged as the input signal.

DC power supply

24 V

0 V

1

External interrupt signal

0

Interrupt signal received

DIP Switch Settings

ON

2

3

Pin 2

OFF

ON

External interrupt signal response

When pin 2 is OFF, the content of bit 06 of word n determines the response to external interrupts as follows.

If bit 6 of word n is 0, then STOP is executed in response to external interrupts.

If bit 6 of word n is 1, then CHANGE SPEED is executed in response to external interrupts.

When pin 2 is ON, the setting of pin 3 determines the response to external interrupts.

Also, CHANGE SPEED is executed when bit 06 of word n turns ON.

Pin 2

OFF

ON

External interrupt signal response

STOP is executed in response to external interrupts.

CHANGE SPEED is executed in response to external interrupts.

There are thus two ways to execute STOP: through an external interrupt or through the command bit, bit 15 of word n. Both of these methods are available at the same time if bit 06 of word n is ZERO and pin 2 is OFF, or if pin 2 is ON and pin 3 is OFF.

There are also two ways to execute CHANGE SPEED: through an external interrupt, or if pin 2 is ON, directly with bit 06 of word n as the command bit. Execution through an external interrupt is available if bit 06 of word n is ONE and pin 3 is

OFF, or if pins 2 and 3 are both ON. In the latter case, execution through the command bit and external interrupt are both available.

132

External Interrupt Commands

IR Area Settings

Section 6-6

Note that START cannot be executed as long as STOP (either from bit 15 of word n or from an external interrupt signal) is in effect.

In addition to bits 15 and 06 of word n (described under DIP Switch Settings above), set bits 05 to 00 of word n+2. If these bits are set to ZERO, the next speed number after the one currently being executed will be taken as the target speed for CHANGE SPEED. If they are set to from 01 to 15, then that will specify the speed number to be taken as the target speed.

When executing CHANGE SPEED with an external interrupt signal, the data from this area must be written in at least one scan time before the interrupt signal. When executing CHANGE SPEED with a work bit (bit 06 of word n), it can be written simultaneously with the rising edge of the work bit.

15 06 n

(n = 100 + 10 x Unit number)

The function of this bit depends on whether pin 2 is ON or OFF.

•

External interrupt signal selection (when pin 2 is OFF)

0

1

STOP is executed

CHANGE SPEED is executed

•

CHANGE SPEED command bit (when pin 2 is ON)

CHANGE SPEED is executed when this bit turns ON.

STOP command bit

STOP is executed when this bit turns ON.

05-00 n+2

Target speed number

00

Sets the next speed # (in ascending order) as the target speed.

01-15

Sets the corresponding speed # as the target speed.

When an external interrupt signal functions as the CHANGE SPEED command signal, this area cannot be written to more than 1 scan prior to signal input. When the IR area (bit 06 of word of word n) functions as the CHANGE SPEED command bit, setting this bit and writing to word n+2 are done simultaneously.

133

STOP

Section 6-7

6-7 STOP

STOP Executed During

START

STOP can be executed during pulse output for START, ORIGIN SEARCH, ORI-

GIN RETURN, HIGH-SPEED JOG, and LOW-SPEED JOG to decelerate to a stop (effective on signal’s rising edge). Note, however, that the next START cannot be executed as long as STOP (either from bit 15 of word n or from an external interrupt signal) is in effect.

When the STOP command bit is set during execution of a positioning action under START, the positioning completed flag is not turned ON, and the positioning action number not changed. When START is next executed, the target position and speed of that action will be used, as long as the target position has not been exceeded. The busy flag, however, turns OFF, allowing manual operations to be used up to the next START.

Consider, for example, execution using the following DM words and data.

15 00 m+22

5 2

Completion code: continuous m+23

Target speed #5

Positioning action #0

Target position m+24 m+25 8 m+26

Target speed #8

0

Completion code: single

Positioning action #1

Target position m+27

134

STOP

Example 1

START word n, bit 00

Positioning completed flag word n+10, bit 00

1

0

Busy flag word n+10, bit 12

1

0

Section 6-7

1

The first example illustrates what happens when STOP is not executed.

0

Target speed #5

#0

#1

START

Target position for action #0

Target speed #8

Time

Stop (at target position for action #1)

135

STOP

Example 2

START word n, bit 00

STOP word n, bit 15

(or external interrupt)

1

0

1

0

Section 6-7

This example shows STOP execution when the target position is not exceeded and the target position is designated from the origin (i.e., is not an increment).

When START is next executed, the data of the positioning action at the time of

STOP is taken as the target position.

Target speed #5

Stops at target position for action #1.

#0

Pulse output

#0

#1

Target position for action #0

Time

Positioning completed flag word n+10, bit 00

1

0

Busy flag word n+10, bit 12

1

0

STOP executed flag word n+10, bit 15

1

0

Positioning action number word n+12, bits 06-00

0 1 2

Output code word n+12, bits 11-08

Output code of action #0

Output code of action #1

When the STOP executed flag for either the X or Y axis turns ON, the Unit stops interpolation. Restart using the X-axis START command.

136

STOP

Example 3

START word n, bit 00

STOP word n, bit 15

(or external interrupt)

Pulse output

Positioning completed flag word n+10, bit 00

Error flag word n+10, bit 05

Busy flag word n+10, bit 12

STOP executed flag word n+10, bit 15

Error code word n+11

1

0

1

0

1

0

1

0

Positioning action number word n+12, bits 06-00

1

0

1

0

Section 6-7

This example shows execution when a target position designated from the origin

(i.e., not an increment) is exceeded during deceleration of STOP, which can happen if STOP is executed at the end of a continuous positioning action. If START is executed again before this situation is corrected, the feeding direction for the action will be wrong, and an error (code 5020) will be generated because the action cannot begin. The Unit can be restarted after manually feeding (with JOG) back to the other side of the target position for action #0.

Target speed #5

#0

Target position for action #0 is passed.

Time

0

5020

This error is also generated if the target position for action #0 is exceeded by manual operations before START is executed following STOP. With interpolation, use JOG to return to the target position on both the X and Y axes.

137

STOP

Example 4

START word n, bit 00

STOP word n, bit 15

1

0

Section 6-7

1

0

When the target position is expressed as an increment, the positioning action will be started over automatically from the position reached after STOP was executed.

#0

#0

Pulse output

#1

Time

Positioning completed flag word n+10, bit 00

1

0

Busy flag word n+10, bit 12

1

0

STOP executed flag word n+10, bit 15

1

0

Positioning action number word n+12, bits 06-00

Output code word n+12, bits 11-08

0 1 2

Output code of action #0

Output code of action #1

For interpolation, the operation is the same as above, even if the target position is expressed as relative positions on both axes.

138

STOP

Cautions for Using

STOP during

Interpolation

X Axis: Relative Position

Y Axis: Absolute Position

Section 6-7

During interpolation, STOP is executed when the STOP executed flag of either the X or Y axis turns ON (X: bit 15 of word n+10; Y: bit 15 of word n+15). Restart via the X axis START command bit (bit 00 of word n). If restarting is executed via the Y axis START command bit (bit 00 of word n=5), positioning action is carried out for only the Y axis. Restarting uses the data in the same way as restarting a single axis.

Be aware that a restart when one axis is in an absolute position and the other is in an incremental (relative) position begins execution with the axes in those states

(one axis absolute, the other incremental).

Y axis

STOP

Target position (Interpolation start)

START end

Restart

X Axis: Absolute Position

Y Axis: Absolute Position

Interpolation start a

Y axis a

STOP

Restart

Target position (Interpolation start)

START end

X axis

Interpolation start

X axis

139

STOP

X Axis: Relative Position

Y Axis: Relative Position

Section 6-7

Y axis b

Target position (Interpolation start)

START end

STOP During ORIGIN

SEARCH

b

STOP

Restart a

X axis

Interpolation start a

Feeding will be decelerated to a stop and the command must be reexecuted from the position reached at the end of STOP.

140

STOP

STOP During ORIGIN

RETURN

ORIGIN RETURN word n, bit 03

STOP word n, bit 15

1

0

1

0

Feeding stops according to the deceleration rate.

Section 6-7

Pulse output

Busy flag word n+10, bit 12

STOP executed flag word n+10, bit 15

1

0

1

0

Time

141

STOP

Section 6-7

STOP During HIGH-SPEED

JOG

1

If STOP is executed during HIGH-SPEED JOG, feeding will be stopped just as if the HIGH-SPEED JOG command bit (bit 11 of word n) were reset to ZERO. The command bit, however, will remain at ONE.

HIGH-SPEED JOG word n, bit 11

0

STOP word n, bit 15

1

0

Pulse output

Busy flag word n+10, bit 12

STOP executed flag word n+10, bit 15

1

0

1

0

Time

142

STOP

Section 6-7

STOP During LOW-SPEED

JOG

LOW-SPEED JOG word n, bit 13

1

If STOP is executed during LOW-SPEED JOG, feeding will be stopped just as if the LOW-SPEED JOG command bit (bit 13 of word n) were reset to ZERO. The command bit, however, will remain at ONE.

0

STOP word n, bit 15

1

0

Pulse output

Busy flag word n+10, bit 12

STOP executed flag word n+10, bit 15

1

0

1

0

Time

143

STOP

Section 6-7

STOP During a Completion

Code 5 Positioning Action

When STOP is executed for the first time during a positioning action with a completion code of 5, positioning will be executed according to whatever position data is set. When it is executed for a second time (see the example diagram on the following page), positioning is interrupted and decelerates to a stop.

Positioning cannot be restarted as long as the signal defined as the STOP command (either word n, bit 15 or an external interrupt signal) is ON, i.e., set to ONE.

For details on defining either word n, bit 15 or an external interrupt signal as the

STOP command, refer to DIP Switch Settings under 6-6 External Interrupt Commands.

START

Word n bit 00

STOP (first time)

Word n, bit 15

Pulse output

Positioning completed flag

Word n+10, bit 00

Busy flag

Word n+10, bit 12

No-origin flag

Word n+10, bit 11

STOP executed flag

Word n+10, bit 15

1

0

1

0

1

0

1

0

Positioning action number

Word n+12, bits 07 to 00

Output code

Word n+12, bits 11 to 08

1

0

1

0

Positioning is started and the flag turns OFF after one scan.

P P+1

Time

144

STOP

STOP

Word n, bit 15

Section 6-7

1

0

When STOP is executed for the second time, positioning is interrupted and deceleration comes to a stop.

Pulse output

STOP executed flag

Word n+10, bit 15

Positioning completed flag

1

0

1

0

The positioning action number and output code will not be updated.

Time

145

CHANGE SPEED

Section 6-8

6-8 CHANGE SPEED

CHANGE SPEED can only be executed during positioning initiated with START.

When executing CHANGE SPEED several times consecutively, you can either choose to have speed numbers incremented one by one, or select specific speed numbers to be executed in any order. Set the speed numbers in bits 05 to

00 of IR word n+2. (Refer to IR Area Settings and DIP Switch Settings under 6-6

External Interrupt Commands). If you set these bits to 00, the speed numbers will be incremented in order beginning with the one currently being executed.

You can select specific speed numbers by setting the bits anywhere from 01 to

15.

It is also possible to execute CHANGE SPEED with bit 06 of IR word n, depending on the DIP switch settings. If bit 06 is used, the data will simultaneously be input to word n+2. With an external interrupt signal, however, you must input the data at least one scan before the scan in which it is to be used.

When the target position is being approached, CHANGE SPEED will not affect deceleration for that purpose. In other words, normal deceleration to end at the target position will be carried out for single, pause, or bank end positioning actions and the target speed for the next positioning action will take priority for a continuous positioning action.

Execution Example

In the following example diagram, speed number 1 is used for the positioning action executed first.

START word n, bit 00

1

0

CHANGE SPEED

(external interrupt input or word n, bit 06)

1

0

Speed #7

Speed #1

Speed #2

Pulse output

Speed #6

Time

Speed no. designation word n+2, bits 05 to 00

00

06 00

CHANGE SPEED is effective only for X axis commands. Y axis commands are ignored. X axis data becomes the interpolation data.

146

CHANGE SPEED COEFFICIENT

6-9 CHANGE SPEED COEFFICIENT

X: Bit 07 of word of word n+1

Y: Bit 07 of word of word n+6

07 n+1

Operation of CHANGE

SPEED COEFFICIENT

Command

Section 6-9

CHANGE SPEED COEFFICIENT

Command Bit

The speed coefficient is changed when this bit turns ON.

Used when the coefficient of the target speed is to be changed during positioning. After the coefficient is set in bits 05-00 of word n+2, this bit turns ON to change the speed coefficient. When START is executed with the valid speed coefficient bit ON, the coefficient set at that times is used without change. The

CHANGE TARGET SPEED COEFFICIENT command cannot be executed within the same scan as START. If you want to use this command with START, be sure to turn this bit ON before executing START.

When the CHANGE SPEED COEFFICIENT command bit turns ON, all operations use the new coefficient. When the speed coefficient becomes invalid during operation (the coefficient becomes 1.0), set the value of the target speed coefficient to 0 or10 and set the CHANGE SPEED COEFFICIENT command bit to

ONE.

START word n, bit 00

CHANGE

SPEED COEFFICIENT word n+1, bit 07

Target speed coefficient word n+2, bits 05-00

1

0

1

0

1

0 a 10 or 0 b a & b are

0-20 (BCD)

Target speed 1.0

Pulse output

Speed coefficient

(cannot be monitored)

1.0

a x 1.0

1.0

b x 1.0

147

CHANGE SPEED COEFFICIENT

Operation of Valid Speed

Coefficient

Section 6-9

The valid target speed coefficient and the CHANGE SPEED COEFFICIENT command both use bits 05-00 of word n+2, but they operate independently. The valid speed coefficient applies a speed coefficient to the whole series of operations, while CHANGE SPEED COEFFICIENT is used to make changes in mid operation. Only the X axis flag turns ON during interpolation; the Y axis flag is ignored. The coefficient is applied to the interpolation target speed.

The valid target speed coefficient bit is either ONE or ZERO throughout operation. If this bit is ONE, the target speed coefficient is applied. The bit remains set until the next START command is executed.

START word n, bit 00

1

0

Valid speed coefficient word n, bit 07

Target speed coefficient word n+2, bits 05-00

1

0 a

Target speed 1.0

(not valid)

Pulse output

Speed coefficient

(cannot be monitored)

1.0

a x 1.0

1.0

148

CHANGE SPEED COEFFICIENT

Combined Operation with START

CHANGE SPEED COEFFICIENT Command

(the value of the coefficient set to b)

Target speed x a x b x 0.1 x 0.1

Target speed x a x 0.1

Target speed

Section 6-9

START

(with valid speed coefficient, and the value of the coefficient set to a)

This example illustrates how the CHANGE SPEED COEFFICIENT command works with a valid target speed coefficient upon execution of START. Here the coefficient setting is 0 or 10. When CHANGE SPEED COEFFICIENT is executed, valid speed coefficient becomes invalid (the coefficient becomes 1.0).

When setting the coefficient to 1.0, set bits 05-00 of word n+2 to1/a (1/a will be an integer between 0 and 20), and then execute the CHANGE SPEED COEFFI-

CIENT command.

149

SECTION 7

The TEACH Command

7-1 IR Area Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-2 Execution Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-3 Teaching from the Programming Console . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-4 TRANSFER DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-5 Present Position Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

153

155

156

158

165

151

The TEACH Command

Section Overview

Section 7

This section explains the TEACH command. When the origin and present position are defined (i.e., when the no-origin flag is OFF), you can use TEACH to write the present position as fixed data into the C200H PC’s DM area available for use by Special I/O Units. Setting the TEACH command bit (bit 09 of word n for the X axis, bit 09 of word n+5 for the Y axis) writes the present position as the target position for the designated positioning action. Data are set as absolute positions rather than increments. TEACH can be executed within a single scan.

The following diagram uses Unit #10 as an example and refers to the X axis. The case of the Y axis is the same.

CCW

0 Present position

CW

Positioning axis

DM 1052

DM 1053

DM 1054

Data set using TEACH is valid immediately and can be used for positioning actions without turning off the power or transferring data. Note that data rewritten using the Programming Console is not valid until data has been transferred again.

152

IR Area Settings

Section 7-1

7-1 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 are allocated as I/O refresh areas. For a detailed table of words and bits in the IR area, refer to Section 5-1 IR Area Allocations.

Present Position

When the no-origin flag is OFF, and pulse output is stopped at the position to be taught, the present position is set in words n+13 and n+14.

11 n+10

No-origin flag

(The no-origin flag is

OFF when this bit is 0.)

15 00 n+13 x10

3

x10

2

x10

1

x10

0 n+14 direction x10

6

x10

5

x10

4 n+14 n+13 direction x10

6

x10

5

x10

4 x10

3

x10

2

x10

1

x10

0

TEACH Positioning Action

Number

n=1

This bit sets the direction.

0: CW

1: CCW

X: Bits 15-08 of word n+1

Y: Bits 15-08 of word n+6

15 08 x10

1

x10

0

Set to an integer between 00 and 19.

The number set here indicates the positioning action under START for which the present position is to be set as the target position.

153

IR Area Settings

TEACH Command Bit

X: Bit 09 of word n

Y: Bit 09 of word n+5

09

Section 7-1

TEACH command bit

(TEACH begins at the rising edge of this bit.)

When this bit turns ON, the settings it enables are effective in the same scan.

154

Execution Example

7-2 Execution Example

TEACH positioning action no.

word n+1, bits 15-08

TEACH word n, bit 09

Teaching completed flag word n+10, bit 09

Busy flag word n+10, bit 12

1

0

1

0

1

0 within 4 scans

Section 7-2

155

Teaching from the Programming Console

Section 7-3

7-3 Teaching from the Programming Console

The following example shows how to teach positions from the Programming

Console for Unit No. 0. It assumes that ORIGIN SEARCH has been executed, and writes the present position into words DM 1053 and 1054 as an absolute position (i.e., relative to the origin).

Programming Console Display Key sequence

10013

^OFF

SHIFT

CONT

#

B

1

A

0

A

0

B

1

D

3

MONTR

10013

^ON

C101 10013

0000 ^OFF

C101 10013

1000 ^OFF

10013 C101

^OFF 1000

10009 C101

^OFF 1000

10009 C101

^OFF 1000

PLAY

SET

SHIFT

CHG

MONTR

PLAY

SET

CH

*

B

1

A

0

A

0

To specify position data 10

A

0

REC

RESET

LOW-SPEED JOG

B

1

A

0

B

1

REC

RESET

MONTR

WRITE

156

Teaching from the Programming Console

TEACHING From a Program

Origin

Searched

Yes

Move Sequence

Number into N+1 bits 8-15

Position Shaft

No

Search Origin

D/F Teach bit n bit

9

Section 7-3

157

TRANSFER DATA

Section 7-4

7-4 TRANSFER DATA

Use TRANSFER DATA when the set data automatically transferred from the

C200H PC to the Position Control Unit is insufficient. Although only the data from the area designated for any particular Unit is automatically transferred when the

Unit is powered up or restarted by the AR area restart bit, TRANSFER DATA can also be used to access data from any data area in the PC. In other words (as described in Section 3-2 Data Configuration and Allocation), Position Control

Units are consecutively allocated 200 words each from the DM area, and this data is automatically transferred. TRANSFER DATA, however, can transfer data from other parts of the DM area, as well as from the LR, HR, and other areas.

Transfer can take place during positioning actions. After transfer, the contents of the buffer must also be transferred. Be sure to execute transfer of buffer contents during a pause while in operating mode. Position, speed, acceleration, and deceleration data are all transferable. Transfer overwrites the RAM of the

NC211, but does not affect the DM area in the C200H.

C200H PC

DM 1500 to 1699

Automatically transferred at start-up or restart via AR area restart bit.

(The same data is written to the buffer.)

NC211 Unit #5

RAM area for Transfer

X axis Y axis

Parameters Parameters

Positioning actions

Positioning actions

Speeds Speeds

Acceleration Acceleration

Deceleration Deceleration

DM 0100 to 0299

(Pins 7 to 9 of the

DIP switch on the back panel set to 1)

I/O memory

IR area,

LR area,

HR area,

AR area etc.

TRANSFER

DATA

X

Positioning actions

Buffer transfer

Buffer

Y

Positioning actions

Speeds Speeds

Acceleration Acceleration

Deceleration Deceleration

Note If expanded DM is not used, the data for speed, acceleration, and deceleration

cannot be transferred with the data for positioning actions.

158

TRANSFER DATA

Section 7-4

Normal Transfer

Data Preparation

Positioning actions, speeds, acceleration, and deceleration can be transferred from a data area of the PC other than the one allocated to the Position Control

Unit. Any data area in the C200H PC may be designated. This data is directly transferred from the designated area to memory within the Unit; the data set for the Unit in the allocated section of DM area is not affected. Parameters set in DM words m through m+21 are not changed when TRANSFER DATA is executed.

Up to 26 transfers (three words each) can be made each time normal TRANS-

FER DATA is executed. Each transfer consists of one positioning action, three speeds, or speed units, acceleration, and deceleration. In any case, three words are required for each transfer. This data must be prepared in a PC data area in the required format and in consecutive words. (Refer to 3-3 DM Area Allocations for the content of each word/bit.) With data expansion, 59 transfers are possible.

Position Control Unit’s Rewritten Data

Transfer #0

Transfer #1

Positioning action #0

Positioning action #1

PC Data Areas Available for TRANSFER DATA

Data Area

Words

DM area

0000 to 0999

DM area ( for Special I/O Units)

1000 to 1999

I/O area

LR area

HR area

AR area

000 to 255

000 to 63

00 to 99

00 to 27

Transfer #19

Transfer #53

Transfer #54

Positioning action #19

Speed #1

Speed #2

Speed #3

Speed #4

Speed #5

Speed #6

Transfer #57

Transfer #58

Speed #13

Speed #14

Speed #15

Speed units

Acceleration

Deceleration

Positioning Action Data Expansion

Transfer #20

Positioning action #20

Transfer #52 Positioning action #52

159

TRANSFER DATA

Section 7-4

Data Transfer Time

When executing TRANSFER DATA, the transfer completed flag (bit 10 of word n+12) will be OFF during data transfer and processing for the following period:

A maximum of 0.2 s + k (scan time)

The value of k depends on the number of transfers being made, as illustrated in the following table. (When transferring data for both axes simultaneously, add the two k values.)

Number of transfers

1 to 6

7 to 13

14 to 20

21 to 27

28 to 34

35 to 41

42 to 48

49 to 55

56 to 59

7

8

5

6

9

3

4

1

2

k

Influence on PC Scan Time

Mounting one Position Control Unit on a PC extends the PC’s scan time by about

7 ms. In addition, when transferring data, the scan time during which data is transferred increases by another 5 ms. For example, to transfer all 52 positioning actions, TRANSFER DATA only needs to be executed once, but both the PC and Position Control Unit require eight scans. Each of these scan times will be 5 ms longer than the normal scan time.

160

TRANSFER DATA

Section 7-4

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, some of these words are allocated as I/O refresh areas.

For a detailed explanation, refer to Section 3-2 Data Configuration and Allocation. For a detailed table of words and bits in the IR area, refer to Section 5 IR

Area Allocations.

Beginning Transfer Number

X: Bits 14-08 of word n+2

Y: Bits 14-08 of word n+7

14 08 n+2

x10

1

x10

0

(n = 100 + 10 x Unit number)

Number of Transfers

Beginning Word Number

Set to an integer between 00 and 58 (BCD).

This number indicates the position where the first transfer is to be made. The designated number of transfers (set by bits 14-08 of word n+4) will be transferred continuously beginning at this point.

Refer to 3-3 DM Area Allocations for the words transferred with each transfer number.

X: Bits 14-08 of word n+4

Y: Bits 14-08 of word n+9

X: Word n+3

Y: Word n+8

161

TRANSFER DATA

Section 7-4

PC Data Area

X: Bits 07-00 of word n+4

Y: Bits 07-00 of word n+9

This is the first word in the PC data area that is to be transferred into the Position

Control Unit beginning at the transfer number designated above. The beginning word and ending word (computed from the number of transfers) must be within one of the data areas designated during data preparation.

15 00 n+3 n+4 n+3 n+4 x10

1

x10

0

x10

1

x10

0 x10

3

x10

2

x10

1

x10

0

TRANSFER DATA

Command Bit

Number of transfers

Set between

01 and 59 (BCD).

Data Area

00

DM

01

I/O

02

LR

03

HR

04

AR

Beginning word number

Set a word number in

4-digit BCD code

If expanded DM is not used, the data for speed, acceleration, and deceleration

(transfer data #53-58) cannot be transferred with the data for positioning action

(transfer data # 0-19). In that case, be sure to transfer the data separately.

X: Bit 10 of word n

Y: Bit 10 of word n+5

10 n

TRANSFER DATA command bit

(TRANSFER DATA begins at the rising edge of this bit.)

When this bit turns ON, the settings it enables are effective in the same scan.

162

TRANSFER DATA

Transfer buffer Command

Bit

Section 7-4

X: Bit 15 of word n+1

Y: Bit 15 of word n+6

15 n+1 transfer buffer command bit

(After TRANSFER DATA has been executed, Transfer buffer begins at the rising edge of this bit)

If the contents of the buffer are not transferred after TRANSFER DATA has been executed, the positioning action data contained in the buffer is lost. Be sure to execute Transfer buffer after TRANSFER DATA is completed and positioning stopped, but while the PC is in RUN mode. TRANSFER DATA can be executed repeatedly before executing Transfer buffer. For example, if partial transfers of positioning action and speed data have been made, a single execution of transfer buffer is adequate. Because all data in the buffer is transferred to the memory area of the PC200H, words n+2 through n+4 do not need to be set when transfer buffer is executed. Transfer buffer does not alter the contents of the buffer.

163

TRANSFER DATA

Execution Example

(Normal Transfer)

Preparation of data in PC’s data areas

This example assumes that bit 15 of word n+2 is ZERO.

Set necessary information in IR area.

Beginning transfer number word n+2, bits 14-08

Section 7-4

Beginning word number word n+3

PC data area/no. of transfers word n+4

TRANSFER DATA word n, bit 10

1

0

Transfer completed flag word n+10, bit 10

1

0

Transfer buffer word n+1, bit 15

1

0

Data transfer

Data processing

Busy flag word n+10, bit 12

Buffer transfer

1

0

After transfer buffer has been completed, the busy flag turns off.

TRANSFER DATA can be executed whether the busy flag is ON or OFF. The

TRANSFER DATA command bit and transfer completed flag do not affect the busy flag. The transfer buffer is disabled while the busy flag is ON. Do not attempt to execute transfer buffer while TRANSFER DATA is being executed. Do not attempt to execute TRANSFER DATA while transfer buffer is being executed.

164

Present Position Preset

Section 7-5

7-5 Present Position Preset

If bit 15 of word n+2 is ONE, setting the TRANSFER DATA command bit (bit 10 of word n) either presets or changes the present position. This command eliminates the need to execute ORIGIN SEARCH to establish position. Because the origin and present position are unknown when the Unit is powered up, ORIGIN

SEARCH must normally be executed before any positioning action. However, when you want to know the absolute position and set a particular numerical value, use present position preset. You can also use the preset function to change the present position.

Retaining Present Position

No data is retained in the Position Control Unit after power is turned OFF. If the present position needs to be retained, copy it (words n+13 and n+14) to either the HR or DM area; it can then be restored by executing TRANSFER DATA the next time the Unit is powered up.

The following programming example shows word n+13 data being sent to word

HR 00 and word n+14 data to word HR 01. If there is no origin, bit 11 of word n+10

(the no-origin flag) turns ON. As long as there is an origin and the present position data is valid, the present position will be transferred. Be sure to execute

DATA TRANSFER for present position preset during a pause, but while the PC

Unit is in operating mode.

15 00 n+13 x10

3

x10

2

x10

1

x10

0 n+14

Direction

x10

6

x10

5

x10

4 n+14 n+13

Direction

x10

6

x10

5

x10

4 x10

3

x10

2

x10

1

x10

0

0 CW

1 CCW

n+10, bit 11

XFER (70)

#0002 n+13

HR 00

HR 00 x10

3

x10

2

x10

1

x10

0

HR 01

Direction

x10

6

x10

5

x10

4

165

Present Position Preset

Section 7-5

Data Preparation

Data must be prepared in the same manner as for normal execution of TRANS-

FER DATA, except that only two words indicating the target position are required

(number of transfers need not be set). Execution of transfer buffer is unnecessary after present position preset.

Present Position Preset Bit

X: Bit 15 of word n+2

Y: Bit 15 of word n+7

15 n+2

Present position preset bit

When this bit is 1, present position preset is set.

Beginning Word Number

Set this bit to ONE to use the preset function. If this bit is set to ZERO, the beginning transfer number is set in bits 15-08 as described in Beginning Word Number under Section 7-4 IR Area Settings.

X: Word n+3/bits 07-00 of word n+4

Y: Word n+8/bits 07-00 of word n+9

Set the data area in BCD from which the transfer is to be made.

15 00 n+3 n+4 n+3 n+4 x10

1

x10

0

x10

1

x10

0 x10

3

x10

2

x10

1

x10

0

Data Area

00

DM

01

I/O

02

LR

03

HR

04

AR

Beginning word number

Set a word number in

4-digit BCD code

This number indicates the first of the two words to be transferred as the present position. The two words must be within one of the data areas designated for Data

Preparation under Section 7-4 Transfer Data.

166

Present Position Preset

Section 7-5

PC Data Area

X: Word n+3/bits 07-00 of word n+4

Y: Word n+8/bits 07-00 of word n+9

Set the data area (in four digits BCD) from which the transfer is to be made.

15 00 n+3 n+4 n+3 n+4 x10

1

x10

0

x10

1

x10

0 x10

3

x10

2

x10

1

x10

0

Number of transfers

Data Area

00

DM

01

I/O

02

LR

03

HR

04

AR

Beginning word number

Set a word number in

4-digit BCD code

Here the number of transfers is fixed at 2 words, and no setting needs to be made for transfer quantity.

167

Present Position Preset

Section 7-5

TRANSFER DATA

Command Bit

The TRANSFER DATA command bit setting is the same as described previously for normal transfer under Section 7-4 IR Area Settings.

Execution Example (Preset)

The following example assumes that bit 15 of word n+2 has been set to ONE.

Set necessary information in IR area.

Present position preset word n+2, bit 15

Beginning word number word n+3

PC data area word n+4 bits 07-00

TRANSFER DATA word n, bit 10

Transfer completed flag word n+10, bit 10

Busy flag word n+10, bit 12

1

0

1

0

1

0

Present position words n+13 and n+14

Preset value

TRANSFER DATA cannot be executed for present position preset when the busy flag is OFF.

168

SECTION 8

Error Processing

8-1 Alarms and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-2 Alarm/Error Indicators

8-3 RELEASE PROHIBIT

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

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

8-4 READ ERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-5 Troubleshooting from the PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-6 Detection of Abnormal Pulse Outputs

8-7 Alarm Code List

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

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

8-8 Error Code List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

170

172

173

176

179

181

183

185

169

Alarms and Errors

Section 8-1

Section Overview

This section presents information about Alarms, Errors, and troubleshooting. It explains what to do when errors occur and how to avoid errors before they happen. The end of this section presents a complete list of Alarm Codes and Error

Codes.

8-1 Alarms and Errors

Alarms

Errors

Whenever the Position Control Unit is powered up, or data is transferred into the

Unit, checks are performed to ensure that the data is in the proper form and can be used for operation. If an error exists in speed or positioning action data at this time, an alarm code is generated. Errors that result in alarms include BCD errors, out-of-range data, and no-data errors (when required data is set at 0). An alarm will thus be generated, for example, if the required settings are not made in the DM area of the PC. Operation can be continued even after an alarm has been generated, however, as long as the data that generated the alarm is not used.

If operation is attempted with data for which an alarm has been generated, an error code will be generated and further operation will not be possible. Error codes can also be generated during pulse output, e.g., when an emergency stop results from CW limit input.

170

Alarms and Errors

Relationship between Alarms and Errors

DM data transfer

200 words corresponding to Unit nos. in DM 1000-1999.

For expanded positioning data, 200 words set in DM 0100-0899.

Power ON

Section 8-1

Data check Unit’s system program performs BCD check of data.

Alarm generation

The error code corresponding the error data is generated.

START command

Normal data

START execution

Alarm data

The data in use has generated an alarm.

Error generation

Data correction

The data in the corresponding DM area addresses has been corrected.

TRANSFER DATA command

Positioning or speed data changed via TRANSFER.

171

Alarm/Error Indicators

Section 8-2

8-2 Alarm/Error Indicators

The existence of an alarm or error code is indicated both by the alarm/error LED on the front panel (see figure below) and by the flags (see above) in the IR area of the PC.

Front Panel LED

RUN

NC211

X

Y

CW

CCW

ALARM

ERROR

ALARM indicator flashes when an alarm code has been output and the ERROR indicator lights when an error has occurred.

Outputs to the IR Area

Alarm Flag

Error flag

Twenty words from DM 100-199 allocated for each Unit number.

X: Bit 03 of word n+10

Y: Bit 03 of word n+15

X: Bit 05 of word n+10

Y: Bit 05 of word n+15

05 03

X: (n+10)

Y: (n+15)

Alarm flag

(1: alarm exists)

Error flag

(1: error exists)

172

RELEASE PROHIBIT

Section 8-3

8-3 RELEASE PROHIBIT

When Position Control Unit operation is stopped as a result of input of an emergency stop, CW limit, or CCW limit signal, (i.e., when the N.C. input of any of these turns ON), further pulse output is prohibited. In order to resume pulse output, it is necessary to cancel this prohibition by means of the RELEASE PRO-

HIBIT command bit (bit 04 of word n) and release of the external emergency stop switch.

X axis

0 V

24 V

Power supply

CCW

CCW limit CW limit

CW

Positioning axis

Emergency stop

External input pin no.

X axis

19

17

18

20

21

22

34

CCW

CCW limit

Positioning axis

CW limit

CW

173

RELEASE PROHIBIT

Execution Examples

Example 1: Emergency

Stop

Section 8-3

The present position is lost during an emergency stop, and positioning cannot be started again directly after RELEASE PROHIBIT. Execute ORIGIN SEARCH before proceeding. Although the following explanation is made with respect to the X axis, the case of the Y axis is essentially the same. The error flag is turned

OFF after executing the ORIGIN SEARCH.

Input

Emergency stop signal

1

0

START word n, bit 00

RELEASE PROHIBIT word n, bit 04

1

0

1

0

Pulse output

Emergency stop flag word n+10, bit 04

Error flag word n+10, bit 05

No-origin flag word n+10, bit 11

Busy flag word n+10, bit 12

Alarm/error code word n+11

ORIGIN SEARCH word n, bit 02

1

0

1

0

1

0

1

0

1

0

174

6000

Time

ORIGIN SEARCH

(Start)

Turns OFF after

ORIGIN

SEARCH is completed

0000

RELEASE PROHIBIT

Example 2: Exceeding CW or CCW Limit

Section 8-3

The emergency stop flag is not affected by exceeding the CW or CCW limit. If a limit is exceeded, pulse output is possible in the opposite direction only. The CW limit is exceeded here, so only CCW output is possible. This example uses JOG to clear the limit flag, but ORIGIN SEARCH may also be used.

CW limit signal

START word n, bit 00

RELEASE PROHIBIT word n, bit 04

HIGH-SPEED JOG word n, bit 11, 13

JOG direction word n, bit 12

1

0

1

0

1

0

1

0

1

0

Pulse output

Error flag word n+10, bit 05

No-origin flag word n+10, bit 11

Busy flag word n+10, bit 12

CW limit flag word n+10, bit 13

Alarm/error code word n+11

CW

1

0

1

0

1

0

CCW

1

0

6100

Time

175

READ ERROR

Section 8-4

8-4 READ ERROR

The READ ERROR command bit, bit 05 of word n, is set to access error and alarm codes when more than one of these is present (effective on the signal’s rising edge).

05 n

(n = 100 + 10 x unit number)

READ ERROR command bit

(READ ERROR begins at the rising edge of this bit.)

The codes are consecutively output to word n+10. Errors and alarms have separate flags, as follows:

05

03 n+10

Alarm flag: Set to 1 when an alarm code has been generated.

Error flag: Set to 1 when an error has occurred.

15 00 n+11 x10

3

x10

2

x10

1

x10

0

Error code (or alarm code)

Word n+11 shows four digits in BCD when displayed on the Programming Console. If there are no errors or alarms, 0000 will be displayed. If there are any errors or alarms, they will be displayed in code. The codes will be displayed in order as READ ERROR is executed. (If there is only one code, however, the display will not change when READ ERROR is executed.)

The error or alarm code (word n+11) is updated via I/O refreshing immediately after the READ ERROR command bit is turned ON. The busy flag does not turn

ON. READ ERROR can be used within a signal scan.

176

READ ERROR

Execution Example

Section 8-4

The following diagram shows an example in which first the alarm code 1501 and then the error code 5000 are displayed.

READ ERROR word n, bit 05

10005 C111

^ON 5000

1

0

Alarm flag word n+10, bit 03

1

0

Error flag word n+10, bit 05

1

0

Alarm/error code word n+11

Display will not change because only one alarm code has been generated.

1501

Display has been changed because another error code has been generated.

5000

First alarm code

Second error code

Display has been changed because an error code has been read.

1501

First alarm code

Note When either axis is in the middle of data transfer or when the busy flag is turned

ON, error codes are not accessed correctly from the data buffer. In such cases, the above example does not apply.

Reading from the

Programming Console

Programming Console Display:

C111

1501

The following example diagram (for Unit #1) shows how to read an alarm/error code from the Programming Console.

Key sequence:

SHIFT

CH

*

B

1

B

1

B

1

MONTR

10005 C111

^OFF 1501

SHIFT

CONT

#

B

1

A

0

A

0

A

0

F

5

MONTR

PLAY

SET

REC

RESET

177

READ ERROR

Alarm/Error Codes

Section 8-4

X: Word n+11

Y: Word n+16

15 00

X: (n+11)

Y: (n+16)

Error code (or alarm code)

Generally, a new error (or alarm) outputs a single error code. When the error output bit turns ON, multiple error or alarm codes can be read sequentially.

This word contains only the most recent alarm or error code. Several error codes can be read out in sequence by setting the READ ERROR command bit (X: bit 05 of word n; Y: bit 05 of word n+5). Refer to Section 8-4 READ ERROR.

178

Troubleshooting from the PC

Section 8-5

8-5 Troubleshooting from the PC

Abnormalities in the Position Control Unit can be monitored from the C200H PC.

The C200H PC is monitored as a Special I/O Unit, and as such is treated in the same as a High-Speed Counter.

Error List for Special I/O Units

Error

Waiting for

Special I/O

Unit start-up.

Too many

Special I/O

Units.

Error in

Special I/O

Unit.

Causes of Abnormality and

Operating Status

Special I/O Unit has a hardware malfunction.

PC will not begin operation.

Same unit number has been assigned to more than one

Special I/O Unit.

PC will not begin operation. SR bit 25415 is ON.

Refreshing between the CPU and the Special I/O Unit was not executed correctly.

Only the abnormal Unit will stop operating. SR bit 25415 is ON.

Correction

Replace the abnormal Special

I/O Unit with a new Unit.

(The abnormal Unit displays only

“$” when the I/O table is read.)

Set unit numbers so that each is used only once.

(Unit numbers can be accessed by reading the I/O table.)

Obtain the abnormal unit number by reading AR bits 0000-0009 and remove the cause of the error. Then restart by turning on, then back off, the appropriate restart bit (AR bits 0100-0109). If the Unit does not recover normal operation after restarting, replace it with a new one.

179

Troubleshooting from the PC

Section 8-5

AR Area Error and Restart Bits for Special I/O Units

Error Flags

The following error flags will turn ON when the same unit number is assigned to more than one Special I/O Unit, or when the refreshing operation between the

PC and the Special I/O Unit is not executed properly.

Bit

AR 000

AR 001

AR 002

AR 003

AR 004

AR 005

AR 006

AR 007

AR 008

AR 009

7

8

9

5

6

3

4

1

2

0

Unit Number

Restart Bits

These restart bits are turned OFF, ON, and back OFF again to restart Special I/O

Units. Turning OFF power to the Unit is necessary when using its restart bit.

Bit

AR 0100

AR 0101

AR 0102

AR 0103

AR 0104

AR 0105

AR 0106

AR 0107

AR 0108

AR 0109

7

8

5

6

9

2

3

4

0

1

Unit Number

180

Detection of Abnormal Pulse Outputs

Section 8-6

8-6 Detection of Abnormal Pulse Outputs

The Position Control Unit outputs pulse trains in accordance with the programmed data. When tracing an abnormality, the following should be taken into consideration.

Number of Pulses

Frequency of Pulse Train

Output

The Unit only outputs the number of pulses required to reach the target position.

Count the number of pulses being output with an up/down counter and check to see if the proper number of pulses is being 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 during acceleration and deceleration, an F/V converter and

X-Y recorder can be used. For regular maintenance, observation of the frequency at staple speed intervals with a synchroscope is sufficient.

Trapezoidal acceleration/deceleration

Constant speed interval frequency

(measured on a synchroscope)

Frequency f

(pps)

Acceleration/deceleration

(measured with an F/V converter and an X-Y recorder).

Position Control Unit

Pulse train output

Shaded area: Number of pulses (measured with an up/down counter)

Time (s)

F/V converter

X-Y recorder

181

Detection of Abnormal Pulse Outputs

Connections to an Up/Down Counter

Position Control Unit

CW pulse

CCW pulse

5 V

Driver

Section 8-6

N

UP.P

12

DOWN.P

16

12 V

12 V

15

0 V

P

RESET

UP/DOWN counter

182

Alarm Code List

Section 8-7

8-7 Alarm Code List

Note When interpolating, the Y axis error code is also output to the X-axis alarm/error

code word (n + 11).

Area

Initial speed

Backlash compensation

Item

BCD error

Alarm Code

1000

Problem

There is a BCD error in the speed indicated by the initial speed number.

Initial positioning action number is not between 00 and 19.

Initial positioning action no.

Jog operations

Limit error 1100

Acceleration/del i

HIGH-SPEED

JOG speed error

LOW-SPEED

JOG speed error

1200

1201

Acceleration error 1300

Deceleration error 1301

ORIGIN RETURN Speed error 1400

Speeds Speed contradiction

BCD error

ORIGIN SEARCH Origin compensation BCD error

1500

1501

1502-1515

1600

High speed error 1601

Proximity speed error

Speed contradiction

BCD error

1602

1603

1700

HIGH-SPEED 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.

Acceleration is 0, or contains a BCD error.

Deceleration is 0 or contains a BCD error.

ORIGIN RETURN speed designated by the number is 0, or there is a BCD error in the speed designated by the number.

Table for trapezoidal acceleration/deceleration cannot be created due to error in speed, acceleration, or deceleration.

There is a BCD error in speed #1.

There is a BCD error in the speed data m+82 to m+96 which is indicated by the speed number designated by the last two digits.

Origin compensation contains a BCD error or exceeds the internal limit.

ORIGIN SEARCH high speed number is 0, or there is a BCD error in the speed designated by the number.

ORIGIN SEARCH proximity speed number is 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 compensation.

183

Alarm Code List

Area

Internal limits

Zones

Positioning actions

Section 8-7

Continued . . .

CW limit

Item Alarm Code

1800

CCW limit 1801

Zone 0 CW error 1900

Zone 0 CCW error 1901

Zone 0 contradiction 1902

Problem

There is a BCD error in internal CW limit setting or the setting is not between 0 and 8,388,606.

There is a BCD error in internal CCW limit setting or the setting is not between 0 and 8,388,607.

There is a BCD error in setting for CW limit of zone 0 or setting is not between –8,388,607 and

8,388,606.

There is a BCD error in setting for CCW limit of zone 0 or setting is not between –8,388,607 and

8,388,606.

CW and CCW limit setting for zone 0 are reversed (i.e., CW limit is counterclockwise of CCW limit).

Problems are identical to those for zone 0.

Zone I CW error

Zone I CCW error

Zone I contradiction

Zone 2 CW error

Zone 2 CCW error

Zone 2 contradiction

Target position BCD

1910

1911

1912

1920

1921

1922

2000

2001-2052

Problems are identical to those for zone 0.

Speed BCD error

2100

2101-2152

Position contradiction 2200

Completion code error 2300

2301-2352

There is a BCD error in the target position for positioning action #0.

There is a BCD error in the target position for the positioning action designated by the last two digits of the alarm code. There is a BCD error in the target position m+25 to m+81 which is indicated by the position No. designated by the last two digits.

There is a BCD error in the speed designated by the speed number for positioning action #0.

There is a BCD error in the speed data m+82 to m+96 which is indicated by the target speed number designated by the last two digits.

The completion codes for all positioning actions are 2 (continuous); the Unit cannot begin operation.

Completion code for positioning action #0 is not between 0 and 5.

There is a BCD error in the position data designated by the last two digits of the alarm code.

184

Error Code List

Section 8-8

8-8 Error Code List

Note When interpolating, the Y axis error code is also output to the X-axis alarm/error

code word (n + 11).

START limit

Error

Interpolation data

Direction reversed

CW limit

CCW limit

Present position undefined

Stopped at CW limit

Stopped at CCW

Manual CW limit

Manual CCW limit

ORIGIN SEARCH disabled

Error code

5000

5010

5020

5030

5031

5040

5060

5061

5070

5071

5100

Problem

Pulses cannot be output for START command because of data that generated an alarm. This data includes the initial speed, initial positioning action number, acceleration, deceleration, backlash compensation, internal CW limit, internal CCW limit, speed and target position.

Single-axis and interpolation data are mixed at initialization. This is a prohibited completion code.

Pulse output is not possible because the direction was reversed following a continuous positioning action.

Pulse output is not possible because the internal CW limit would be passed.

Pulse output is not possible because the internal CCW limit would be passed.

Execution of START, TEACH, or ORIGIN

RETURN is not possible because the present position has not been established.

An attempt was made to feed clockwise using HIGH-SPEED JOG, LOW-SPEED

JOG, or INCH following RELEASE PRO-

HIBIT after feeding had been stopped at

CCW limit.

An attempt was made to feed counterclockwise using HIGH-SPEED JOG, LOW-

SPEED JOG, or INCH following RELEASE

PROHIBIT after feeding had been stopped at CCW limit.

The internal CW limit was reached and feeding stopped during execution of HIGH-

SPEED JOG, LOW-SPEED JOG, or INCH.

The internal CCW limit was reached and feeding stopped during execution of HIGH-

SPEED JOG, LOW-SPEED JOG, or INCH.

ORIGIN SEARCH cannot be executed because of data for the origin compensation, search speeds, or backlash compensation that generated an alarm code.

Correction

Read out alarm code and correct data accordingly. The error code will be erased for the next START if data has been properly corrected.

Check the program. This error code is cancelled at the next data transfer.

Check positioning actions and correct data.

Execute ORIGIN SEARCH, RESET

ORIGIN, or preset the present position with TRANSFER DATA.

Feed counterclockwise.

Feed clockwise.

Read out alarm code and correct data accordingly.

185

Error Code List

Section 8-8

Error

ORIGIN RETURN disabled

HIGH-SPEED JOG disabled

LOW-SPEED JOG disabled

INCH disabled

Emergency stop executed

CW limit

CCW limit

No origin proximity signal

No-origin flag

Origin signal position

Counterclockwise

CW limit

Clockwise CCW limit

PC mode change

Error code

5200

5300

5400

5500

6000

6100

6101

6200

6201

6202

6400

6401

6600

Continued . . .

Problem

ORIGIN RETURN cannot be executed because of data for ORIGIN RETURN speed or backlash compensation that generated alarm.

HIGH-SPEED JOG cannot be executed because of data for HIGH-SPEED JOG speed, initial speed, acceleration, deceleration, or backlash compensation that generated an alarm.

LOW-SPEED JOG cannot be executed because of data for LOW-SPEED JOG speed, initial speed, or backlash compensation that generated an alarm.

INCH cannot be executed because of data for backlash compensation that generated an alarm.

Feeding has been stopped by emergency stop signal input.

Correction

Read out alarm code and correct and correct data accordingly.

Feeding has been stopped by CW limit signal input.

Feeding has been stopped by CCW limit signal input.

No proximity signal is detected between the

CCW and CW limits even though pin #3 on

DIP switch designates a proximity signal.

The origin signal is not detected between

CCW and CW limits.

Feeding was stopped by origin signal input during ORIGIN SEARCH before the proximity speed was reached, i.e., proximity signal and origin signal are too close relative to time required for deceleration from high speed to proximity speed.

CW limit signal was input while feeding counterclockwise.

CCW limit signal was input while feeding clockwise.

PC mode was changed between MON-

ITOR and PROGRAM during pulse output.

Check wiring. Turn off emergency stop signal and execute RELEASE

PROHIBIT and ORIGIN SEARCH.

Check wiring. Execute RELEASE

PROHIBIT and then feed counterclockwise using HIGH-SPEED

JOG, LOW-SPEED JOG, or INCH

(or execute ORIGIN SEARCH after

RELEASE PROHIBIT).

Check wiring. Execute RELEASE

PROHIBIT and then feed clockwise using HIGH-SPEED JOG, LOW-

SPEED JOG, or INCH (or execute

ORIGIN SEARCH after RELEASE

PROHIBIT).

Check DIP switch setting, wiring of proximity signal, and signal type

(N.C. or N.O.).

Check wiring of origin signal and signal type (N.C. or N.O.)

Check position of origin signal and proximity signal relative to required deceleration.

Check wiring of limit signals.

Check wiring of limit signals.

Execute ORIGIN SEARCH to obtain present position.

186

Error Code List

Section 8-8

Error

CHANGE SPEED

Multiple command

Initial positioning action no.

8100

TEACH positioning action no.

ROM in PC

Transferred positioning action no.

PC beginning word number

PC area number

Number of transfers 8303

Present position preset

TRANSFER DATA timing

Transfer buffer timing

Hardware

Error code

6700

8000

Continued . . .

Problem

Feeding has been stopped during pulse output 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 has been set simultaneously.

8200

8210

8300

8301

8302

8304

8405

8306

9000

9100

9200

Correction

Check speed data. If problem is corrected, this error code will be erased by the next START.

Initial positioning action number contained in IR area is not between 00 and 19.

TEACH positioning action number is not between 00 and 19.

Check program. This error code will be erased when every command bit in channel n goes to 0.

Check program. If problem is corrected, this error code will be erased by the next START.

Check program. If problem is corrected, this error code will be erased by the next TEACH.

Check program. This error code will TEACH cannot be executed because PC user program memory is ROM.

Beginning transfer number for TRANSFER

DATA is not between 00 and 25.

Beginning PC word number for TRANS-

FER DATA is out of range or becomes out of range when the designated number of transfers is added. (See 7-4 TRANSFER

DATA for range details.)

PC area number for TRANSFER DATA is not between 0 and 4.

DATA.

The number of transfers for TRANSFER

DATA contains a BCD error or is out of range.

The position preset with TRANSFER DATA contains a BCD error or is out of range.

TRANSFER BUFFER executed during

Transfer buffer.

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.

Transfer buffer executed during TRANS-

FER BUFFER.

Check the program. This error code will be erased by the next DATA

TRANSFER.

Check the program. This error code will be erased by the next DATA

TRANSFER.

Hardware is possibly faulty.

LSI initial processing at start-up is not completed normally.

Target position for a positioning action has been exceeded.

Speed for a positioning action has been exceeded.

Hardware is possibly faulty or error

187

SECTION 9

Programming Examples

9-1 Example 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-2 Example 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-3 Example 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-4 Example 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-5 Example 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-6 Example 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-7 Example 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-8 Example 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-9 Example 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-10 Example 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-11 Example 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

190

196

199

201

203

208

210

218

219

221

229

189

Example 1

Section 9-1

Section Overview

This section presents programming examples which illustrate how to use the many different commands and settings in operating the Position control Unit.

9-1 Example 1

Operation with Minimum Data: Displaying JOG Positions

Wiring

The illustration below shows the simplest possible wiring for operation of the

Position Control Unit.

Position Control Unit #0 C200H PC

Hand-held Programming Console

C200H-PR027

24 VDC

22/34

Power supply

18 CW limit

17

CCW limit

X axis

19

Emergency stop

21 CW limit

20

CCW limit

Y axis

190

Example 1

DM Area Settings

Section 9-1

The data settings shown below are the minimum required to prevent the alarm/ error LED from flashing.

X axis:

DM 1000 1 0 0 0

DM 1001 1 2 1 2

ORIGIN

RETURN speed

1-F

Initial speed

0-F

Initial position no.

0-52

HIGH-

SPEED

JOG speed

1-F

LOW-

SPEED

JOG speed

1-F

ORIGIN

SEARCH speed

1-F

ORIGIN

SEARCH proximity speed

1-F

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

Y axis:

DM 1100 1 0 0 0

DM 1101 1 2 1 2

ORIGIN

RETURN speed

1-F

Initial speed

0-F

Initial position no.

0-52

HIGH-

SPEED

JOG speed

1-F

LOW-

SPEED

JOG speed

1-F

ORIGIN

SEARCH speed

1-F

ORIGIN

SEARCH proximity speed

1-F

DM 1182 2 0 0 0 Speed #1

DM 1183 0 5 0 0 Speed #2

DM 1198 0 0 0 6 Acceleration

DM 1199 0 0 0 6 Deceleration

191

Example 1

Section 9-1

Procedure for the X Axis

1, 2, 3...

1. Set the PC to PROGRAM mode, and then begin operation from the Programming Console.

2. Write data into the DM area and restart.

CLR SHIFT

CONT

#

SHIFT HR

A

0

B

1

A

0

A

0

MONTR

PLAY

SET

REC

RESET

A0100

^OFF

3. Monitor the present position words.

CLR SHIFT

CH

*

B

1

SHIFT

CH

*

B

1

B

1

E

4

B

1

D

3

MONTR

MONTR

C114 C113

0999 9911

4. Monitor the RESET ORIGIN command bit.

SHIFT

CONT

#

B

1

A

0

A

0

A

0 8

MONTR

10008 C114 C113

^OFF 0999 9911

5. Reset the present position.

PLAY

SET

REC

RESET

10008 C114 C113

^OFF 0000 0000

192

Example 1

Section 9-1

6. Set LOW-SPEED JOG command bit.

PLAY

SET

Programming Console Display

10013 C114 C113

^ON 0000 2340

The values of the present position increase or decrease.

7. Stop LOW-SPEED JOG.

REC

RESET

10013 C114 C113

^OFF 0001 0615

Indicators on Position Control Unit

NC211

RUN X

CW Y

CCW

ALARM

ERROR

CW and busy LEDs light.

(with 10012, direction, OFF)

193

Example 1

Section 9-1

Procedure for the Y Axis

1, 2, 3...

1. Set the PC to PROGRAM mode, and then begin operation from the Programming Console.

2. Write data into the DM area and restart.

CLR CLR CLR SHIFT

CONT

#

SHIFT HR

A

0

B

1

A

0

A

0

MONTR

PLAY

SET

REC

RESET

A0100

^OFF

3. Monitor the present position words.

CLR SHIFT

CH

*

B

1

SHIFT

CH

*

B

1

B

1 9

B

1 9

MONTR

MONTR

C119 C118

0999 9911

4. Monitor the RESET ORIGIN command bit.

SHIFT

CONT

#

B

1

A

0

F

5

A

0 8

MONTR

10508 C119 C118

^OFF 0999 9911

5. Reset the present position.

PLAY

SET

REC

RESET

10508 C119 C118

^OFF 0000 0000

194

Example 1

Section 9-1

6. Set LOW-SPEED JOG command bit.

PLAY

SET

Programming Console Display

10513 C119 C118

^ON 0000 2340

The values of the present position increase or decrease.

7. Stop LOW-SPEED JOG.

REC

RESET

10053 C119 C118

^OFF 0001 0615

Indicators on Position Control Unit

NC211

RUN X

CW Y

CCW

ALARM

ERROR

CW and Y LEDs light.

195

Example 2

Section 9-2

9-2 Example 2

Positioning at an Interval: Using RESET ORIGIN

In this example, the Position Control Unit is assumed to be assigned unit number

0. (Single-axis START)

Operation

Feeding is executed to positions lying at equal distances in the same direction from a specific point; it is executed repeatedly using the same positioning action followed by RESET ORIGIN.

ORIGIN

SEARCH

0

Origin proximity signal

Origin

(or Z encoder signal)

RESET ORIGIN

DM Area Settings for the X Axis

DM 1000 1 0 0 0

DM 1001 1 2 1 2

ORIGIN

RETURN speed

1 to F

Initial speed

0 to F

Initial position no.

0 to 52

HIGH-

SPEED

JOG

1 to F

LOW-

SPEED

JOG

1 to F

ORIGIN

SEARCH

1 to F

Origin prox.

speed

1 to F

DM 1022 1 0 0 3

DM 1023 0 0 0 0

DM 1024 0 0 0 1

Positioning action no. 0

Speed

No.

1 to F

Output code

0 to F

Dwell time

0 to F

Completion code

0 to 5

Target position

DM 1082 5 0 0 0 Speed #1

DM 1083 0 5 0 0 Speed #2

DM 1021

0 0 0 E

DM 1097 0 0 0 0 Speed units

DM 1098 0 0 0 8 Acceleration

DM 1099 0 0 0 8 Deceleration

4 3 2 1 0

0 1 1 1 0

Direction (CW)

Proximity signal present

Origin proximity N.O. contact

Origin N.O. contact

No proximity reverse

196

Example 2

DM Area Settings for the Y Axis

Section 9-2

DM 1100 1 0 0 0

DM 1101 1 2 1 2

ORIGIN

RETURN speed

1 to F

Initial speed

0 to F

Initial position

No.

0 to 52

HIGH-

SPEED

JOG

1 to F

LOW-

SPEED

JOG

1 to F

ORIGIN

SEARCH speed

1 to F

Origin prox.

speed

1 to F

DM 1122 1 0 0 3

DM 1123 0 0 0 0

DM 1124 0 0 0 1

Positioning action no. 0

Speed

No.

1 to F

Output code

0 to F

Dwell time

0 to F

Completion code

0 to 5

Target position

DM 1182 5 0 0 0 Speed No. 1

DM 1183 0 5 0 0 Speed No. 2

DM 1197 0 0 0 0 Speed units

DM 1198 0 0 0 8 Acceleration

DM 1199 0 0 0 8 Deceleration

197

Example 2

Program

X-axis start switch

Y-axis start switch

Busy flag

03000 11012

Busy flag

03100 11512

No origin

At origin Busy

10011 11002 11012

No origin At origin Busy

11511 11502 11512

X-axis positioning completed flag

11000

Y-axis positioning completed flag

11500

03001 11002

03002

03101 11502

03102

03002 11012

03102 11512

X-axis operation stop switch

Y-axis operation stop switch

Section 9-2

DIFU(13) 3000

DIFU(13) 3100

10002

X axis ORIGIN SEARCH

10502

Y axis ORIGIN SEARCH

10000 X axis START

10500 Y axis START

DIFU(13) 3001

DIFU(13) 3101

03002

03102

10008 X axis present position reset

10508

Y axis present position reset

10015 X axis STOP

10515 Y axis STOP

END(01)

198

Example 3

9-3 Example 3

Using the Origin and Origin Proximity Signals

Configuration (mode 0)

24 VDC

Section 9-3

Position Control Unit #0

22/34

Power supply

18 CW limit

17 CCW limit

19

32

33

29

10

11

7

Origin

Proximity

Emergency stop

Origin

Proximity

21 CW limit

20

CCW limit

X axis

Y axis

C200H PC

DM Area Settings

DM 1021

0 0 0 6

4 3 2 1 0

0 0 1 1 0

Direction (CW)

Proximity signal present

Origin proximity N.O. contact

Origin N.O. contact

No proximity reverse

199

Example 3

Operation

Section 9-3

SW

SW

Origin proximity signal

1

0

10002 X axis ORIGIN SEARCH

10502 Y axis ORIGIN SEARCH

The possible search patterns for ORIGIN SEARCH using both an origin signal and an origin proximity signal are shown below.

Pulse output

CCW CW

START

Origin (Stop)

CCW

CW

START

Origin (Stop)

CCW

Origin (Stop)

START

CW limit

CW

200

Example 4

Section 9-4

9-4 Example 4

Positioning After ORIGIN SEARCH

Operation

Operation alternates between an initial positioning action and ORIGIN RE-

TURN, using a point on the X axis as a reference (point A in the diagram below).

After STOP switch input, operation returns to the origin and stops.

Speed No. 1

Positioning action No. 0 (START)

ORIGIN

SEARCH

0

Origin proximity signal

Origin

(or Z encoder signal)

10000 point A

DM Area Settings

DM 1000 1 1 0 0

DM 1001 1 2 1 2

ORIGIN

RETURN speed

1 to F

Initial speed

0 to F

Initial position no.

0 to 52

HIGH-

SPEED

JOG

1 to F

LOW-

SPEED

JOG

1 to F

ORIGIN

SEARCH

1 to F

Origin prox.

speed

1 to F

DM 1022 1 0 0 3

DM 1023 0 0 0 0

DM 1024 0 0 0 1

Positioning action no. 0

Speed Output

No.

1 to F code

0 to F

Dwell time

0 to F

Completion code

0 to 5

Target position

DM 1082 5 0 0 0 Speed No. 1

DM 1083 0 5 0 0 Speed No. 2

DM 1021

0 0 0 E

DM 1097 0 0 0 0 Speed units

DM 1098 0 0 0 8 Acceleration

DM 1099 0 0 0 8 Deceleration

4 3 2 1 0

0 1 1 1 0

Direction (CW)

Proximity signal present

Origin proximity N.O. contact

Origin N.O. contact

No proximity reverse

201

Example 4

Program

Start switch

03000

Busy flag

11012

Stop switch

No origin

11011

At origin

11002

Busy flag

11012

DIFU(13) 3000

10002 ORIGIN SEARCH

10000 START

Start completed

11000

03001 11012

DIFU(13) 3001

10003

ORIGIN RETURN

END (01)

Section 9-4

202

Example 5

9-5 Example 5

Section 9-5

Point to Point Operation on Both the X and Y Axes

This example shows how to use ORIGIN SEARCH, present position reset, or

START after present position reset to operate simultaneously on both the X and

Y axes. (Unit No. 0 is used for the purpose of this example.)

1. Independent Operation

CW

B (0, 5000) A (10000, 5000)

Y axis pulse

CW

Origin

X axis pulse

In the diagram above, single axis positioning is executed from the origin (0, 0) to point B (0, 5000) on the Y axis, followed by point A (10000, 5000) on the X axis. X axis START use the Y axis positioning completed flag (bit 00 of word n+15).

When simultaneous operation on both axes is executed with the same DM area settings, X axis START receives priority. It takes 10-50 ms to process X axis

START, and Y axis START must wait for that processing to finish.

DM Area Settings

X axis

DM 1000 1 0 0 0

DM 1001 1 2 1 2

DM 1022 1 0 0 3

DM 1023 0 0 0 0

DM 1024 0 0 0 1

DM 1082 1 0 0 0

DM 1083 0 1 0 0

DM 1098 0 0 0 5

DM 1099 0 0 0 5

Y axis

DM 1100 1 0 0 0

DM 1101 1 2 1 2

ORIGIN

RETURN speed

1 to F

Initial speed

0 to F

Initial position

No.

0 to 52

HIGH-

SPEED

JOG

1 to F

LOW-

SPEED

JOG

1 to F

ORIGIN

SEARCH speed

1 to F

Origin prox.

speed

1 to F

DM 1122 1 0 0 3

DM 1123 5 0 0 0

DM 1124 0 0 0 0

Positioning action no. 0

Speed

No.

1 to F

Output code

0 to F

Dwell time

0 to F

Completion code

0 to 5

Target position

Speed No. 1

Speed No. 2

DM 1182 1 0 0 0

DM 1183 0 1 0 0

DM 1198 0 0 0 5

DM 1199 0 0 0 5

Acceleration

Deceleration

203

Example 5

Program

Section 9-5

The following diagram shows a program for executing START independently on each axis.

Start switch

Y axis positioning completed flag

11500

Y axis

Busy flag

11512

X axis

Busy flag

11012

DIFU(13) 10500 Y axis START

DIFU(13) 10000

X axis START

The next diagram shows the program for simultaneous START on both axes.

Start switch

DIFU(13) 10000

DIFU(13) 10500

Note When operations are started on both axes simultaneously, the X axis receives

priority. It takes 10-50 ms to process X axis START, and Y axis START must wait for that processing to finish.

204

Example 5

Section 9-5

2. Interpolation Operation with Independent Axis START

CW

B (0, 5000) A (10000, 5000)

X axis

Y axis pulse

Origin

Interpolation

START

No. 0

(B)

No. 0

B

No. 1

(A)

CW

A

Y axis

No. 1

CW CW

X axis pulse

The same operation as in Example 1 is possible with interpolation; there are more DM area settings to make, but the program itself is simpler. The completion code in DM word 1022 changes from #1 (Single) to #2 (Continuous), allowing continuous operation (shown by the dotted lines in the diagram). For interpolation START, use X axis START.

DM Area Settings

X axis

DM 1000 1 0 0 0

DM 1001 1 2 1 2

DM 1022 1 0 0 1

DM 1023 0 0 0 0

DM 1024 4 0 0 0

DM 1025 1 1 0 3

DM 1026 0 0 0 0

DM 1027 4 0 0 1

DM 1082 1 0 0 0

DM 1083 0 1 0 0

Y axis

* * *

DM 1100 1 0 0 0

DM 1101 1 2 1 2

ORIGIN

RETURN speed

1 to F

Initial speed

0 to F

Initial position no.

0 to 52

HIGH-

SPEED

JOG

1 to F

LOW-

SPEED

JOG

1 to F

ORIGIN

SEARCH speed

1 to F

Origin prox.

speed

1 to F

Positioning action no. 0

Speed

No.

1 to F

Output code

0 to F

Dwell time

0 to F

Completion code

0 to 5

* * *

DM 1122 1 0 0 1

DM 1123 5 0 0 0

DM 1124 0 0 0 0

Target position

DM 1126 0 0 0 0

DM 1127 0 0 0 0

Direction

DM 1182 1 0 0 0

DM 1183 0 1 0 0

Positioning action no. 1

*

Speed No. 1

*

Speed No. 2

DM 1098 0 0 0 5

DM 1099 0 0 0 5

DM 1198 0 0 0 5

DM 1199 0 0 0 5

*

Acceleration

*

Deceleration

205

Example 5

Program

Section 9-5

Start switch

DIFU(13) 10000 X axis START

(Interpolation)

When the direction of the X axis positioning action is set from 4 to 7, it becomes interpolation data. The speed, acceleration, deceleration, output code, and dwell time settings for interpolation become X axis values. Y axis settings

(marked with an asterisk *) are ignored, but data must be input to prevent an alarm form being generated.

206

Example 5

Section 9-5

3. Linear Interpolation Operation

CW

B (0, 5000)

A (10000, 5000)

Y axis pulse

X axis

Interpolation

START

No. 0

CW

A

No. 0

Y axis

CW CW

Origin

X axis pulse

In this example, linear positioning is carried out from the origin (0, 0) to point A

(10000, 5000). The speed of interpolation is the speed set for the X axis.

DM Area Settings

X axis

DM 1000 1 0 0 0

DM 1001 1 2 1 2

DM 1022 1 0 0 1

DM 1023 0 0 0 0

DM 1024 4 0 0 0

DM 1082 1 0 0 0

DM 1083 0 1 0 0

DM 1098 0 0 0 5

DM 1099 0 0 0 5

Y axis

DM 1101 1 2 1 2

DM 1123 5 0 0 0

DM 1024 0 0 0 0

DM 1182 1 0 0 0

DM 1183 0 1 0 0

*

*

DM 1198 0 0 0 5

DM 1199 0 0 0 5

*

*

ORIGIN

RETURN speed

1 to F

Initial speed

0 to F

Initial position no.

0 to 52

HIGH-

SPEED

JOG

1 to F

LOW-

SPEED

JOG

1 to F

ORIGIN

SEARCH

1 to F

Origin prox.

speed

1 to F

Positioning action no. 0

Speed

No.

1 to F

Output code

0 to F

Dwell time

0 to F

Completion code

0 to 5

Target position

Direction

Program

Start switch

DIFU(13) 10000 X axis START

(interpolation)

207

Example 6

Section 9-6

9-6 Example 6

Feeding Selectively with START

Configuration

The configuration here is the same as that for Example 1. There is no origin or origin proximity signal used. With the following data and program, the user can select feeding 4,000, 5,000, or 6,000 pulses at a time at 2,000 pps. The data settings shown below are the minimum required to prevent the alarm/error LED from flashing. The positioning actions are all CW (incremental) bank completion actions.

DM 1100 1 0 0 0

DM 1101 1 2 1 2

ORIGIN

RETURN speed

1 to F

Initial speed

0 to F

Initial position no.

0 to 52

HIGH-

SPEED

JOG

1 to F

LOW-

SPEED

JOG

1 to F

ORIGIN

SEARCH

1 to F

Origin prox.

speed

1 to F

DM 1122 2 0 0 3

DM 1123 4 0 0 0

DM 1124 2 0 0 0

DM 1125 2 0 0 3

DM 1126 5 0 0 0

DM 1127 2 0 0 0

DM 1128 2 0 0 3

DM 1129 6 0 0 0

DM 1130 2 0 0 0

Target position

Positioning action #1

Positioning action #2

Positioning action no. 0

Speed

No.

1 to F

Output code

0 to F

Dwell time

0 to F

Completion code

0 to 5

DM1182 2 0 0 0

DM1183 0 5 0 0

DM1198 0 0 0 6

DM1199 0 0 0 6

Speed #1

Speed #2

Acceleration

Deceleration

208

Example 6

Program

Origin reset switch

25313 (normally ON)

Input A

Input B

Input C

START input

10508

Present position reset

10501

Valid initial positioning action no.

MOV (21)

#0000

106

MOV (21)

#0001

106

MOV (21)

#0002

106

Selects positioning action #0

Selects positioning action #1

Selects positioning action #2

10500 START

END (01)

Y axis speed

CW

2000 pps

Input

A

START input

CCW

4000 pulses

Input

B

START input

5000 pulses

Input

C

START input

6000 pulses

Section 9-6

With the following program, input A, B or C can be selected and START executed to feed the desired number of pulses.

Time

209

Example 7

9-7 Example 7

Using START To Carry Out Positioning Actions

Wiring (Details Omitted)

Section 9-7

NC211 ID211 ID 211 OD211 OD211 ID211 ID 211

Position

Control

Unit #0

IN,

16 points

IN,

16 points

OUT,

12 points

OUT,

12 points

IN,

8 points

IN,

8 points

C200H

PC

PR027

Driver

Motor

100 words

Word 1 Word 2 Word 3 Word 4 Word 5 Word 6

Driver

Motor

24 VDC

9 9 9 9 number.

9 9 9 9

Thumbwheel switches

The lower 2 digits are used to specify initial positioning action

Y axis

Display

X axis

Display

Word 6

Y axis

00 ORIGIN SEARCH

01 RELEASE PROHIBIT

02 JOG direction

03 HIGH-SPEED JOG

04 LOW-SPEED JOG

05 START

06 Valid initial positioning

action no.

07 STOP

CW limit

CCW limit

Origin

Origin proximity

Emergency STOP

CW limit

CCW limit

Origin

Origin proximity

X axis

Y axis

Word 5

X axis

00 ORIGIN SEARCH

01 RELEASE PROHIBIT

02 JOG direction

03 HIGH-SPEED JOG

04 LOW-SPEED JOG

05 START

06 Valid initial positioning

action no.

07 STOP

To execute positioning in autoincrement mode, turn

ON 05 only. To forcibly execute the number specified by the thumbwheel switch, turn ON 06 and then 05.

To execute ORIGIN SEARCH, first turn ON switch

00, and then manually turn ON the origin proximity signal to stop feeding.

Program

210

Example 7

00507

00600

00601

00602

00603

00604

00605

00606

00607

(continues on next page)

00500

00501

00502

00503

00504

00505

00506

Section 9-7

10002

ORIGIN SEARCH

10004

RELEASE PROHIBIT

10012

JOG direction

10011 HIGH-SPEED JOG

10013 LOW-SPEED JOG

10000

START

10001

Valid initial positioning action number

10015

STOP

10502

ORIGIN SEARCH

10504

RELEASE PROHIBIT

10512

JOG direction

10511 HIGH-SPEED JOG

10513

LOW-SPEED JOG

10500

START

10501

Valid initial positioning action number

10515

STOP

X axis

Y axis

211

Example 7

25313

(normally ON)

25313

25313

25313

Section 9-7

MOV (21)

001

101

Sets initial positioning action no. (00 to 52)

Transfers contents of Word 1 to Word 101

Rightmost 2 digits are used.

MOV (21)

110

003

Displays X axis status

MOV (21)

002

106

Sets initial positioning action no. (00 to 52)

Transfers contents of Word 2 to Word 106

Rightmost 2 digits are used.

MOV (21)

115

004

Displays Y axis status

END (01)

212

Example 7

DM Area Coding Sheet

Section 9-7

Unit Number: 0

Allocated DM words

DM 1000 through DM 1099

The first two digits of each word number have been eliminated from the tables on the following two pages. These digits are the same for all words and can be obtained by computing the first DM word allocated to the Unit, which in this example is DM 1000. This word, designated m, is equal to 1000 plus 100 times the unit number.

213

Example 7

Section 9-7

W

X axis

15 00

17 0 0 0 0

18 0 0 0 2

Function W 15 00 Function

Transfer no.

00

01

02

03

04

05

06

1 0 1 2

Initial position nos.; speed nos.

2 3 4 5

2 0 0 0

0 0 0 0

0 0 0 0

Origin compensation and direction

Backlash compensation

0 0 0 0

CW limit

0 8 0 0

34

35

9 1 A 1

0 0 0 0

36 4 0 0 5

37 9 1 0 0

38

39

0 0 0 0

4 0 0 6

07

08

0 0 0 0

0 8 0 0

09 0 5 0 0

CCW limit

40 8 1 0 2

41 0 0 0 0

42 4 0 0 1

Zone 0 CW limit

10

11

0 0 0 0

0 5 0 0

43 9 2 0 2

44 0 0 0 0

Zone 0 CCW limit

12

13

1 0 0 0

0 0 0 0

14 0 0 0 1

Zone 1 CW limit

45 4 0 0 2

46 6 3 0 2

47 0 0 0 0

48 4 0 0 3

15 8 0 0 0

16 0 0 0 0

Zone 1 CCW limit

49 7 4 0 2

Zone 2 CW limit

50 0 0 0 0

51 4 0 0 4

Positioning action #4

Positioning action #5

Positioning action #6

Positioning action #7

Positioning action #8

Positioning action #9

19 5 0 0 0

20

0 0 0 1

Zone 2 CCW limit

21 0 0 0 E

22 6 0 0 0

23 0 0 0 0

Origin

Origin proximity

Positioning action #0

0

24 4 0 0 1

25 7 0 0 0

26 0 0 0 0

27

4 0 0 2

28 8 1 5 1

29 0 0 0 0

30 4 0 0 3

Positioning action #1

Positioning action #2

31 9 1 A 1

32 0 0 0 0

Positioning action #3

33 4 0 0 4

1

3

52 3 5 0 2

53 2 0 0 0

Positioning action #10

54 4 0 0 4

55 A 6 0 0

56 0 0 0 0

Positioning action #11

57 4 0 0 6

58 6 0 5 1

59 3 0 0 0

60 4 0 0 0

Positioning action #12

2

61 8 0 0 1

62 6 0 0 0

Positioning action #13

63 5 0 0 0

64 A 0 0 3

65 0 0 0 0

66 4 0 0 0

Positioning action #14

W 15

67

4

68

69

70

5

71

72

6

73

74

75

00 Function

Transfer no.

Positioning action #15

15

Positioning action #16

Positioning action #17

16

17

7

76

77

Positioning action #18

78

79

8

80

Positioning action #19

81

82 5 0 0 0

Speed #1

9 83 5 0 0 0

Speed #2

84 0 5 0 0

Speed #3

85 4 0 0 0

Speed #4

10

86

0 3 0 0

Speed #5

87 1 0 0 0

Speed #6

11

88

2 0 0 0

Speed #7

89 3 0 0 0

Speed #8

90 4 0 0 0

Speed #9

91 5 0 0 0

Speed #10

12

92 6 0 0 0

Speed #11

93

7 0 0 0

Speed #12

94 8 0 0 0

Speed #13

18

19

53

54

55

56

13

95 9 0 0 0

Speed #14

96 1 0 0 0

Speed #15

97 8 0 0 0

Speed units

14

57

98

0 1 0 0

Acceleration 58

99 0 0 5 0

Deceleration

214

Example 7

Section 9-7

W

Y axis

15 00

15 8 0 0 0

16 0 0 0 0

17 0 0 0 0

18 0 0 0 2

Function W 15 00

36 0 0 0 2

37 9 1 0 0

38 0 0 0 0

39 0 0 0 3

40 8 1 0 2

41 5 0 0 0

42 0 0 0 0

Function

Transfer no.

00 1 1 1 2

Initial position nos.; speed nos.

01

2 3 4 5

02

03

04

05

2 0 0 0

0 0 0 0

0 0 0 0

0 0 0 0

Origin compensation and direction

Backlash compensation

CW limit

06

0 8 0 0

07 0 0 0 0

08

0 8 0 0

09 0 5 0 0

CCW limit

Zone 0 CW limit

10 0 0 0 0

11 0 5 0 0

Zone 0 CCW limit

12 1 0 0 0

13

0 0 0 0

Zone 1 CW limit

14 0 0 0 1

Zone 1 CCW limit

Zone 2 CW limit

34 9 1 A 1

35 5 0 0 0

43

44

9 2 0 2

0 0 0 0

Positioning action #4

Positioning action #5

Positioning action #6

45 0 0 0 1

46 6 3 0 2

47 5 0 0 0

Positioning action #8

48 0 0 0 1

49 7 4 0 2

50 0 0 0 0

51 0 0 0 2

Positioning action #7

Positioning action #9

19 5 0 0 0

20

0 0 0 1

21 0 0 0 6

22 6 0 0 0

23 5 0 0 0

24 0 0 0 0

25

7 0 0 0

26 0 0 0 0

27

0 0 0 1

28 8 1 5 1

29 5 0 0 0

30 0 0 0 1

Zone 2 CCW limit

Origin

Origin proximity

Positioning action #0

Positioning action #1

Positioning action #2

31 9 1 A 1

32

0 0 0 0

33 0 0 0 2

Positioning action #3

0

55 A 6 0 0

56 0 0 0 0

Positioning action #11

57 0 0 0 3

58 6 0 5 1

1

59 1 5 0 0

Positioning action #12

60 0 0 0 0

61 8 0 0 1

2 62 3 0 0 0

63 1 0 0 0

Positioning action #13

3

52 3 5 0 2

53 1 0 0 0

54 0 0 0 2

Positioning action #10

64 A 0 0 3

65 0 0 0 0

66 0 0 0 0

Positioning action #14

W 15

67

4

68

69

70

5

71

72

6

73

74

75

00 Function

Transfer no.

Positioning action #15

15

Positioning action #16

Positioning action #17

16

17

7

76

77

Positioning action #18

8

78

79

80

Positioning action #19

81

82 5 0 0 0

Speed #1

9 83 5 0 0 0

Speed #2

84 0 5 0 0 Speed #3

85 4 0 0 0

Speed #4

10

86

0 3 0 0

Speed #5

87 1 0 0 0

Speed #6

11

88 2 0 0 0

Speed #7

89 3 0 0 0

Speed #8

90 4 0 0 0

Speed #9

91 5 0 0 0 Speed #10

18

19

53

54

55

12

92 6 0 0 0

Speed #11

93 7 0 0 0

Speed #12

94 8 0 0 0

Speed #13

13

95 9 0 0 0

Speed #14

96 1 0 0 0

Speed #15

97 8 0 0 0

Speed units

14

56

57

98

0 1 0 0

Acceleration 58

99 0 0 5 0

Deceleration

215

Example 7

Feeding Pattern

Section 9-7

Y axis

10000

No. 1

5000

No. 0

0

10000 20000 X axis

Speed

X/Y axis

1000

#0, single

(10000, 5000)

#1, single

(20000, 10000)

Y axis

30000

25000

20000

15000

No. 3

No. 4

No. 5

No. 2

Speed

X/Y axis

0

30000 40000 50000 60000 X axis

T=0.5 s

#2, pause

(30000, 15000)

#3, pause

T=1.0 s

#4, pause

(40000, 20000)

T=1.0 s

(50000, 25000)

#5, single

(60000, 30000)

216

Example 7

Y axis

30000

Section 9-7

21000

20000

15000

10000

5000

No. 11

No. 9

No.

10

No. 8

No. 7

No. 6

10000 20000 30000 40000 42000

60000

Speed

X/Y axis

0

X axis

–6000

#10 continuous

#6, continuous

#7 continuous

(10000, 5000)

2000

#8 continuous

(20000, 10000)

#9 continuous

#11, single

(30000, 15000) (40000, 20000) (42000, 21000) (60000, 30000)

Y axis

1500

No. 12

3000

X axis

No. 13

No. 14

–3000

Speed

X/Y axis

(–6000, –3000)

#14 (last action)

(0,0)

T = 0.5 s

#12, pause

(3000, 1500)

#13, pause

217

Example 8

9-8 Example 8

Setting Speed

Multiplying the Speed Unit

By 10

This example uses Unit no. 0 and the X axis.

DM 1003 X X 0 X Multiplies speed unit by 10

Section 9-8

DM 1082 2 0 0 0

DM 1083 1 0 0 0

DM 1084 1 0 0 0 x10 Speed No. 1 = 20000 pps x1 Speed No. 2 = 1000 pps x10 Speed No. 3 = 10000 pps

DM 1097 0 0 0 A Speed unit

Multiplying the Speed Unit By 100

1 0 1 0 where, speed No. 1 x 10 speed No. 2 x 1 speed No. 3 x 10

DM 1003 X X 1 X Multiplies speed unit by 100

DM 1082 2 0 0 0

DM 1083 1 0 0 0

DM 1084 1 0 0 0 x100 Speed No. 1 = 200000 pps x1 Speed No. 2 = 1000 pps x100 Speed No. 3 = 100000 pps

DM 1097 0 0 0 A Speed unit

1 0 1 0 where, speed No. 1 x 100 speed No. 2 x 1 speed No. 3 x 100

218

Example 9

Section 9-9

9-9 Example 9

Changing the Target Speed Coefficient

Turning ON switches 1 through 3 during operation before a positioning action is started changes the target speed coefficient, and thus the speed of operation.

This example use Unit no. 0 and the X axis for the purpose of illustration.

CW

(pps)

Target speed coefficient 1.5

7500

Target speed coefficient 1.0

5000

2500

Target speed coefficient 0.5

X axis

CCW

Switch 1

ON

START input

DM Area Settings

Switch 2

ON

Switch 3

ON

100000

DM 1000 1 0 0 0

DM 1001 1 2 1 2

ORIGIN

RETURN speed

1 to F

Initial speed

0 to F

Initial position no.

0 to 52

HIGH-

SPEED

JOG

1 to F

LOW-

SPEED

JOG

1 to F

ORIGIN

SEARCH

1 to F

Origin prox.

speed

1 to F

DM 1022 1 0 0 0

DM 1023 0 0 0 0

DM 1024 0 1 0 0

Positioning action no. 0

Speed

No.

1 to F

Output code

0 to F

Dwell time

0 to F

Completion code

0 to 5

Target position

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

219

Example 9

Program

Start switch

03000

Switch 1

03001

Switch 2

03002

Switch 3

03003

03001

03002

03003

Section 9-9

DIFU (13) 03000

10000

X axis START command

DIFU (13) 03001

MOV (21)

#0005

102

DIFU (13) 03003

Target speed coefficient 0.5

MOV (21)

#0010

102

DIFU (13) 03002

Target speed coefficient 1.0

MOV (21)

#0015

102

10107

Target speed coefficient 1.5

CHANGE SPEED command

END (01)

Note The START and CHANGE SPEED commands cannot be executed during the

same scan.

220

Example 10

Section 9-10

9-10 Example 10

Changing Positioning Actions and Using TRANSFER DATA with START

DM Area Settings for the X Axis

ORIGIN

RETURN speed

1 to F

Initial speed

0 to F

Initial position no.

0 to 52

DM 1000 1 0 2 0

DM 1001 1 2 1 2

HIGH-

SPEED

JOG

1 to F

LOW-

SPEED

JOG

1 to F

ORIGIN

SEARCH

1 to F

Origin prox.

speed

1 to F

DM 1082 2 0 0 0 Speed #1

DM 1083 0 5 0 0 Speed #2

DM 1084 1 0 0 0 Speed #3

DM 1085 2 5 0 0 Speed #4

DM 1098 0 0 0 6 Acceleration

DM 1099 0 0 0 6 Deceleration

DM Area Settings for the Y Axis

DM 1100 1 0 2 0

DM 1101 1 2 1 2

ORIGIN

RETURN speed

1 to F

Initial speed

0 to F

Initial position no.

0 to 52

HIGH-

SPEED

JOG

1 to F

LOW-

SPEED

JOG

1 to F

ORIGIN

SEARCH

1 to F

Origin prox.

speed

1 to F

DM 1182 1 0 0 0 Speed #1

DM 1183 0 5 0 0 Speed #2

DM 1184 1 0 0 0 Speed #3

DM 1198 0 0 0 6 Acceleration

DM 1199 0 0 0 6 Deceleration

221

Example 10

Section 9-10

Note Although the speeds, acceleration, and deceleration for the Y axis are ignored

during interpolation, this data must be input to prevent generation of an alarm.

X Axis Positioning Data

DM 0100

1 0 0 1

Positioning action no. 20

0 0 0 0

6 0 0 1

DM 0103

Positioning action no. 21

1 0 0 1

0 0 0 0

6 0 0 0

DM 0106

Positioning action no. 22

DM 0109

Positioning action no. 23

2 0 0 1

0 0 0 0

7 0 0 1

2 0 0 1

0 0 0 0

7 0 0 0

DM 0112

3 0 0 1

Positioning action no. 24

0 0 0 0

6 0 0 1

DM 0115

Positioning action no. 25

3 0 0 1

0 0 0 0

6 0 0 0

DM 0118

Positioning action no. 26

DM 0121

Positioning action no. 27

4 0 0 1

0 0 0 0

7 0 0 1

4 0 0 1

0 0 0 0

7 0 0 0

DM 0124

3 0 0 1

Positioning action no. 28

0 0 0 0

6 0 0 1

DM 0127

Positioning action no. 29

1 0 0 3

0 0 0 0

7 0 0 1

Back Panel Switch Settings

ON

9

10

7

8

5

6

3

4

1

2

Expanded DM no. 0-7

Set to 1

DM 0100-0299

Note Within the C200H DM area (DM 0000-1999), DM 0000 to DM 0999 are read/

write addresses. DM 1000-1999 is read-only memory. The MOV command can rewrite the contents of DM 0000-0999, but not contents of DM 1000-1999.

222

Example 10

Y Axis Positioning Data

DM 0200

1 0 0 1

Positioning action no. 20

0 0 0 0

2 0 0 0

DM 0203

Positioning action no. 21

1 0 0 1

3 0 0 0

2 0 0 0

2 0 0 1

DM 0206

Positioning action no. 22

0 0 0 0

2 0 0 0

DM 0209

Positioning action no. 23

2 0 0 1

3 0 0 0

2 0 0 0

Operation

Section 9-10

DM 0212

3 0 0 1

Positioning action no. 24

0 0 0 0

2 0 0 0

DM 0215

Positioning action no. 25

3 0 0 1

3 0 0 0

2 0 0 0

1 0 0 1

DM 0218

Positioning action no. 26

0 0 0 0

2 0 0 0

DM 0221

Positioning action no. 27

1 0 0 1

3 0 0 0

2 0 0 0

DM 0224

3 0 0 1

Positioning action no. 28

0 0 0 0

2 0 0 0

DM 0227

Positioning action no. 29

3 0 0 3

2 0 0 0

3 0 0 1

During XY interpolation, the user program changes the X axis data, which is then sent to the NC buffer. After START is executed the data transferred to the buffer is reinitialized.

C200H

Buffer RAM

Program changes positioning data.

TRANSFER

DATA

Buffer

Transfer

TRANSFER DATA can be executed whether the data flag is ON or OFF.

Buffer transfer can be done only when the busy flag is OFF.

223

Example 10

Program

Section 9-10

Start switch

03000 busy

11012 busy

11512

03002

03002

DIFU (13) 03000

03002

10008 X axis present position reset

10508

Positioning completed

11000

At-origin

11002

At-origin

11502

11012 11512

DIFU (13) 03100

10000

03100

03200

03100

MOV (21)

#6002

DM 0102

MOV (21)

#7002

DM 0108

MOV (21)

#6002

DM 0114

MOV (21)

#7002

DM 0120

MOV (21)

#6002

DM 0126

MOV (21)

#7002

DM 0129

(continues on next page)

Y axis present position reset

Interpolation START

Changes the X axis positioning data in the

PC

224

Example 10

(continued from previous page)

Section 9-10

03100

MOV (21)

#2000

102

MOV (21)

#0100

103

MOV (21)

#1000

104

10010

Interpolation completed

11000

X axis transfer completed

11010

Busy flag

Busy flag

11012 11512

11000

11010

10115

11012 11512

DIFU (13) 03200

END (01)

Transfers positioning data from the PC to the NC

102 Beginning action no.

(positioning action no. 20)

103 Beginning word no.

(word No. 100)

103 Number of transfers (10).

PC data area no. (no.0)

0= DM

225

Example 10

Flag Status

X axis pulse output

No. 20

Y axis pulse output

Interpolation START

1000

X axis TRANSFER DATA

10010

X axis transfer buffer

10115

X axis positioning comp. flag

11000

1

0

X axis transfer comp. flag

11010

1

0

X axis busy flag

11012

1

0

Y axis busy flag

11512

1

0

1

0

1

0

1

0

Data transfer

No. 29

No. 29

Buffer transfer

Section 9-10

No. 20

226

Example 10

Operating Patterns

Section 9-10

Y axis

12000

9000

6000

3000

0

Speed

X axis

2000

No. 27

No. 23

No. 28

No. 26

No. 29

No. 24

No. 22

No. 20

No. 25

No. 21

10000

2500

0

No. 20

10000

500

No. 22

0

1000

No. 24

10000

No. 26

0

X axis

1280

1000

No. 28 No. 29

10000 0

Speed

Y axis

2000

1000

No. 21

0 3000

No. 23

500

6000

No. 25

1000

9000

No. 27

12000

No. 29

1280

0

227

Example 10

Section 9-10

Y axis

12000

9000

6000

3000

Speed

X axis

0

2000

No. 27

No. 23

(after TRANSFER has been started)

No. 28

No. 26

No. 29

No. 24

No. 22

No. 20

No. 25

No. 21

20000

2500

0

No. 20

20000

500

No. 22

0

1000

No. 24

20000

No. 26

0

X axis

1715

1000

No. 28 No. 29

20000 0

Speed

Y axis

2500

2000

0

No. 21

3000

No. 23

500

6000

No. 25

1000

9000

No. 27

12000

1029

No. 29

0

228

Example 11

Section 9-11

9-11 Example 11

Using a Multiple Bank Program

In this example, it is assumed that the data from Example 4 has already been input to Unit #0.

First Bank (X axis)

(Positioning Action

Numbers 0 to 2)

DM 1022

3 0 0 2

Positioning action no. 0

0 0 0 0

0 0 0 1

The data for first bank is entered into positioning action numbers 0, 1, and 2.

DM 1084

Speed No. 3

DM 1085

Speed No. 4

DM 1025

Positioning action no. 1

4 0 0 0

5 0 0 0

START

#0

(continuous)

0

#1 (single)

Stop

0 0 0 1

CCW

CW

10000

15000

DM 1028

3 0 0 3

Positioning action no. 2

0 0 0 0

0 0 0 0

Stop

#2

(bank end)

START

Speed No. 3

First Bank (X axis)

(Positioning Action

Numbers 5 to 7)

DM 1037

3 0 0 2

The data for the second bank is entered into positioning action numbers 5, 6, and

7.

DM 1084

Positioning action no. 5

9 0 0 0

0 0 0 0

Speed No. 3

DM 1085

DM 1040

Positioning action no. 6

4 0 0 0

5 0 0 0

0 0 0 1

DM 1043

3 0 0 3

Positioning action no. 7

1 0 0 0

0 0 0 0

CCW

START

0

Stop

1000

#5

(continuous)

Speed No. 4

9000

#7

(bank end)

#6 (single)

Stop

15000

START

CW

229

Example 11

Section 9-11

First Bank (Y axis)

(Positioning Action

Numbers 0 to 2)

DM 1122

3 0 0 2

Positioning action no. 0

0 0 0 0

0 0 0 1

The data for first bank is entered into positioning action numbers 0, 1, and 2.

DM 1084

Speed No. 3

DM 1085

DM 1125

Positioning action no. 1

4 0 0 0

5 0 0 0

START

0

#0

(continuous)

Speed No. 4

#1 (single)

Stop

0 0 0 1 CCW

CW

10000

15000

DM 1128

3 0 0 3

Positioning action no. 2

0 0 0 0

0 0 0 0

Stop

#2

(bank end)

START

Speed No. 3

First Bank (Y axis)

(Positioning Action

Numbers 5 to 7)

DM 1137

3 0 0 2

The data for the second bank is entered into positioning action numbers 5, 6, and

7.

DM 1084

Positioning action no. 5

9 0 0 0

0 0 0 0

Speed No. 3

DM 1085

DM 1140

Positioning action no. 6

4 0 0 0

5 0 0 0

0 0 0 1

DM 1143

3 0 0 3

Positioning action no. 7

1 0 0 0

0 0 0 0

CCW

START

0

Stop

1000

#5

(continuous)

Speed No. 4

#6 (single)

9000

#7

(bank end)

Stop

15000

START

CW

230

Example 11

Program (Unit #0)

Section 9-11

This program distinguishes between the two banks shown on the previous two pages (for either the X or Y axis). The program selects and execute either positioning action #0 or #5, it turns the valid bit of the initial positioning number ON, then immediately OFF. To force execution, leave the initial positioning action valid bit ON.

Start switch A

Start switch B

11001 (bank end flag)

10501 (bank end flag)

10000

#0 assigned switch

03000 03101

03100

10000

#5 assigned switch

03000 03100

03101

10500

#0 assigned switch 04000 04101

04100

10500

#5 assigned switch

04000 04100

04101

03100

03101

04100

04101

DIFU (13) 10000

DIFU (13) 10500

DIFU (13) 03000

DIFU (13) 04000

03100

MOV (21)

#0000

101

03101

MOV (21)

#0005

101

04100

MOV (21)

#0000

106

04101

MOV (21)

#0005

106

DIFU (13) 10001

Designates #0 as the next positioning action after the bank ends.

Designates #5 as the next positioning action after the bank ends.

DIFU (13) 10501

Turns ON the valid initial positioning no. flag for 1 scan with the next

START following the end of the bank.

231

Appendix A

Application in CS1-series PCs

Precautions for Application in CS1-series PCs

Observe the following precautions when using the C200H-NC211 in a CS1-series PC.

Changes in IR/CIO Area and DM Area Allocation

•

In C200H-series PCs, the allocated IR Area begins with word n = 100 + 10

×

unit number.

In CS1-series PCs, the allocated CIO Area begins with word n = 2000 + 10

×

unit number.

•

In C200H-series PCs, the allocated DM Area begins with word m = DM 1000 + 100

×

unit number.

In CS1-series PCs, the allocated CIO Area begins with word m = DM20000 + 100

×

unit number.

DATA TRANSFER through a Data Area

The following table shows how to specify the data area region that will contain the position data and speed data.

The leading address of this region is specified in words n+3 and n+4 (X axis) or n+8 and n+9 (Y axis).

Specifying the Data Area Words Containing Position and Speed Data

n = 2000 + 10

×

unit number

Data area i PC

(See note 1.)

DM00000 to DM00999

Specifying the DATA TRANSFER region

Data area

(2-digit BCD)

Leading address

(4-digit BCD)

X axis: n+4 bits 00 to 07

Y axis: n+9 bits 00 to 07

00

X axis: n+3 bits 00 to 15

Y axis: n+8 bits 00 to 15

0000 to 0999 DM Area (general-purpose area)

DM Area (Special I/O Unit area)

CIO Area (I/O Area)

CIO Area (Link Area)

HR Area 1

HR Area 2

DM20000 to DM20999

CIO0000 to CIO0255

CIO1000 to CIO1063

HR000 to HR099

HR100 to HR127

(Word HR101 cannot be specified)

00

01

02

03

04

1000 to 1999 (See note 2.)

0000 to 0255

0000 to 0063

0000 to 0099

0000 to 0027

(Address 0001 cannot be specified)

Note 1. CS1 data area addresses that are not listed in the table cannot be specified.

2. When specifying words in the DM area that are allocated to Special I/O Units (DM20000 to DM20999), you must specify word addresses used for the Special I/O Unit area in C200HX/HG/HE, C200HS, and

C200H PCs (1000 to 1999) rather than the CS1-series word addresses (20000 to 20999).

6

7

4

5

1

2

3

Expanded DM Area (I to I+199) Settings

Part of the DM Area can be allocated for expanded positioning data storage with DIP Switch pins 7 to 9. The following table shows the expanded DM area specified with the 7 possible settings (binary) of these three pins. (Pin 7 is

2

0

, pin 8 is 2

1

, and pin 9 is 2

2

.)

Settings on pins 7 to 9 Expanded DM area

D00100 to D00299

D00200 to D00399

D00300 to D00499

D00400 to D00599

D00500 to D00699

D00600 to D00799

D00700 to D00899

233

Application in CS1-series PCs

Appendix A

Data Configuration

Allocated CIO Area

n = 2000 + 10

×

unit number

X axis n to n+4 n+5 to n+9

Y axis n+10 to n+14 n+15 to n+19

15

Commands from CPU

Unit

0 Content

START, ORIGIN SEARCH,

TRANSFER DATA, etc.

Direction

CPU

→

C200H-NC211

Position Control Unit status

Present position, zones, error flags, etc.

C200H-NC211

→

CPU

Allocated DM Area

M = DM20000 + 100

×

unit number

15

Parameters

X axis m to m+20 m+22 to m+81 m+82 to m+99

Y axis m+100 to m+120 m+122 to m+181 m+182 to m+199

Positioning data

Speed and Acceleration/Deceleration data

0 Content

Initial position no., Initial speed no., Backlash compensation

Positioning action data

#0 to #19

Speed #0 to #15 data, Acceleration data, Deceleration data

Direction

CPU

→

C200H-NC211

CPU

→

C200H-NC211

CPU

→

C200H-NC211

Expanded DM Area for Positioning Action Data

I = DM00100 + 200

×

unit number

X axis

I to

I+99

Y axis

I+100 to

I+199

15

Positioning data

0 Content

Positioning action data

#20 to #52

Direction

CPU

→

C200H-NC211

Operating Procedures

Initial Settings (Hardware)

1, 2, 3...

1. Set the unit number (Machine no.) and operation mode with the rotary switches on the Position

Control Unit’s front panel. Refer to 2-2 Switch Settings for details.

2. Set the DIP switch on the Position Control Unit’s back panel to select the output pulse format, external interrupt signal, external interrupt function, and Expanded DM Area settings. Refer to 2-2

Switch Settings for details.

3. Install the Position Control Unit in a CS1 CPU Rack, C200H Expansion I/O Rack, CS1 Expansion

Rack, or SYSMAC Bus Remote Slave I/O Rack. Up to 5 Units can be mounted in a basic system.

(The mounting location is not restricted.)

4. Connect the I/O connector.

5. Connect a Programming Device to the PC.

6. Turn ON the PC’s power supply.

7. Create the I/O table.

Initial Settings (Software)

1, 2, 3...

1. Set the parameters, position, speed, and acceleration/deceleration data in the allocated DM area

(m to m+99.)

2. If the allocated DM area (m to m+99) isn’t large enough to contain all of the position, speed, and acceleration/deceleration data, set the extra position data in the Expansion DM Area. (The first ad-

234

Application in CS1-series PCs

Appendix A

dress of the Expansion DM Area is set with pins 7, 8, and 9 of the DIP switch on the back of the

Position Control Unit.)

3. Turn the power supply OFF and ON again or turn the Unit’s Restart Bit OFF and ON again.

TRANSFER DATA Command

This command can be used during operation if it is necessary to change the position, speed, and acceleration/deceleration data that was set in the initial settings.

1, 2, 3...

1. Turn the TRANSFER DATA Bit (bit 10 of n or n+5) from OFF to ON to transfer the data in the specified words (specified in words n+3 and n+4 or n+8 and n+9) beginning with the specified beginning transfer number (00 to 58, specified in bits 08 to 14 of n+2 or n+7.)

2. When the data transfer operation is completed, turn the BUFFER TRANSFER Bit (bit 15 of n+1 or n+6) from OFF to ON to execute the buffer transfer operation.

Note If the buffer transfer is not executed after the data transfer, the data cannot be used as positioning data. The

buffer transfer operation is an internal process that transfers the data from the CPU Unit’s data exchange buffer to the RAM area used for operation.

START Command

1, 2, 3...

1. Use an instruction such as MOV(021) to set the initial positioning action number in bits 00 to 06 of n+1 or n+6.

2. Use an instruction such as OUT to turn the START Bit (bit 00 of n or n+5) from OFF to ON.

Programming Considerations

Transferring Data to the Expanded DM Area

1, 2, 3...

1. Program the Busy Flag (bit 12 of n+10 or n+15) as a normally closed input condition and use an instruction such as MOV(021) to set the data transfer area information (parameters defining the data transfer area) in n+3 and n+4 or n+8 and n+9.

2. Use the same input condition from step 1 and use an instruction such as OUT to turn the TRANS-

FER DATA Bit (bit 10 of n or n+5) from OFF to ON.

3. Program the Transfer Completed Flag (bit 10 of n+10 or n+15) as a normally open input condition and the Busy Flag (bit 12 of n+10 or n+15) as a normally closed input condition and use an instruction such as OUT to turn the BUFFER TRANSFER Bit (bit 15 of n+1 or n+6) from OFF to ON.

Setting Data in the Allocated DM Area and Starting Operation

Program the Busy Flag (bit 12 of n+10 or n+15) as an input condition and use an instruction such as MOV(021) to set the initial positioning action number in bits 00 to 06 of n+1 or n+6. At the same time, turn the START Bit (bit 00 of n or n+5) and Enable Initial Positioning Action Number Bit (bit 01 of n or n+5) from OFF to ON.

235

Application in CS1-series PCs

Appendix A

Programming Examples

Two-axis Operation (Point-to-Point Operation)

Start operation after performing an ORIGIN SEARCH, Present Position Reset, or Present Position Preset operation on both axes.

Example 1: Independent Two-axis Operation

Operation

Y axis

(pulses)

0 (Origin) X axis (pulses)

This example program performs positioning from the origin (0, 0) to point B (0, 5,000) with independent Y-axis operation and performs positioning from point B (0, 5,000) to point A (10,000, 5,000) with independent X-axis operation.

The Y-axis’ Positioning Completed Flag (bit 00 of n+15) is used to start the X-axis operation.

If both axes are started simultaneously with the same DM Area settings, the X axis starts first and the Y-axis startup will be delayed by 10 to 50 ms while internal startup processing is being performed. (The dashed line shows simultaneous operation of both axes.)

DM Area Settings

X axis

D20000

D20001

1

1

0 0 0

2 1 2

D20022

D20023

D20024

1

0

0

0 0 3

0 0 0

0 0 1

Y axis

D20100

D20101

1

1

0 0 0

2 1 2

D20122

D20123

D20124

1

5

0

0 0 3

0 0 0

0 0 0

ORIGIN RETURN speed no. (1 to F)

Initial speed no.

(0 to F)

Initial position no. (0 to 52)

HIGH-SPEED JOG speed no. (1 to F)

LOW-SPEED JOG speed no. (1 to F)

Origin Search high speed no. (1 to F)

Origin Search prox.

speed no. (1 to F)

Positioning action data #0

Target speed no.

(1 to F)

Output code

(0 to F)

Target position

Dwell time

(0 to F)

Completion code (0 to F)

D20082

D20083

1

0

0 0 0

1 0 0

D20182

D20183

1

0

0 0 0

1 0 0

Speed data #1

Speed data #2

D20098

D20099

0

0

0 0 5

0 0 5

D20198

D20199

0

0

0 0 5

0 0 5

Acceleration data

Deceleration data

236

Application in CS1-series PCs

Ladder Program Examples

•

Operating One Axis at a Time

START switch

Appendix A

201500

(n+15 bit 00)

201512

(n+15 bit 12)

201012

(n+10 bit 12) n+5 bit 00

(Y-axis START

Bit)

When the START switch goes ON, the Yaxis START Bit (bit 00 of n+5) is turned ON for one cycle.

n bit 00

(X-axis

START Bit)

When the Y-axis Positioning Completed

Flag (bit 00 of n+15) goes ON, the X-axis

START Bit (bit 00 of n) is turned ON for one cycle as long as the X-axis and Y-axis Busy

Flags are both OFF.

Y-axis

Positioning

Completed

Flag

Y-axis

Busy

Flag

X-axis

Busy

Flag

•

Operating Both Axes Simultaneously

START switch n bit 00

(X-axis START

Bit) n+5 bit 00

(Y-axis

START Bit)

When the START switch goes ON, the Xaxis START Bit (bit 00 of n) and Y-axis

START Bit (bit 00 of n+5) are turned ON for one cycle.

Note When both axes are started at the

same time, the X axis starts first and the Y-axis startup will be delayed by

10 to 50 ms while internal startup processing is being performed.

Example 2: Interpolation (Operating One Axis at a Time)

Operation

X axis

Y axis

(pulses)

(Point B)

Point B (Point A)

Point A

Interpolation starts

Y axis

0 (Origin) X axis (pulses)

Interpolation can be used to perform the same operation as example 1. There are more DM Area settings with interpolation operation, but there is less ladder programming.

The completion code in DM01022 changes from 1 (Single) to 2 (Continuous), allowing continuous operation (indicated by the dashed lines in the diagram). For interpolation START, use X axis START.

237

Application in CS1-series PCs

Appendix A

DM Area Settings

X axis

D20000

D20001

1

1

0 0 0

2 1 2

Y axis

D20100

D20101

1

1

0

*

0

*

0

*

2 1 2

ORIGIN RETURN speed no. (1 to F)

Initial speed no.

(0 to F)

D20022

D20023

D20024

D20025

D20026

D20027

4

1

1

0

0

4

0 0 1

0 0 0

0 0 0

1 0 3

0 0 0

0 0 1

D20122

D20123

D20124

D20125

D20126

D20127

1

*

0

*

0

*

1

5 0 0 0

0

0

0 0 0 0

1

*

1

*

0

*

3

0

0

0

0

0

0

Direction

Positioning action data #1

D20082

D20083

1

0

0 0 0

1 0 0

D20182

D20183

1

0

0 0 0

1 0 0

*Speed data #1

*Speed data #2

Initial position no. (0 to 52)

HIGH-SPEED JOG speed no. (1 to F)

LOW-SPEED JOG speed no. (1 to F)

Origin Search high speed no. (1 to F)

Origin Search prox.

speed no. (1 to F)

Positioning action data #0

Target speed no.

(1 to F)

Output code

(0 to F)

Target position

Dwell time

(0 to F)

Completion code (0 to F)

D20098

D20099

0

0

0 0 5

0 0 5

D20198

D20199

0

0

0 0 5

0 0 5

*Acceleration data

*Deceleration data

Ladder Program Example

START switch n bit 00

X-axis START Bit

(Interpolation Start Bit)

Interpolation Settings

When the direction of the X axis positioning action is set to a value between 4 and 7, the settings are interpreted as interpolation data. The speed, acceleration, deceleration, output code, and dwell time settings for interpolation are determined by the X axis values only. Y axis settings (marked with an asterisk *) are ignored, but data must be input to prevent an alarm from being generated.

Example 3: Linear Interpolation

This example program performs positioning from the origin (0, 0) to point A (10000, 5000) using linear interpolation. The speed of interpolation is determined by the speed set for the X axis.

Operation

Y axis

(pulses)

X axis

Interpolation starts

Y axis

Point A

0 (Origin) X axis (pulses)

238

Application in CS1-series PCs

Appendix A

DM Area Settings

X axis

D20000

D20001

1

1

0 0 0

2 1 2 to

D20022

D20023

D20024

1

0

4

0 0 3

0 0 0

0 0 1

D20082

D20083

1

0

0 0 0

1 0 0

Y axis

D20100

D20101

1

1

0

*

0

*

0

*

2 1 2 to

D20122

D20123

D20124

1

*

0

*

0

*

3

5

0

0

0

0

0

0

0

D20182

D20183

1

0

0 0 0

1 0 0

*

*

ORIGIN RETURN speed no. (1 to F)

Initial speed no.

(0 to F)

Initial position no. (0 to 52)

HIGH-SPEED JOG speed no. (1 to F)

LOW-SPEED JOG speed no. (1 to F)

Origin Search high speed no. (1 to F)

Origin Search prox.

speed no. (1 to F)

Positioning action data #0

Target speed no.

(1 to F)

Output code

(0 to F)

Target position

Dwell time

(0 to F)

Completion code (0 to F)

Direction

D20098

D20099

0

0

0 0 5

0 0 5

D20198

D20199

0

0

0 0 5

0 0 5

*

*

Ladder Program Example

START switch n bit 00

X-axis START Bit

(Interpolation Start Bit)

239

Appendix B

Specifications

General

The unit conforms to C-series specifications.

Performance Specifications

Item

Number of control axes

Control system

Position

Data

Data points

Range

Data points

Speed adjustment rate

Origin search

Backlash compensation

Manual operation

Internal current

Dimensions (mm)

Weight

Specification

2 axes/Unit

Automatic trapezoidal acceleration/deceleration

–8,388,607 to +8,388,606 pulses

53/axis

1 to 250,000 pps (pulses/second)

15

2 to 2,000 pps/1ms

Origin proximity: selectable

(absent, N.O. input, or N.C. input).

Origin signal: selectable

(N.O. input or N.C. input)

Origin compensation: 0 to

±

9,999 pulses.

Origin search speed: may be set to high speed or proximity speed.

Origin search method: may be set to stop upon origin signal after proximity signal has turned ON, or to stop upon receiving the origin signal after the proximity signal has turned OFF.

N.O. = Normally open

N.C. = Normally closed

0 to 9,999 pulses

HIGH-SPEED JOG, LOW-SPEED JOG, INCH

500 mA max at 5 VDC (consumption from Rack).

35 (W) x 130 (H) x 100.5 (D)

500g max. (excluding connectors)

241

Specifications

Appendix B

Input Specifications

Item

Voltage

Current

ON voltage

OFF voltage

ON response time

OFF response time

Specification

12 to 24 VDC

±

10%

5 mA (at 12 V) to 11 mA (at 24V )

10.2 VDC min.

3.0 VDC max.

1 ms max.

1 ms max.

Origin-signal Input Specifications

signal

Item

External signal is

External signal is

Connection

Terminal

X Axis 10

11

Y Axis 32

33

X Axis 9

11

Y Axis 31

33

Output Specifications

Item

Maximum switching capacity

Minimum switching capacity

Leakage current

Residual voltage

External power supply

Specification

Input current is 6 mA (at remain the same

Signal is a line-driver

Response Time

Mode 0:

Mode 1, 2:

Not used

Specification

30 mA at 5 to 24 VDC

±

10%\(NPN open collector)

7 mA at 5 to 24 VDC

±

10% (NPN open collector)

0.1 mA max.

0.6 V max.

24 VDC +10% (maximum 30 mA)

242

Specifications

Appendix B

CW/CCW Pulse Output Specifications

Minimum Pulse Width

OFF

ON

B

90%

10%

A

Note: The OFF/ON refers to the transistor.

The output transistor is ON at level “L.”

Open or close current/loaded power-source voltage

Pulse

Frequency

<50 Kpps

<100 Kpps

<200 Kpps

<250 Kpps

__7–30 mA__

5 VDC

±

10%

__7–30 mA__

12 VDC

±

10%

__7–30 mA__

24 VDC

±

10%

A B A B A B

>9.9

µ s >9.5

µ s >9.9

µ s >9.8

µ s >9.9

µ s >9.8

µ s

>4.6

µ s >4.9

µ s >4.9

µ s >4.8

µ s >4.9

µ s >4.8

µ s

>2.4

µ s >2.1

µ s >2.4

µ s >2.3

µ s >2.4

µ s >2.4

µ s

>1.9

µ s >1.5

µ s >1.9

µ s >1.8

µ s >1.9

µ s >1.9

µ s

Note Specifications other than those above correspond to the output specifications of the preceding page.

243

Product Name

Position Control Unit

Appendix C

Standard Models

Description

2 Axis

Model No.

C200H-NC211

245

Glossary

absolute target position alarm code

AR area backlash compensation bank bank end (completion)

BCD completion code continuous (completion)

CW and CCW

CW/CCW limits data area

DM area dwell time error code

A target position given in respect to the origin rather than in respect to the present position.

A four-digit code which is output to a word in the IR Area to identify the type of alarm which has occurred.

A PC data area which is used for system flags and status information. Data is retained in this area during a power failure.

Compensation for the amount of mechanical play, or “looseness,” present in gears. Such play can create positioning inaccuracy when the direction of positioning changes.

A combination of several positioning actions or sequences. A bank begins when

START is executed for the initial positioning action and ends when a positioning action with a “bank end” completion code has been executed.

A positioning action completion code that designates the positioning action as the final one in a bank.

An acronym for binary-coded decimal, which refers to decimal numbers encoded in binary notation.

A parameter for execution of a positioning action that designates what is to happen when that positioning action has been completed. The five possible completion codes are as follows: single, pause, continuous, bank end, extended, and extended with positioning.

A positioning action completion code that causes the next positioning action to be executed immediately upon completion of the current one.

Abbreviations for clockwise (CW) and counterclockwise (CCW). CW and CCW are defined for a motor shaft in reference to a viewer facing the shaft on the end of the motor from which the shaft extends for connection.

Limits on the CW and CCW sides of the origin which can be internally set to restrict Position Control Unit operation.

A memory storage area in the PC. Different types of memory blocks, with differing functions, are stored in the various data areas of the PC. These blocks of memory are built up from single units, or bits, which are grouped into 16-bit words.

A PC data area in which general operating parameters, speeds, and parameters for positioning actions are stored.

A parameter that specifies the period of time during which positioning will stop before execution of the next positioning action following a positioning action with a pause completion code.

A four-digit code which is output to a word in the IR Area to identify the type of error which has occurred.

247

Glossary

error counter external interrupt flag host computer

A bit that is turned ON and OFF automatically by the system to provide 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 system control. Host computers are generally small personal or business computers.

IN refresh area inching incremental target position

A target position given in respect to the present position, rather than in respect to the origin.

The present position when START is executed.

initial position

IR Area

The last five of the ten IR words allocated to each Position Control Unit as refresh areas.

Manual feeding wherein positioning is executed one pulse at a time.

A PC data area allocated for inputs and outputs. In the C200H, words 100 through 199 of this area are reserved for Special I/0 Units, including the Position

Control Unit. The Position Control Unit uses these words for I/0 refresh areas.

N.C. contacts

A device used to ensure positioning accuracy when positioning via pulse trains.

The error counter receives the target position as specific number of pulses in a pulse train from the Position Control Unit and outputs analog speed voltages to drive a servomotor accordingly. The specified number of pulses in the error counter is counted down by feedback from an encoder measuring actual motor shaft movement, causing voltage output to stop when the number of pulses equals zero, i.e., when the target position has been reached.

A function whereby positioning may be stopped or speed may be changed during operation in response to an external command.

N.O. contacts open-loop system origin origin compensation origin proximity signal origin proximity

OUT refresh area output code

Normally-closed contacts. A pair of contacts on a relay that open when the relay is energized.

Normally-open contacts. A pair of contacts on a relay that close when the relay is energized.

A control system in which a particular operation is carried out according to programmed instructions, but in which feedback is not provided for automatic adjustments.

The point which is designated as 0 at any given time.

A parameter used to correct the origin from the position determined according to the origin input signal.

A signal input to indicate when the position is near the origin to enable shifting to a lower speed.

The region near the origin. When positioning enters this region, a proximity switch may output a signal for deceleration.

The first five of the ten IR words allocated to each Position Control Unit as refresh areas.

User-defined codes output following completion of a positioning action.

248

parameters pause (completion) positioning action present position proximity speed pulse rate pulse train pulses

Remote I/0 Master Unit

Remote I/O System

Remote I/0 Units response time scan time semiclosed-loop system servolock

Glossary

Data which determines limits and other conditions under which an operation will be carried out. The Position Control Unit has both general parameters and parameters specific to individual positioning actions.

A positioning action completion code that creates a pause after reaching the target position for the positioning action and then automatically begins the next positioning action. The length of the pause is specified by the dwell time.

The smallest increment of positioning possible. A positioning action is defined by its completion code, dwell time, output 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.

The numeric value in pulses defined as being the ’location’ of the positioning system at any one point in time. The present position is not absolute, but rather can be defined or redefined as required by positioning operations.

A low speed at which positioning is executed near the origin.

The distance moved by an object driven by a motor divided by the number of pulses required for that movement.

A series of pulses output together.

Discrete signals sent at a certain rate. The Position Control Unit outputs pulses, each of which designates a certain amount of movement. Such pulses are converted to an equivalent control voltage in actual positioning.

The Unit in a Remote I/0 System through which signals are sent to all other Remote I/0 Units. The Remote I/0 Master Unit is mounted either to a CPU Rack or to an Expansion I/0 Rack connected to the CPU Rack.

A system in which remote I/0 points are controlled through a Master mounted to a CPU Rack or an Expansion I/0 Rack connected to the CPU Rack.

Any of the Units in a Remote I/0 System. Remote I/0 Units include Masters,

Slaves, Optical I/0 Units, I/0 Link Units, and Remote Terminals.

The time it takes for the PC to output a control signal after it has received an input signal. The response time depends on factors such as the system configuration and when the CPU receives the input signal relative to the start of a scan.

The total time required for the PC to perform all of the operations 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/0 points, the programming instructions used, and so on.

A control system in which a PC controls an external process without human intervention. This system provides feedback (via a tachogenerator and a rotary encoder) so that actual values (of positions, speeds, and so on) are continuously adjusted to bring them more closely in line with target values.

An operation whereby a rotary encoder is used to maintain the position of a motor while it is stopped. Whenever the motor axis moves, the rotary encoder sends a feedback pulse to an error counter, causing a rotation voltage to be generated in the reverse direction so that the motor rotates back to its original position.

249

single (completion)

Special I/0 Unit speed coefficient speed number speed unit target position teaching trapezoidal acceleration/deceleration unit numbers zone

Glossary

A positioning action completion code that causes positioning to stop after the target position for the positioning action has been reached.

A dedicated Unit, such as a Position control Unit, High-Speed Counter Unit, or

Analog Timer Unit, that is designed for a special purpose.

An IR Area setting which determines the coefficient with regard to the target speed.

A number used to designate as a parameter for an operation one of fifteen speeds registered in memory.

A bit in the DM Area which can be set to multiply the speed to which it is assigned by a factor of one or ten.

A parameter for a positioning action that designates what position is to be reached at the completion of the action.

Writing the present position into the DM Area of the PC as the target position for the designated positioning action.

Accelerating and decelerating in a stepwise pattern such that a trapezoidal figure is formed.

Number assigned to Position Control Units for the purpose of allocating specific

I/O words to each unit.

A range of positions which can be defined so that flags are turned ON whenever the present position is within the range. Up to three zones, each with its own flag, can be defined.

250

A-B

acceleration, setting for START, 94 alarms, 170 alarm codes, 176, 178 alarm flag, 172, 176 indicators, 172–187

AR Area, restart flag, 50 backlash compensation, setting parameters for, 73 bank end (completion code), 81 banks, multiple, 229

C

C200H-112, differences with C200H-112, 3 cables, 35, 47

CCW limits internal, 75 recovery from exceeding, 173, 175

CHANGE SPEED. See commands

CHANGE SPEED COEFFICIENT, 5 closed-loop systems, 11 commands, 67

CHANGE SPEED, 146–149 execution example, 146

CHANGE SPEED COEFFICIENT, 147 external interrupt, 131–149

HIGH-SPEED JOG, 127 used to clear CW or CCW limit flag, 175

INCH, 129

LOW-SPEED JOG, 128 manual operations, 125–149

IR Area settings, 126–149

ORIGIN SEARCH completion examples, 119–124 examples in mode 0, 24 examples in mode 1, 26 examples in mode 2, 28 examples in mode 3, 30 executed after emergency stop, 174 execution examples, 106–124

IR Area settings, 105–124

READ ERROR, 176–187 execution example, 177 reading from the Programming Console, 177

RELEASE PROHIBIT, 173–187

RESET ORIGIN, 130–149 execution examples, 196

START command bit, 122

DM Area settings, 68–96 executing positioning actions, 210 execution examples, 208, 210

Index

STOP, 134–149 executed during backlash compensation, 73 executed during completion code 5, 144 executed during HIGH-SPEED JOG, 142 executed during LOW-SPEED JOG, 143 executed during ORIGIN SEARCH, 140 executed during pulse output, 123 executed during START, 134 execution examples, 136, 137, 138

TEACH, 151–168 execution example, 155–168

IR Area settings, 153 setting positioning action number, 153 teaching from the Programming Console, 156

TRANSFER DATA, 158–168 and trapezoidal tables, 94 beginning transfer number, 161 beginning word number (for normal transfer), 161 beginning word number (present position preset), 166 data preparation (normal), 159 data preparation (present position preset), 166 execution example (normal transfer), 164 execution example (preset present position), 168

IR Area settings, 161–168 normal transfer, 159–168

PC data areas available, 159 present position preset, 165–168 setting PC data area (for normal transfer), 162 setting PC data area (present position preset), 167 completion codes, 79, 80 cautions for using continuous completion, 88

STOP during completion code 5, 144 components, 9–16 connector pins, arrangement, 34 control system principles, 11–16

CW limits internal, 75 recovery from exceeding, 173, 175

D

data, writing into DM Area, 50–65 data coding, 54 data flow diagram, 12 data transfer, 2 deceleration, setting for START, 94 delay time, 83 deviation counter reset, 111 wiring, 43 digital-to-analog converters, 11 dimensions, 48

DIP switch pins 1 and 4, 23

251

pins 2, 5, 3 and 6, 23 pins 3-7, 23 pins 7-9, 3 settings, 9 table of, 22 settings for external interrupt, 132

DM Area allocations, 54–65 coding sheet, 54, 213 minimum data settings, 191, 208 positioning data expansion, 3 settings for START, 68–96 transferring data from, 51 writing data into, 50 writing into with TEACH, 152 zones, 76

DM area, positioning data expansion, 23 dwell time, 84, 114

E-F

emergency stop, 173 flag, 175 recovery after, 174 emergency stop switch, 173 error counters, 12, 15 errors, 170

BCD errors, 170 error code generation, 170 error code list, 185–187 error codes, 176, 178 error flags, 176

AR Area, 180

IR area, 172 error list for Special I/O Units, 179–187 error processing, 169 indicators, 172 no-data errors, 170 out-of-range data errors, 170 extended (completion code), 81 extended with positioning (completion code), 82 external I/O connections, 33 external interrupt commands, 131–149 external interrupt signal, connection for, 132 feedback, 11, 15 flags alarm flag, 176 busy flag, 176 emergency stop flag, 175 error flags, 176

AR Area, 180 no-origin flag, 152 status of, 226

Index

H-M

high speed number, setting for ORIGIN SEARCH, 70

HIGH-SPEED JOG. See commands

I/O connections, external, 33

I/O refresh areas, 123

INCH. See commands indicators (LEDs), alarm/error, 172 inductive loads, 47 initial positioning action number, setting for START, 68, 123 initial speed number, setting for START, 69

Input Units, 6

Interpolation, settings, 86 interpolation linear, 207 using STOP during, 139 with independent axis START, 205

IR Area alarm/error outputs, 172 allocations, 98 data format, 100 settings for external interrupt, 133 settings for manual operations, 126–149 settings for ORIGIN SEARCH, 105–124 settings for TRANSFER DATA, 161–168

LOW-SPEED JOG. See commands magnetizing distribution circuits, 12 manual operations. See commands modes mode 0 connection, 20

DIP switch settings (example), 24

ORIGIN SEARCH executed in, 106–124 mode 1 connection, 21

DIP switch settings (example), 26

ORIGIN SEARCH executed in, 110 mode 2 connection, 21

DIP switch settings (example), 28

ORIGIN SEARCH executed in, 114–124 mode 3 connection, 21

DIP switch settings (example), 30

ORIGIN SEARCH executed in, 115–124 mode switch, 20, 24–48 mounting, Position Control Unit to CPU Rack, 8

252

N-O

N.O. and N.C. inputs, 44 noise (electronic), prevention, 47 open-loop systems, 11, 13–16 origin adjustment command, 117 wiring, 43 origin compensation, 119, 120, 121 setting for ORIGIN SEARCH, 71 origin proximity reverse, 106, 108, 110, 112, 115, 117 origin proximity signals, 119, 199 origin signals, 199 output code, 84

P

pause (completion code), 80 positioning accuracy, computation of, 14 positioning actions bank end, 81 continuous, 80 errors in data for, 170 executed with START, 210 extended, 81 extended with positioning, 82 initial positioning action number, 68, 123 pause, 80 setting positioning action number for TEACH, 153 single, 80 power amplifiers, 12, 15 power lines, 47 power supply, 41, 47

24 VDC, 42

24-VDC, 41 present position setting for TEACH, 153 when using TEACH, 152

Programming Console programming examples, 192, 194 reading error/alarm codes from, 176, 177 three-channel change operation, 50 used for teaching, 156 writing data via the, 50–65 programming examples, 189 proximity speed number, setting for ORIGIN SEARCH, 69 pulse frequency, computation of, 14 pulse generators, 12 pulse output, prohibited, 173 pulse trains, 6, 12, 13 counting pulses, 181 detection of abnormalities, 181 measuring frequency, 181

Index

R-S

READ ERROR. See commands

RELEASE PROHIBIT. See commands

RESET ORIGIN. See commands resistors, built-in, 40, 41 restart bits, 50, 51

AR area, 180 rotary encoders, 11, 12, 15 search patterns, 200 semiclosed-loop systems, 11, 15–16 servolock, 15

Servomotor driver, connection, 7 servomotor drivers, 2, 6, 11, 12, 15, 32 and origin adjustment, 116 servomotors, 11, 12, 15

Settings, interpolation, 86 signals origin, 25 origin adjustment, 32 origin proximity, 25, 27, 29, 32 origin proximity signal, 106, 110, 111 origin search completed, 46 origin signal, slit disc used as, 106 positioning completed, 32, 46

Z-phase, 27 single (completion code), 80 slit disc, used for origin signal, 106 solenoids, 47

Special I/O areas, 52

Special I/O Units error list for, 179–187 maximum number connectable to PC, 8 maximum number connectable to remote I/O, 8 speed coeffecient, setting for START, 123 speed coefficient, changing, 219 speed number, setting for ORIGIN RETURN, 69 speed units, example of multiplying, 218 speeds calculating data for, 91 example of setting, 218–231

Stepping motor connection, 6 with continuous completion, 88 stepping motor drivers, 2, 6, 12 stepping motors, 11, 12, 13 angle of rotation, 13

STOP

See also commands cautions for using during interpolation, 139 surge absorbers, 47 switches mode switch, 20, 24–48 settings, 20–48

253

T-U

table creation, 95 tachogenerators, 11, 12, 15 target position, setting for START, 85 target speed number, setting for START, 85

TEACH. See commands

Transfer buffer, 5 command bit, 163

TRANSFER DATA. See commands trapezoidal acceleration/deceleration, 94 troubleshooting, from the PC, 179–187

Unit number, conflicts between Units, 20 up/down counters, connections to, 182

Index

V-Z

valid initial positioning action number, setting for START, 123 valid speed coeffecient, setting for STOP, 123 wiring, 33–48 deviation counter reset, 43

I/O circuit diagrams, 37 input connection examples, 44–48 origin input, 45 origin line driver input, 45 positioning completed, 46 origin adjustment command, 43 output connection examples, 40–48 precautions, 47–48 to connectors, 35 with multi-core cable, 35 zones, 76

254

Revision History

A manual revision code appears as a suffix to the catalog number on the front cover of the manual.

Cat. No. W166-E1-03

Revision code

The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.

Revision code

1

2

2A

2B

03

Date

July 1989

February 1990

January 1995

October 1996

February 2003

Revised content

Original production

Complete re-organization, and various corrections made.

Page 21: Text for operation modes 2 and 3 rewritten.

Page 61: “0000” corrected to “0001” for Speeds #1 to #15.

Page 86: Last paragraph rewritten.

Page 102: Function descriptions for word n+10, bits 13 and 14 have been corrected.

Page 104: Function descriptions for word n+15, bits 13 and 14 have been corrected.

Pages 183, 185: Note added to the top of the page.

Page 186: One page of missing data added.

Page 212: Code for word 00 corrected.

Page 114: Last sentence on page removed.

Page 122: Information in START Activation Time replaced.

Page 124: Second sentence of the second paragraph corrected.

Page 183: Problem description for alarm codes 1502 to 1515 corrected.

Page 184: Problem descriptions for alarm codes 2101 to 2152 and 2301 to

2352 corrected.

The following changes and additions were made.

Page 16: Section of precautions added.

Pages 22, 110, 114, 115, : Note added.

Page 42: Callouts on right of diagram corrected.

Page 59: Note added for “No proximity” in table.

Pages 102 and 104: Note added for “Busy flag” in table.

Page 222: New appendix A added.

255

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