C200H-CP114 Cam Positioner Unit Operation Manual Revised January 2001

C200H-CP114 Cam Positioner Unit Operation Manual Revised January 2001
C200H-CP114
Cam Positioner Unit
Operation Manual
Revised January 2001
No. 6182
OMRON Corporation
Read and Understand this Manual
Please read and understand this manual before using the product. Please consult your OMRON
representative if you have any questions or comments.
Warranty and Limitations of Liability
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a
period of one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE
PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR
INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES,
LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS,
WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT
LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which
liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS
REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS
WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO
CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.
1
No. 6182
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the
combination of products in the customer's application or use of the products.
At the customer's request, OMRON will provide applicable third party certification documents identifying
ratings and limitations of use that apply to the products. This information by itself is not sufficient for a
complete determination of the suitability of the products in combination with the end product, machine,
system, or other application or use.
The following are some examples of applications for which particular attention must be given. This is not
intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses
listed may be suitable for the products:
• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or
uses not described in this manual.
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical
equipment, amusement machines, vehicles, safety equipment, and installations subject to separate
industry or government regulations.
• Systems, machines, and equipment that could present a risk to life or property.
Please know and observe all prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED
FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any
consequence thereof.
2
No. 6182
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other
reasons.
It is our practice to change model numbers when published ratings or features are changed, or when
significant construction changes are made. However, some specifications of the products may be changed
without any notice. When in doubt, special model numbers may be assigned to fix or establish key
specifications for your application on your request. Please consult with your OMRON representative at any
time to confirm actual specifications of purchased products.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when
tolerances are shown.
PERFORMANCE DATA
Performance data given in this manual is provided as a guide for the user in determining suitability and does
not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must
correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and
Limitations of Liability.
ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate; however, no
responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.
3
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 property.
!DANGER
!WARNING
!Caution
Indicates an imminently hazardous situation which, if not avoided, will result in death or
serious injury.
Indicates a potentially hazardous situation which, if not avoided, could result in death or
serious injury.
Indicates a potentially hazardous situation which, if not avoided, may result in minor or
moderate injury, or property damage.
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.
Reference Indicates supplementary information on related topics that may be of interest
to the user.
1,2,3...
1. Indicates lists of one sort or another, such as procedures, checklists, etc.
 OMRON, 1993
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
PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xi
1
Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xii
2
General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xii
3
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xii
4
Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xii
5
Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xiii
SECTION 1
Features and System Configuration . . . . . . . . . . . . . . . . . . .
1
1-1
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
1-2
Basic System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
SECTION 2
Connection and Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
2-1
Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
2-2
Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
2-3
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
SECTION 3
Data Setting Console Operation . . . . . . . . . . . . . . . . . . . . . .
13
3-1
Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
3-2
Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
3-3
Data Setting and Monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
SECTION 4
PC Memory Allocation and Programming . . . . . . . . . . . . .
25
4-1
Memory Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
4-2
Peripheral Device Operations and Data Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
4-3
Program Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
37
SECTION 5
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
SECTION 5Error Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
46
Appendices
A
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
49
B
Resolvers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
51
C
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
57
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
59
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
61
vii
About this Manual:
This manual describes the installation and operation of the C200H-CP114 Cam Positioner Unit and
includes the sections described below. Also briefly described is the basic operation and installation of
the C200H–DSC01 Data Setting Console.
Please read this manual carefully and be sure you understand the information provided before
attempting to install and operate the Temperature Control Unit and Data Setting Console.
Section 1 provides Cam Positioner Unit features and describes its basic system configuration.
Section 2 provides information on the connections and settings of the Cam Positioner Unit.
Section 3 provides the basic operating procedures of the Data Setting Console including data settings
and monitoring.
Section 4 provides the [email protected] PC’s memory allocation for the Cam Positioner Unit. Basic programming procedures and examples are also provided.
Section 5 provides possible errors and corrections.
The Appendices provide information on specifications, resolvers, and dimensions.
!WARNING Failure to read and understand the information provided in this manual may result in per-
sonal 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
PRECAUTIONS
This section provides general precautions for using the Programmable Controller (PC) and Cam Positioner Unit.
The information contained in this section is important for the safe and reliable application of the Cam Positioner
Unit. You must read this section and understand the information contained before attempting to set up or operate
a PC system and Cam Positioner Unit.
1
2
3
4
5
Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xii
xii
xii
xii
xiii
xi
1
Intended Audience
1
Intended Audience
This manual is intended for the following personnel, who must also have
knowledge of electrical systems (an electrical engineer or the equivalent).
• Personnel in charge of installing FA systems
• Personnel in charge of designing FA systems
• Personnel in charge of managing FA systems and facilities
2
General Precautions
The user must operate the product according to the performance specifications described in the operation manuals.
Before using the product under conditions which are not described in the
manual or applying the product to nuclear control systems, railroad systems,
aviation systems, vehicles, combustion systems, medical equipment, amusement machines, safety equipment, and other systems, machines, and equipment that may have a serious influence on lives and property if used
improperly, consult your OMRON representative.
Make sure that the ratings and performance characteristics of the product are
sufficient for the systems, machines, and equipment, and be sure to provide
the systems, machines, and equipment with double safety mechanisms.
This manual provides information for programming and operating the OMRON
Cam Positioner Unit. Be sure to read this manual before attempting to use the
software and keep this manual close at hand for reference during operation.
!WARNING
3
Safety Precautions
!WARNING
!WARNING
4
It is extremely important that a PC and all PC Units be used for the specified
purpose and under the specified conditions, especially in applications that can
directly or indirectly affect human life. You must consult with your OMRON
representative before applying a PC System to the above-mentioned applications.
Do not attempt to take any Unit apart while power is being supplied. Doing so
may result in electric shock.
Do not touch any of the terminals or terminal blocks while power is being supplied. Doing so may result in electric shock.
Operating Environment Precautions
!Caution
Do not operate the control system in the following places:
• Locations subject to direct sunlight.
• Locations subject to temperatures or humidity outside the range specified
in the specifications.
• Locations subject to condensation as the result of severe changes in temperature.
• Locations subject to corrosive or flammable gases.
• Locations subject to dust (especially iron dust) or salts.
• Locations subject to exposure to water, oil, or chemicals.
xii
5
Application Precautions
• Locations subject to shock or vibration.
!Caution
Take appropriate and sufficient countermeasures when installing systems in
the following locations:
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power supplies.
!Caution
5
The operating environment of the PC System can have a large effect on the
longevity and reliability of the system. Improper operating environments can
lead to malfunction, failure, and other unforeseeable problems with the PC
System. Be sure that the operating environment is within the specified conditions at installation and remains within the specified conditions during the life
of the system.
Application Precautions
Observe the following precautions when using the PC.
!WARNING
Always heed these precautions. Failure to abide by the following precautions
could lead to serious or possibly fatal injury.
• Always connect to a ground of 100 Ω or less when installing the Units. Not
connecting to a ground of 100 Ω or less may result in electric shock.
• Always turn off the power supply to the PC before attempting any of the
following. Not turning off the power supply may result in malfunction or
electric shock.
• Mounting or dismounting I/O Units, Power Supply Units, CPU Units,
Memory Cassettes, or any other Units.
• Assembling the Units.
• Setting DIP switch or rotary switches.
• Connecting or wiring the cables.
• Connecting or disconnecting the connectors.
!Caution
Failure to abide by the following precautions could lead to faulty operation of
the PC or the system, or could damage the PC or PC Units. Always heed
these precautions.
• Fail-safe measures must be taken by the customer to ensure safety in the
event of incorrect, missing, or abnormal signals caused by broken signal
lines, momentary power interruptions, or other causes.
• Interlock circuits, limit circuits, and similar safety measures in external circuits (i.e., not in the Programmable Controller) must be provided by the
customer.
• Always use the power supply voltage specified in this manual. An incorrect voltage may result in malfunction or burning.
• Take appropriate measures to ensure that the specified power with the
rated voltage and frequency is supplied. Be particularly careful in places
where the power supply is unstable. An incorrect power supply may result
in malfunction.
xiii
5
Application Precautions
• Do not apply voltages to the Input Units in excess of the rated input voltage. Excess voltages may result in burning.
• Do not apply voltages or connect loads to the Output Units in excess of
the maximum switching capacity. Excess voltage or loads may result in
burning.
• Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning.
• Disconnect the functional ground terminal when performing withstand
voltage tests. Not disconnecting the functional ground terminal may result
in burning.
• Do not attempt to disassemble, repair, or modify any Units.
• Be sure that all the mounting screws, terminal screws, and cable connector screws are tightened to the torque specified in the relevant manuals.
Incorrect tightening torque may result in malfunction.
• Leave the label attached to the Unit when wiring. Removing the label may
result in malfunction if foreign matter such as wire cuttings enter the Unit.
• Remove the label after the completion of wiring to ensure proper heat dissipation. Leaving the label attached may result in malfunction.
• Use crimp terminals for wiring. Do not connect bare stranded wires
directly to terminals. Connection of bare stranded wires may result in
burning.
• Double-check all the wiring before turning on the power supply. Incorrect
wiring may result in burning.
• Wire all connections correctly.
• Mount the Unit only after checking the terminal block completely.
• Be sure that the terminal blocks, Memory Units, expansion cables, and
other items with locking devices are properly locked into place. Improper
locking may result in malfunction.
• Check the user program for proper execution before actually running it on
the Unit. Not checking the program may result in an unexpected operation.
• Confirm that no adverse effect will occur in the system before attempting
any of the following. Not doing so may result in an unexpected operation.
• Changing the operating mode of the PC.
• Force-setting/force-resetting any bit in memory.
• Changing the present value of any word or any set value in memory.
• Resume operation only after transferring to the new CPU Unit the contents of the DM Area, HR Area, and other data required for resuming
operation. Not doing so may result in an unexpected operation.
• Do not pull on the cables or bend the cables beyond their natural limit.
Doing either of these may break the cables.
• Do not place objects on top of the cables or other wiring lines. Doing so
may break the cables.
• Before touching the Unit, be sure to first touch a grounded metallic object
in order to discharge any static built-up. Not doing so may result in malfunction or damage.
• Install the Units properly as specified in the operation manuals. Improper
installation of the Units may result in malfunction.
xiv
SECTION 1
Features and System Configuration
This section provides Cam Positioner Unit features and describes its basic system configuration.
1-1
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
1-2
Basic System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
1
Section 1-1
Features
1-1
Features
The Cam Positioner Unit detects angles of rotation by means of a connected
resolver and provides cam outputs with preset ON/OFF angle data.
Numerous Cam Outputs
and Set Data Items
A maximum of 48 cam outputs (16 internal/external and 32 internal) are available.
A maximum of seven ON/OFF data items can be set for a single cam output.
A maximum of eight banks of cam data can be present, with each bank consisting of 48 cam outputs.
A bank can be selected from the [email protected] by means of either a peripheral tool
such as the Programming Console or the [email protected] user’s program.
Applicable Resolvers
Any OMRON-made resolver can be used.
To connect a resolver to the Cam Positioner Unit, use the 20-cm-long auxiliary
connection cable that is provided. When using a resolver with no cable
attached, prepare a cable for the resolver.
Response Accuracy
Responds at a maximum angle-detecting cycle of 200 µs (with a sampling frequency of 5 kHz) and at a maximum resolver speed of 800 revolutions per
minute.
An angle unit of 1° is used for cam output control (resolver resolution).
Data Input and Display
For inputting data, displaying present values, and so on, use the C200HDSC01 Data Setting Console (sold separately).
The display is easy to read and can be panel-mounted.
Data can also be set by means of the C200H @ user’s program.
Easy Adjustment
ON/OFF data can be set or altered by actually moving the machine.
Origin adjustment is possible with either the origin adjustment switch on the
front panel of the Cam Positioner Unit or an Origin Adjustment Flag. (Origin
adjustment matches the resolver origin with the mechanical origin.)
Cam Data Can be
Protected
After debugging and trial operation, the final ON/OFF cam output data can be
protected.
To protect the data, set the protect setting pin to “permitted” and make the setting with the Data Setting Console.
Independent protection is possible for each bank and cam output.
Cam Data Can be Set from
the C200H
@
2
It is possible to set cam ON/OFF data and required revolution data for a single
process via the C200H @ (using a peripheral tool such as the Programming
Console, or the user’s program).
Section 1-2
Basic System Configuration
1-2
Basic System Configuration
C200H PC
C200H-CP114
Cam Positioner Unit
3F88L-CR0R2A Auxiliary Connection Cable
(20 cm provided with Cam Positioner Unit)
[email protected]@@ Resolver
Prepare a resolver cable for
3F88L-RS15 or 3F88L-RS15W
Resolver connection.
C200H-CN225 (2 m) or
C200H-CN425 (4 m)
Connection Cable
External cam output
C200H-DSC01
Data Setting Console
[email protected]@@C
Connection Cable (1 to 5 m)
G7TC-OC16 Output Block
Output Devices
Lamp
Fastener
Relay
Solenoid
DC Input Unit
3
Section 1-2
Basic System Configuration
Number of Units
The Cam Positioner Unit belongs to the C200H Special I/O Unit group. A maximum of ten Special I/O Units (including PC Link Units) can be mounted on
the CPU Rack, Expansion I/O Rack, and Slave Rack.
Note
1. Refer to the [email protected] PC Operation Manuals or the table below for information on which units belong to the Special I/O Unit group.
2. The Units used are limited by the maximum supply current and current
consumption. Refer to the [email protected] PC Operation Manuals.
3. The number of Units used with a Slave Rack is limited by data transmission
considerations, as described below.
Number of Units
Mountable on Slave Rack
The number of Special I/O Units used with a Slave Rack is limited by data
transmission considerations, as shown in the table below. The numbers in the
table indicate the maximum number of Units of groups A, B, C, or D which can
be used with a single Slave Rack.
C
D
High-speed Counter Units
Position Control Units (NC111/112)
ASCII Unit
Analog I/O Units
ID Sensor Units
Fuzzy Logic Unit
Cam Positioner Unit
A
High-density and Mixed I/O Units
Temperature Control Units
B
Temperature Sensor Input Units
Voice Unit
Position
Control Unit
(NC211)
4 units
---
---
---
---
8 units
---
---
---
---
6 units
---
---
---
---
2 units
Note
1. When a combination of Units from groups A, B, C, and D is used, the number from each group must satisfy both the following equations:
3A + B + 2C + 6D ≤ 12
A+B+C+D≤8
2. Other Units can be added until the total number of units reaches ten. If PC
Link Units are used, the number of Units including the PC Link Units must
not exceed ten.
Precautions
The IR area of the C200H Special I/O Unit is allocated according to the setting
of the unit number switch on the front panel, not the address of the slot where
the unit is mounted. Refer to 4-1 Memory Allocation for the allocation of the
memory area.
Leave the 2 slots next to the CPU free. It is not possible to use devices connected to the CPU (such as the Programming Console) if these slots are
occupied.
If the C200H Slave Rack is connected to another SYSMAC model Remote I/O
Master Unit, such as the C120, C500, C1000H, or C2000H, it is not possible
to use a Special I/O Unit with the C200H Slave Rack.
!WARNING
!Caution
4
Always turn the [email protected] power OFF before connecting or disconnecting a
Unit, terminal block, or output connector.
Connect thermocouples with the appropriate compensating conductor.
Wire I/O leads in separate ducts from power leads to prevent noise problems.
SECTION 2
Connection and Settings
This section provides information on the connections and settings of the Cam Positioner Unit.
2-1
Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
2-2
Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
2-3
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
2-3-1
External Cam Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
2-3-2
Resolver Connection Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
2-3-3
Data Setting Console Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
5
Section 2-1
Nomenclature and Functions
2-1
Nomenclature and Functions
Nomenclature
Front Panel
Rear Panel
Model label
Indicators
Origin adjustment
switch
Resolver
connector
DIP switch (for selection of
CW or CWW rotation, protect
setting, and adjustment operation setting)
Unit number
selector
Operation mode
selector
Data Setting
Console connector
Rack connector
External cam
output connector
Indicator Functions
6
RUN
Lit when the Cam Positioner Unit is in normal operation. Unlit when
an I/O Unit over error or Special I/O Unit error occurs, and Unit
operation stops.
ALM (Alarm)
Lit when the Cam Positioner Unit malfunctions.
Section 2-2
Switch Settings
2-2
Switch Settings
Unit Number
Use a small flat-blade screwdriver to
select the unit number, while being
careful not to set the selector between
two adjacent unit numbers.
0
Unit no.
setting
Allocated
words
Allocated DM
0
100 to 109
DM1000 to DM1010
1
110 to 119
DM1100 to DM1110
2
120 to 129
DM1200 to DM1210
3
130 to 139
DM1300 to DM1310
4
140 to 149
DM1400 to DM1410
5
150 to 159
DM1500 to DM1510
6
160 to 169
DM1600 to DM1610
7
170 to 179
DM1700 to DM1710
8
180 to 189
DM1800 to DM1810
9
190 to 199
DM1900 to DM1910
The Unit is factory-set to 0.
Note If the Unit number is set to an existing Unit number, an alarm occurs and the
C200H @ does not operate. Turn the [email protected] power OFF before setting the
Unit number. If the setting is changed with the power ON, the new setting is
not valid until the power is turned OFF and back ON again.
Operation Mode Selector
RUN
PRG
Setting
Operation
mode
Function
Function item
RUN
RUN mode
Select RUN to place the Cam Positioner Unit
in RUN mode. The following settings are necessary to operate the Cam Positioner Unit
(i.e., to turn cam outputs ON and OFF).
(1) Set banks 1 to 8 at word n + 1.
(2) Turn ON bit 00 of word n (operation flag).
(n = 100 + 10 x Unit no.)
Cam output
Monitoring of the number of process execution cycles
Monitoring of the present cam angle
Adjustment operation
Bank selection
Origin adjustment
PRG
Programming mode
Select PRG for setting values with the Data
Setting Console.
Cam data setting
Cam data protect setting
Setting the number of revolutions required for
a single process
Origin adjustment
Note The mode cannot be switched if the Unit has an error.
7
Section 2-3
Wiring
Origin Adjustment Switch
ADJ
ADJ Press this button switch to execute origin adjustment. The set value will be
written to the EEPROM.
DIP Switch
1
2
3
4
Pin no.
Function item
ON
OFF
1
Direction of rotation
CCW
CW
2
Protect setting
Not permitted
Permitted
3
Adjustment operation
setting
Not permitted
Permitted
4
Not used.
---
---
All the pins are factory-set to OFF.
CW direction
CWW direction
If protect setting and adjustment operation setting are permitted (i.e., if pins 2
and 3 are set to OFF), the settings can be made with the Data Setting Console.
2-3
2-3-1
Wiring
External Cam Output
Connector Wiring Diagram
CN1
B
A
NC
12
12
NC
NC
24 VDC
11
11
10
10
NC
24 VDC
9
9
8
8
7
7
COM
L
24 VDC
16
L
15
L
14
L
L
L
L
L
13
12
11
10
9
6
5
6
5
4
4
3
3
2
2
1
1
COM
8
L
7
L
6
L
5
4
3
2
1
L
24 VDC
L
L
L
L
Cam output number
8
Section 2-3
Wiring
Note
1. Do not connect the load directly until trial operation has been completed.
Instead, connect to a device that will enable monitoring the external cam
output status, such as a G7TC-OC16 I/O Relay Terminal.
2. Be sure to supply power to terminals A10 and B10, or the Data Setting
Console will not operate. Power is supplied to the internal circuit and the
Data Setting Console via these terminals.
3. Although there are internal connections between terminals A9 and B9, and
between A10 and B10, a wire must still be connected to each of these terminals.
The following connector set manufactured by Fujitsu is included with the Unit:
FCN-361J024-AU (soldered connector)
FCN-360C024-J2 (cover)
Internal circuit
Circuit Diagram
+V
OUT
COM
Recommended Cables
and Output Blocks
The following external cam output cables are recommended.
Model
Cable length
G79-100C
1m
G79-150C
1.5 m
G79-200C
2m
G79-300C
3m
G79-500C
5m
The following Output Blocks are recommended.
Model
Rated load
Resistance load
Relays used
Inductive load
G7TC-OC16
24 VDC 5 A,
220 VAC 2 A
24 VDC 2 A,
220 VAC 1 A
G7T-1112S
24 VDC
G7VC-OC16
24 VDC 2 A,
220 VAC 2 A
24 VDC 0.8 A,
220 VAC 0.8 A
G6B-1174P-FD-US
24 VDC
G7VC-OA16
75 to 264 VAC, 0.1 to 0.5 A
G3S-201PL-PD
24 VDC
G7VC-OD16
3 to 26 VDC, 0.01 to 0.5 A
G3SD-Z01P-PD
24 VDC
9
Section 2-3
Wiring
Connection Method
Example using G7TC-OC16.
Cam Positioner Unit
G7TC-OC16
Output Block
[email protected]@@C
Connection Cable
24 VDC 2 A
Be sure to lock the connectors securely.
Note If a 24-VDC power supply is not provided, the Data Setting Console and external cam output will not function.
Countermeasures to
Noise
In order to prevent malfunctions due to noise, conduct the following countermeasures.
Use shielded wire for external cam output lines and resolver cable.
Be sure to wire power lines (e.g., AC power supply, electrical power lines) and
control lines (e.g., external cam output lines, resolver cables) in separate
ducts.
Be sure to mount a surge-absorbing diode or surge absorber to an inductive
load (such as a relay, solenoid, or electromagnetic valve). Use a surgeabsorbing diode with a voltage resistance of at least five times the circuit voltage.
DC Relay
DC
RY
AC Relay
Surge-absorbing
diode
AC
Solenoid, etc.
SOL
10
Surge absorber
(Example: Okaya
Electric's CR-50500)
RY
Surge absorber
(Example: Okaya
Electric's CR-50500)
Section 2-3
Wiring
2-3-2
Resolver Connection Cable
To connect a resolver to the C200H-CP114 Cam Positioner Unit, use the
3F88L-CR0R2A Auxiliary Connection Cable which is provided with the Unit.
20 cm
To extend the cable for a 3F88L-RS17 or 3F88L-RS17T Resolver, use [email protected]@@C Extension Cable. The total length of the connection cables must
not exceed 100 meters, or an operation error may result.
Note Secure the resolver cable so that no external force will be imposed on the
auxiliary connection cables.
Inserting Connectors into the Unit
CP114
RUN
ALM
ADJ
Connector for resolver
Insert the connector so that the cable
will be pointing downward.
Connector Pin Wiring
Cam Positioner
Unit
1
2
3
4
5
6
7
8
Sin(+)
Sin(−)
Cos(+)
Cos(−)
OUT(+)
OUT(−)
----Connector
case
Resolver
Sin(+)
Sin(−)
FG
Cos(+)
Cos(−)
FG
----FG
OUT(+)
...
1
2
3
4
5
6
7
8
9
10
11
OUT(−)
---
15
--Connector
case
11
Section 2-3
Wiring
2-3-3
Data Setting Console Cables
Connecting Cable
Use the connecting cables in the table below (sold separately) to connect the
unit to the Data Setting Console.
Model
Cable length (L)
C200H-CN225
2m
C200H-CN425
4m
L
39
17.3
17.5
16.1
10
Connection Precautions
Tighten the lock screws after inserting the connector into the unit.
Push the connector firmly into the Data Setting Console until the clips fully
lock.
Power is supplied from the Cam Positioner Unit via connection cable. If power
is not supplied between external cam output terminals (A10, B10) and (A9,
B9), the Data Setting Console cannot be operated.
Install the supplied connector cover when the cable is not connected.
12
SECTION 3
Data Setting Console Operation
This section provides the basic operating procedures of the Data Setting Console including data settings and monitoring.
3-1
Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2
Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
3-2-1
Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
3-2-2
Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16
Data Setting and Monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
3-3
14
13
Section 3-1
Operating Procedure
3-1
Operating Procedure
Follow the procedure outlined below for preparing the [email protected] prior to operating the Cam Positioner Unit.
1,2,3...
1. Set the switches (Refer to 2-2 Switch Settings). Set the front and rear panel
switches according to the operating conditions.
2. Mount the Unit to the Rack. Be careful to turn off the power supply to the
C200H @ before mounting the Cam Positioner Unit to the Rack or removing
it from the Rack.
3. Wire the external cam outputs (Refer to 2-3 Wiring). Until the trial operation
has been completed, do not directly connect a load. Instead, connect to an
object (such as the G7TC-OC16) for which the external cam output status
is known.
4. Connect the resolver and the Data Setting Console (Refer to 2-3-2 Resolver Connection Cable and 2-3-3 Data Setting Console Cables). Use the
specified connection cable for connecting the resolver and the Data Setting
Console.
5. Turn ON the C200H @ and external cam output power supply. Place the
C200H @ in program mode.
6. Set the data with the Data Setting Console. Set the RUN/PRG selector
switch to PRG before setting the data.
7. Set the bank that is to be executed. Set the RUN/PRG selector switch to
RUN. Set the number of the bank to be executed in word n + 1.
(n = 100 + 10 x Unit no.)
8. Turn ON the Operation Flag. Turn ON bit 00 of word n (the Operation Flag).
14
Section 3-2
Nomenclature and Functions
3-2
Nomenclature and Functions
3-2-1
Nomenclature
Front View
Side View
Data display
Operation indicators
Cover
Down Key
Return Key
Up Key
(With cover open)
Panel mounting bracket
(Refer to Appendix D Dimensions for details about
panel mounting.)
Rear View
Operation Keys
Mode selection
Item selection
Data setting
Reverse Key
Clear Key
Cam Positioner Unit connector
Connecting cable (purchase separately)
C200H-CN225 (2 m)
C200H-CN425 (4 m)
The bottom row of the operation Keys have upper and lower labels. The upper
labels apply to Temperature Control Unit operation. The lower labels are for
the Cam Positioner Unit.
Two display sheets are supplied: one for the Temperature Control Unit and
one for the Cam Positioner Unit. If the Data Setting Console is to be used with
the Cam Positioner Unit only, stick the display sheet with the lettering corresponding to the lower labels over the original lettering.
Note
1. If 24-VDC power is not supplied between external cam output connector
terminals (A10, B10) and (A9, B9), the Data Setting Console cannot be operated.
15
Section 3-2
Nomenclature and Functions
2. If a resolver is not connected, “e10” will blink. Should this occur, follow the
procedure outlined below to turn it off. In any case, data can still be set
even if no resolver is connected. To do that, carry out only d) and e) below.
a) Turn OFF the power supply to the [email protected]
b) Connect a resolver.
c) Turn ON the power supply to the [email protected]
d) Set the operation mode selector to PRG.
e) Press the CLR Key.
3-2-2
Functions
Display Functions
Data Display
Name
Function
DATA
Depending on the “MODE” setting number, the following data will be displayed.
Data concerning cam output ON/OFF settings, protect settings, and settings for the number of revolutions required for a single process.
The process execution conditions and present cam angle will be displayed.
MODE
Modes 1 to 6 will be displayed. The mode that can be selected will vary according to the setting of the
RUN/PRG switch.
When PRG is set:
Mode 3: Cam data setting mode
Mode 4: Protect setting mode (*)
Mode 5: Mode for setting the number of revolutions required for a single process
(*) Cannot be selected when pin 2 of the rear panel DIP switch is ON (i.e., when protection is not
permitted).
When RUN is set:
Mode 1: Mode for setting the number of cycles for the processes to be executed
Mode 2: Present cam angle monitor mode
Mode 6: Adjustment operation mode (*)
(*) Cannot be selected when pin 3 of the rear panel DIP switch is ON (i.e., when adjustment operation is not permitted).
BK
Banks 1 to 8 will be displayed.
In Modes 1, 2, and 6, the number of the bank to be executed will be displayed.
In Mode 5, nothing will be displayed.
CAM
Cam output numbers from 1 to 48 will be displayed. These will only be displayed in Modes 3, 4, and 6,
however, and not in Modes 1, 2, and 5. Numbers 1 to 16 are for internal/external cam outputs, and
numbers 17 to 48 are for internal cam outputs.
STEP
Step numbers 1 to 7 will be displayed. These will only be displayed in Modes 3 and 6, however, and not
in Modes 1, 2, 4, and 5. Seven ON/OFF settings can be made for each cam output.
Operation Displays
Name
Function
ON
When this indicator is blinking, the cam angle can be set for when cam output is ON.
OFF
When this indicator is blinking, the cam angle can be set for when cam output is OFF.
RUN
Lit while the Cam Positioner Unit is in operation. While this indicator is lit, cam outputs will turn ON and
OFF. The procedure for operating the Cam Positioner Unit is as outlined below.
(1) Set the Cam Positioner Unit’s RUN/PRG selector to RUN.
(2) Set banks 1 to 8 at word n + 1.
(3) Turn ON bit 00 of word n (Operation Flag).
(n = 100 + 10 x Unit no.)
ALM1
Lit if the resolver is accidentally disconnected.
ALM2
Lit if any of the following errors occur.
Memory error
Bank selection error
Communications error
Memory load error
16
Power failure error
Parameter error
Section 3-3
Data Setting and Monitoring
Operation Key Functions
Name
Function
Return Key
When beginning a setting change, press the Return Key, the Up Key, or the Down Key. The MODE
number will then blink. Each time the Return Key is pressed, the set value that is blinking will be
entered and the next item to be set will start blinking.
Up Key
When beginning a setting change, press the Return Key, the Up Key, or the Down Key. The MODE
number will then blink. Press the Up Key to increment the number that is blinking. When making a
DATA setting, press the Up Key continually to successively increment the number.
Down Key
When beginning a setting change, press the Return Key, the Up Key, or the Down Key. The MODE
number will then blink. Press the Up Key to decrement the number that is blinking. When making a
DATA setting, press the Up Key continually to successively decrement the number.
Reverse Key
When the Reverse Key is pressed, the setting item that is currently blinking will stop and the previous
item will start blinking. To finish making settings in a given mode, use the Reverse Key to return to the
blinking MODE display and then press the Reverse Key again. The blinking display will then stay lit and
the settings will be complete.
Clear Key
When the Clear Key is pressed, all data below the blinking item will be cleared. For example, if “1” is
blinking for BK, all of the data for bank no. 1 will be cleared. When the Clear Key is pressed once, the
item that is to be cleared will start blinking. If the Clear Key is then pressed a second time, the data will
be cleared. To cancel the clear, press any Key other the Clear Key before pressing the Clear Key the
second time. This function does not exist in the adjustment operation mode (mode 6). Press the Clear
Key to clear an error display.
3-3
Data Setting and Monitoring
Setting Items
MODE
3 (Cam data
setting)
6 (Adjustment
operation)
Setting
item
BK
Bank no.
Setting range
1 to 8
In Mode 6, the setting (i.e., the number of the bank to be
executed) is made from the C200H user’s program or a
peripheral device.
@
CAM
4 (Protect setting)
Name
Cam output no.
1 to 48
1 to 16:
17 to 48:
STEP
Step no.
1 to 7
ON
ON angle
0 to 359
OFF
OFF angle
BK
Bank no.
1 to 8
CAM
Cam output no.
1 to 48
1 to 16:
17 to 48:
DATA
DATA
5 (Number of
revolutions
required for a
single
process)
internal/external cam output
Internal cam output
internal/external cam output
Internal cam output
Not protected
“---”
Protected
“pr%”
Decimal point position
2 digits to right of decimal
1 digit to right of decimal
0 digits to right of decimal
Data
0.01 to 9.99
0.1 to 99.9
1 to 999
Set the number of resolver
revolutions required for a single process cycle.
For Modes 3, 4, and 5, set the RUN/PRG selector to PRG.
Mode 4 is valid only when pin 2 of the rear panel DIP switch is OFF (i.e., when
protection is permitted).
Mode 6 is available only when pin 3 of the rear panel DIP switch is OFF (i.e.,
when adjustment operation is permitted). For Mode 6, set the RUN/PRG
selector to RUN.
17
Section 3-3
Data Setting and Monitoring
Monitor Items
MODE
Name
Function
1
Monitoring of the number of process execution cycles
Displays the number of process execution cycles per
unit time.
2
Monitoring of the present cam angle
Monitors the present cam angle of the resolver.
Set the RUN/PRG selector to RUN.
Cam Setting Data and
Cam Outputs
The following table shows the relation between the cam data that has been
set and the cam outputs.
Cam output no.
Step no.
ON angle
OFF angle
1
1
90
180
2
1
0
45
2
90
135
3
180
270
1
180
90
3
0°
90°
180°
270°
0°
90°
Direction
of rotation
Angle of rotation
Cam output 1
Cam output 2
Cam output 3
1 revolution
The cam output turns ON at the ON angle and turns OFF at the OFF angle
minus 1°.
Cam outputs turn ON and OFF only when the Cam Positioner Unit is in operation.
The procedure for operating the Cam Positioner Unit is outlined below.
1,2,3...
1. Set the Cam Positioner Unit’s RUN/PRG selector to RUN.
2. Set banks 1 to 8 at word (n + 1).
3. Turn ON bit 00 of word n (Operation Flag).
(n = 100 + 10 x Unit no.)
During operation, the RUN indicator on the Data Setting Console will remain
lit.
Number of Revolutions
Required for a Single
Process and Monitoring of
the Number of Process
Execution Cycles
The relation between the Mode 5 (number of revolutions required for a single
process) set value and the Mode 1 (monitoring of the number of process execution cycles) monitor value is as shown below.
Mode 1 monitor value = Number of resolver revolutions
Mode 5 set value
If the number of revolutions required for a single process (i.e., the Mode 5 set
value) is “1,” then the monitoring of the number of process execution cycles
(i.e., the Mode 1 monitor value) will indicate the number of resolver revolutions.
The Mode 1 monitor value will also indicate the number produced per unit
time.
18
Section 3-3
Data Setting and Monitoring
Mode Selection and Data Setting Procedure
Cam Data Setting (Mode 3)
ON/OFF angle
Mode
no.
Step no.
Cam output no.
ON angle
OFF
Bank no.
angle
1,2,3...
1. Set the RUN/PRG selector to PRG.
If PRG is already selected, then proceed directly to (2).
2. By means of the Return Key, the Up Key, or the Down Key, select the Mode
3 indicator so that it starts to blink.
Press the Return Key, the Up Key, or the Down Key. The MODE indicator
“3” will blink. If “3” is not indicated, then use the Up Key or the Down Key
to increment or decrement the number until “3” is indicated.
3. Press the Return Key to enter the set value and select the next item.
Each time the Return Key is pressed, the set value that is blinking will be
entered and the next item to be set will start blinking.
MODE → BK → CAM → STEP → ON DATA → OFF DATA
When ON DATA or OFF DATA is selected, the respective ON or OFF indicator will blink.
Each time the Reverse Key is pressed, the next item to be set will start
blinking, but in the reverse order from that shown above. If a newly set value has not already been entered with the Return Key, then pressing the reverse can will clear the changed data and restore the original data.
4. Use the Up Key or the Down Key to increment or decrement the set value.
Increment or decrement the set value for the item that is blinking. For data
other than BK, it is possible to change the values rapidly by holding down
the Key.
5. Press the Return Key to enter the data that has been set.
After data has been changed, the Return Key must be pressed in order for
the data to be entered. In order to clear the newly set data and return to
the original value, simply press the Reverse Key instead of the Return Key.
Then follow (3) through (5) of this procedure to set the data.
6. Press the Reverse Key to restore a blinking item to its previous lit condition.
As the Reverse Key is pressed, the items will blink in the order shown in
(3). When the mode number is blinking, pressing the Reverse Key again
will restore it to its previous lit condition and the setting operation will be
finished.
19
Section 3-3
Data Setting and Monitoring
How to Clear Data
1,2,3...
1. Follow (1) to (3) of the above procedure to cause the items that are to be
cleared to start blinking.
2. Press the Clear Key twice. When it is pressed the first time, all of the items
to be cleared will start blinking.
When it is pressed the second time, all of the ON/OFF angle data will be
cleared for the items that are blinking. If CAM no. “1” is blinking, for example, then the ON/OFF angle data for steps 1 to 7 for cam output no. 1 will
be cleared.
To cancel a clearing operation, press any other key instead of pressing the
Clear Key the second time.
Protect Setting (Mode 4)
---: Not protected
pr%: Protected
Mode no.
1,2,3...
Bank no.
1. Set the RUN/PRG selector switch to PRG.
If PRG is already selected, then proceed directly to (2).
2. Press the Return Key, the Up Key, or the Down Key to cause the Mode 4
indicator to blink.
Press the Return Key, the Up Key, or the Down Key.
The MODE indicator will blink.
Press either the Up Key or the Down Key until “4” is displayed.
Mode 4 cannot be selected if pin 2 of the rear panel DIP switch is ON (i.e.,
if protection is not permitted).
3. Press the Return Key to cause the bank number to blink.
4. Use the Up Key or the Down Key to display the bank number for which protection is to be set or cleared.
5. Press the Return Key to cause the data display to blink.
For each bank number, use the Up and Down Keys to select either “pr%”
(protection set) or “---” (protection not set). Then press the Return Key to
enter the selection.
When changing bank numbers, press the Reverse Key to return to the
blinking bank number display.
To set or clear protection for cam numbers, proceed to (6).
6. Press the Return Key to cause the cam number to blink.
7. Use the Up Key or the Down Key to display the cam number for which protection is to be set or cleared.
8. Press the Return Key to cause the data display to blink.
20
Section 3-3
Data Setting and Monitoring
9. With the Up and Down Keys, select either “pr%” or “---”.
10. Press the Return Key to enter the selection.
Repeat (6) through (10) for each cam number.
11. Press the Reverse Key to restore the blinking display to its previous lit condition.
When the mode number is blinking, press the Reverse Key a second time
to restore the blinking display to its previous lit condition and complete the
setting operation.
Setting the Number of Revolutions Required for a Single Process (Mode 5)
Number of revolutions required
for a single process
Mode no.
1,2,3...
1. Set the RUN/PRG selector switch to PRG.
If PRG is already selected, then proceed directly to (2).
2. Press the Return Key, the Up Key, or the Down Key to cause the Mode 5
indicator to blink.
Press the Return Key, the Up Key, or the Down Key.
The MODE indicator will blink.
Press either the Up Key or the Down Key until “5” is displayed.
3. Press the Return Key to cause the decimal point to blink.
4. Use the Up Key or the Down Key to set the position of the decimal point.
This setting also sets the decimal point position for the monitoring of the
number of process execution cycles (see next page). When making this
setting, take into account the maximum number of digits to be displayed to
the left of the decimal point.
Example:
If the set value for the monitoring of the number of process execution cycles is 52.0, and if the decimal point position is set
at 0.00, then 2.00 will be displayed. Therefore, in this case, the
decimal point position should be set at 00.0.
5. Press the Return Key to cause the numerals to blink.
6. Use the Up Key or the Down Key to increment or decrement the set value.
It is possible to change the values rapidly by holding down the Key.
If either the decimal point or the set value is blinking, then press the Clear
Key twice. “1.” will then be displayed.
7. Press the Return Key to enter the set value.
8. Press the Reverse Key to restore blinking items to their previous lit condition.
21
Section 3-3
Data Setting and Monitoring
If the mode number is blinking, press the Reverse Key again. The blinking
display will then stay lit and the settings will be complete.
Monitoring of the Number of Process Execution Cycles (Mode 1)
Number of process execution
cycles per unit time
Mode no.
1,2,3...
Execution bank no.
0: No cam output
1 to 8: Bank no.
1. Set the RUN/PRG selector switch to RUN.
If RUN is already selected, then proceed directly to (2).
2. Press the Return Key, the Up Key, or the Down Key to cause the Mode 1
indicator to blink.
Press the Return Key, the Up Key, or the Down Key.
The MODE indicator will blink.
Press either the Up Key or the Down Key until “1” is displayed.
3. Press the Return Key to enter mode “1.”
Based on the number process execution cycles set in Mode 5, the number
of process execution cycles per minute will be displayed as follows:
Number of process execution = Number of resolver revolutions
Number of revolutions required
cycles per minute
for a single process
4. Set the bank that is to be executed.
In word n + 1 (n = 100 + 10 x Unit no.), set the number of the bank (0000
to 0008) that is to be executed.
If the bank number is 0000, only the number of process execution cycles
(and not the cam output) will be displayed.
When setting the number of the bank to be executed, make the setting with
bit 00 of word n OFF (i.e., with the Operation Flag OFF), or turn the Operation Flag OFF and then ON again after the setting has been made in word
n + 1. The setting cannot be made when the Operation Flag is ON.
Set the bank number with either the user’s program or with a peripheral device such as the Programming Console.
5. Turn ON the Operation Flag.
Turn ON bit 00 of word n (the Operation Flag).
Make the setting with either the user’s program or with a peripheral device
such as the Programming Console.
From this point on, operations will be carried out according to the cam data
of the bank that has been set.
22
Section 3-3
Data Setting and Monitoring
When changing the number of the bank to be executed, first make the
change in word n + 1, and then turn the Operation Flag from ON to OFF,
and then ON again.
Monitoring of the Present Cam Angle (Mode 2)
Present cam angle
Execution bank no.
0: No cam output
1 to 8: Bank no.
Mode no.
1,2,3...
1. Set the RUN/PRG selector switch to RUN.
If RUN is already selected, then proceed directly to (2).
2. Press the Return Key, the Up Key, or the Down Key to cause the Mode 2
indicator to blink.
Press the Return Key, the Up Key, or the Down Key.
The MODE indicator will blink.
Press either the Up Key or the Down Key until “2” is displayed.
3. Press the Return Key to enter mode “2.”
During operation, cam outputs will turn ON and OFF in response to the
present cam angle, according to the ON and OFF angle setting data of the
bank that is executed.
If the bank number is set to “0,” then there will be no cam output.
Adjustment Operation (Mode 6)
ON/OFF angle
Mode no.
ON angle
OFF
angle
1,2,3...
Step no.
Cam output no.
Execution bank no.
1. Set the RUN/PRG selector switch to RUN.
If RUN is already selected, then proceed directly to (2).
23
Section 3-3
Data Setting and Monitoring
2. Press the Return Key, the Up Key, or the Down Key to cause the Mode 6
indicator to blink.
Mode 6 cannot be selected when pin 3 of the Cam Positioner Unit’s rear
panel DIP switch is ON (i.e., when adjustment operation is not permitted).
3. From this point on, follow (3) through (6) of the setting procedure for Mode
3.
The number of the bank to be executed will be displayed in BK, so “BK”
cannot be selected.
When changing the number of the bank to be executed, make the setting
in word n + 1 by means of the user’s program or a peripheral device such
as the Programming Console, and then turn bit 00 of word n (the Operation
Flag) from ON to OFF, and then ON again.
Origin Adjustment
The term “origin adjustment” refers to the matching of the resolver origin to
the mechanical origin. For example, if the present cam angle is 130° and if
you want this angle position to match the mechanical origin of 0°, then origin
adjustment can be used.
Origin Adjustment Methods
Either of the methods described below can be used for origin adjustment.
When origin adjustment is executed, “7” will blink three times in “MODE,” and
the resolver absolute angle will blink three times in “DATA.” When origin
adjustment is finished, the previous display will be restored.
Press the button on the front panel of the Cam Positioner Unit. The origin
adjustment value will then be written to the EEPROM in the Unit.
or Turn the Origin Adjustment Flag (bit 01 of word n) from OFF to ON.
When the origin adjustment has been completed, turn ON the Origin Adjustment Completion Flag (bit 05 of word n + 8). This flag will automatically
turn OFF when the Origin Adjustment Flag turns OFF.
Origin adjustment will be written to the RAM in the Unit according to the
Origin Adjustment Flag.
When entering the origin adjustment, turn the EEPROM Write Flag (bit 02
of word n) from OFF to ON. The origin adjustment value will then be written
to EEPROM.
Note Because there is a limit to the number of times that data can be written to
EEPROM (approx. 10,000 times), the second of the two methods described
above is recommended for origin adjustment.
During resolver rotation, origin adjustment will not be effective even if it is executed.
If origin adjustment is attempted while the Unit has an error, the origin adjustment will be executed after the error is cleared.
24
SECTION 4
PC Memory Allocation and Programming
This section provides the C200H
and examples are also provided.
4-1
@ PC’s memory allocation for the Cam Positioner Unit. Basic programming procedures
Memory Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
4-1-1
Bit Allocation Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
27
4-1-2
Bit Allocation Data Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
27
4-1-3
DM Allocation Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31
4-1-4
DM Allocation/Data Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
4-2
Peripheral Device Operations and Data Setting . . . . . . . . . . . . . . . . . . . . . . .
32
4-3
Program Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
37
4-3-1
Setting the Bank Number and Starting Operation . . . . . . . . . . . . . .
37
4-3-2
Setting Cam ON/OFF Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
38
4-3-3
Program Example to Set 48-point Cam ON/OFF Data . . . . . . . . . .
39
4-3-4
Monitoring Cam ON/OFF Data . . . . . . . . . . . . . . . . . . . . . . . . . . . .
43
4-3-5
Setting the Number of Revolutions per Process . . . . . . . . . . . . . . . .
44
25
Section 4-1
Memory Allocation
4-1
Memory Allocation
Memory Allocation
According to the setting of the Unit number switch on the front of the C200HCP114 Cam Positioner Unit, 10 words are allocated for each Unit number in
the Special I/O Unit area between IR 100 to IR 199, which is used as the I/O
refresh data area. The IR area used by the C200H-CP114 Cam Positioner
Unit is refreshed on each C200H PC I/O refresh cycle.
@
[email protected] PC
Cam Positioner Unit
IR area
I/O refresh data area
Unit#0 IR 100 to IR 109
Unit#1 IR 110 to IR 119
Unit#2 IR 120 to IR 129
During PC I/O refresh, each
cycle is executed for the outputs
(PC to Cam Positioner Unit) followed by the inputs (Cam Positioner Unit or PC).
Unit#3 IR 130 to IR 139
Unit#4 IR 140 to IR 149
Unit#5 IR 150 to IR 159
Unit#6 IR 160 to IR 169
Word (n)
to
word (n+2)
Output refresh
Word (n+3)
to
word (n+9)
Input refresh
(n=100 + 10 x Unit number)
The terms "output" and "input" are defined
with reference to the [email protected]
Unit#7 IR 170 to IR 179
Unit#8 IR 180 to IR 189
Unit#9 IR 190 to IR 199
Note A Duplicate I/O Unit error occurs if the set Unit number corresponds to the
number of an existing Special I/O Unit.
DM Number Allocation
[email protected] PC
Cam Positioner Unit
Data Memory (DM)
Dedicated DM (Read Only)
Fixed Data Area
DMm
DM(m+1)
DM(m+2)
Unit #0 DM1000 to 1010
Unit #1 DM1100 to 1110
Unit #2 DM1200 to 1210
Unit #3 DM1300 to 1310
Unit #4 DM1400 to 1410
Unit #5 DM1500 to 1510
Unit #6 DM1600 to 1610
Unit #7 DM1700 to 1710
Unit #8 DM1800 to 1810
Unit #9 DM1900 to 1910
General DM
(Read and Write)
1 data
block
(15
words)
Including dedicated DM
and general DM, one
word at a time will be
transmitted during the
PC's I/O refresh.
For setting the
number of revolutions required for
a single process.
DM(m+10)
(m = 1000 + 100 x Unit no.)
DMx
DMx
DM(x+1)
to
DM(x+14)
For cam data
setting
For cam data
setting
DM(x+14)
15 words max.
x 8 = 120 words
(x=0000 to 0985)
15 words max. x 8 = 120 words
For details on DM number allocation, refer to page 31.
26
Section 4-1
Memory Allocation
4-1-1
Bit Allocation Chart
(n = 100 + 10 x Unit no.)
I/O
classification
Out
In
Word
no.
Bit
15
14
13
12
11
10
09
08
07
06
Memory
download
n
0
0
0
n+1
0
0
Bank number
00 to 08: 2-digit BCD
00: No cam output
n+2
Internal/external cam output status
16
n+3
15
14
13
32
31
30
29
Internal cam output status
n+5
0
48
n+8
47
46
02
01
00
Memory
upload
Error
reset
EEPROM
write
Origin
adjustment
Operation
instruction
11
10
9
8
7
6
5
4
3
2
1
28
27
26
25
24
23
22
21
20
19
18
17
45
44
43
42
41
40
39
38
37
36
35
34
33
RUN
mode
In operation
Present cam angle (000° to 359°: 3 digits BCD)
x 101
x 100
Number of process execution cycles
Decimal point position
data
Numeral data (000 to 999: 3 digits BCD)
0
0
Executed bank number (00 to 08: 2-digit BCD)
0
0
0
Error code
Status data
ALM2 ALM1 0
n+9
03
12
x 102
n+7
04
Internal cam output status
n+4
n+6
0
05
0
0
Memory
load
enabled
Origin
adjustment
completed
Memory
load
completed
Resolver
stopped
Error
Note For the number of process execution cycles, the same value will be read as
for the Data Setting Console display value in Mode 1.
Decimal Point Position Data
1: No digits to right of decimal point
2: 1 digit to right of decimal point
4: 2 digits to right of decimal point
4-1-2
Bit Allocation Data Contents
(n = 100 + 10 x Unit no.)
I/O classification
Out
Bit number
Word
n
Data item
Data contents
Bit
15 to 06 ---
Not used. Set to “0.”
@
05
Memory download Turns ON when cam ON/OFF data is transferred from the C200H to
the Cam Positioner Unit. When the data transfer is complete, bit 04 of
word n + 8 turns ON.
04
Memory upload
Turns ON when cam ON/OFF data is read from the Cam Positioner
Unit to the C200H . When the data transfer is complete, bit 04 of word
n + 8 turns ON.
03
Error reset
When an error occurs, it can be cleared by turning this flag from OFF to
ON. The same result can be obtained by pressing the Clear Key on the
Data Setting Console.
@
27
Section 4-1
Memory Allocation
I/O classification
Out
Bit number
Word
n
n+1
28
Data item
Data contents
Bit
02
EEPROM write
Turn this bit from OFF to ON to write the origin adjustment value to the
EEPROM in the Cam Positioner Unit after the origin adjustment has
been determined. Because there is a limit to the number of times that
data can be written to EEPROM (approx. 10,000 times), it is recommended that this bit be turned ON only once, after the final determination has been made.
Bit 05 of word n + 8 will be ON when data is written to the EEPROM.
01
Origin adjustment
To execute the origin adjustment, turn this flag from OFF to ON. When
the origin adjustment has been completed, bit 05 of word n + 8 will turn
ON.
When this flag (bit 01 of word n) is turned from OFF to ON, the origin
adjustment value is written to the RAM in the Cam Positioner Unit.
After the final origin adjustment determination, turn bit 02 of word n
from OFF to ON to write the value to EEPROM.
00
Operation
When this flag turns ON, the bank in word n + 1 begins operation. During operation, the RUN indicator on the Data Setting Console will light
and cam outputs will turn ON and OFF according to the data that is set.
When this flag turns OFF, operation will stop.
15 to 08 ---
Not used. Set to “0.”
07 00
The number of the bank to be executed (00 to 08) is set in two digits
BCD. If “00” is set, there are no cam outputs. Make the bank number
setting while the Operation Flag (bit 00 of word n) is turned OFF. If the
Operation Flag is ON, then turn it OFF and back ON when changing
the bank number setting. Without doing this, the bank number cannot
be changed.
Bank number
Section 4-1
Memory Allocation
I/O
classification
In
Bit number
Word
Data item
Data contents
Bit
n+2
15 to 00 Internal/external
cam output status
When an internal/external cam output turns ON, the appropriate bit
turns ON. Bits 00 to 15 correspond to internal/external cam output
numbers 01 to 16.
n+3
15 to 00 Internal cam output
status
When an internal cam output
Bits 00 to 15 correspond to exterturns ON, the appropriate bit turns nal cam output numbers 17 to 32.
ON.
n+4
15 to 00
n+5
n+6
Bits 00 to 15 correspond to external cam output numbers 33 to 48.
15 to 12 ---
Not used. Set to “0.”
11 to 00 Present cam angle
Monitors the present resolver cam angle. 000° to 359° (3 digits BCD)
The value will be indefinite if the Resolver has been disconnected.
15 to 00 Number of process
execution cycles
(see note 1)
Monitors the number of process execution cycles (the number produced) per minute, in 4 digits BCD.
Number of process execution cycles = Number of resolver rotations/
number of rotations required for a single process (unit: shots/min)
15
00
Numeric Data
(000 to 999: 3 digits BCD)
Decimal Point Position Data
1: No digits to right of decimal point
2: 1 digit to right of decimal point
4: 2 digits to right of decimal point
This value is the same as the value displayed at the Data Setting
Console in Mode 1.
n+7
15 to 08 ---
Not used. Set to “0.”
07 to 00 Bank being executed
Monitors the bank that is presently being executed. 00 to 08 (2-digit
BCD)
29
Section 4-1
Memory Allocation
I/O
classification
In
Bit number
Word
n+8
n+9
Data item
Data contents
Bit
15
ALM2
The ALM 2 bit turns ON and the
ALM 2 indicator on the Data Setting Console lights when any of
the following errors occur.
Memory error
Bank change error
Communications error
Data transfer error
Power failure error
Parameter error
14
ALM1
The ALM 1 bit turns ON if an error
occurs due to the resolver being
disconnected. At that time, the
ALM 1 indicator on the Data Setting Console lights.
When the errors on the left occur,
the following conditions occur
simultaneously.
The ALM indicator lights on the
front panel of the Cam Positioner Unit.
Bit 02 of word n + 8 turns ON.
The error code is output to word
n + 9.
13 to 07 ---
Not used. Set to “0.”
06
Memory load
enabled
When this flag is ON, memory downloading and uploading is possible.
This flag is ON when the Data Setting Console display is lit, and OFF
when the display is blinking. (The display blinks while data is being
set.)
05
Origin adjustment
completed
Turns ON when origin adjustment is completed, based on the Origin
Adjustment Flag (bit 01 of word n) or the EEPROM Write Flag (bit 02
of word n) turning ON, and turns OFF based on these bits turning OFF.
04
Memory load
completed
Turns ON when memory downloading (bit 05 of word n) or memory
uploading (bit 04 of word n) is completed, and OFF based on either of
these bits turning OFF.
03
Resolver stopped
(see note 2)
ON while resolver rotation is stopped (4 r/min or less), and OFF during
rotation.
02
Error
Normally OFF. Turns ON when a Cam Positioner Unit error occurs. At
that time, the ALM indicator on the front panel of the Cam Positioner
Unit lights.
01
RUN mode
ON when the operation mode selector on the front panel of the Cam
Positioner Unit is set to RUN, and OFF when the selector is set to
PRG.
00
In operation
ON during operation (i.e., when the Operation Flag, bit 00 of word n, is
ON).
15 to 12 ---
Not used. Set to “0.”
11 to 00 Error code
When errors occur, the following codes are output. (2-digit BCD)
01: Memory error
ALM2
02: Communications error
ALM2
03: Power failure error
ALM2
20: Bank change error
ALM2
21: Data transfer error
ALM2
22: Parameter error
ALM2
10: Resolver disconnection error
ALM1
For details, refer to the SECTION 5 Troubleshooting.
Note
1. Data other than 0 may be output even if the Resolver is not operating when
the power is turned ON, the Special I/O Unit has been reset, or origin adjustment has been executed.
2. May turn OFF even if the Resolver is not operating when the power is
turned ON, the Special I/O Unit has been reset, origin adjustment has
been executed, or the Resolver has been disconnected.
30
Section 4-1
Memory Allocation
4-1-3
DM Allocation Chart
Dedicated DM (Read Only)
(m = 1000 + 100 x Unit no.)
DM number
Data item
DM m
Leading DM number for cam data storage
DM (m+1)
Number of cam data storage combinations (1 to 8)
DM (m+2)
Transfer of data permitted/not permitted for number
of revolutions required for a single process
DM (m+3)
Bank 1
DM (m+4)
Bank 2
DM (m+5)
Bank 3
DM (m+6)
Bank 4
DM (m+7)
Bank 5
DM (m+8)
Bank 6
DM (m+9)
Bank 7
DM (m+10)
Bank 8
Setting data for number
of revolutions required
for a single process
The DM 1000 data block is for reading
only. Therefore data cannot be written
by means of the program. Set the data
with a peripheral device such as the
the Programming Console.
General DM (Read and Write)
DM number
(x=0000 to 0999 − 15 x number of cam data storage combinations)
Data item
DM x
Bank no.
Cam no.
DM (x+1)
Step no. 1
ON data
DM (x+2)
Step no. 1
OFF data
DM (x+3)
Step no. 2
ON data
DM (x+4)
Step no. 2
OFF data
DM (x+5)
Step no. 3
ON data
DM (x+6)
Step no. 3
OFF data
DM (x+7)
Step no. 4
ON data
DM (x+8)
Step no. 4
OFF data
DM (x+9)
Step no. 5
ON data
DM (x+10)
Step no. 5
OFF data
DM (x+11)
Step no. 6
ON data
DM (x+12)
Step no. 6
OFF data
DM (x+13)
Step no. 7
ON data
DM (x+14)
Step no. 7
OFF data
The 15 words shown on the left
constitute a single block. Bank
numbers and cam numbers can
be changed, and data can be set
or retrieved for a total of eight
blocks from DM (x + 15) onwards.
31
Section 4-2
Peripheral Device Operations and Data Setting
4-1-4
DM Allocation/Data Contents
Dedicated DM
(m = 1000 + 100 x Unit no.)
DM number
Data item
Data contents
DM m
Cam data storage, leading
DM number
The leading general DM number for storing cam data is set in
4 digits BCD (0000 to 0985).
DM (m+1)
Cam data storage, number
of combinations
The number of combinations (i.e., the number of combinations
of DM x bank numbers and cam numbers) for stored cam data
is set in 4 digits BCD (0001 to 0008).
DM (m+2)
Transfer of data permitted/ This is used when transferring from the C200H to the Cam
not permitted for number of Positioner Unit the data stored in DM m + 3 to DM m + 10 (i.e.,
revolutions required for a
the number of revolutions required for a single process).
single process
Odd: Transfer permitted
Even: Transfer not permitted
DM (m+3) to DM (m+10)
Setting data for number of
revolutions required for a
single process
@
DM m + 3 to DM m + 10 correspond to Banks 1 to 8. The
data for the applicable bank is set according to the bank
number set in word n + 1.
15
00
Numeric Data
(001 to 999: 3 digits BCD)
Decimal Point Position Data
1: No digits to right of decimal point
2: 1 digit to right of decimal point
4: 2 digits to right of decimal point
General DM
(x=0000 to 0985)
DM number
DM x
DM (x+1) to DM (x+14)
Data item
Data contents
Bank no.
Bank numbers for the cam data in DM x + 1 to DM x + 14 is
set in bits 15 to 08, in 2-digit BCD.
Cam no.
Cam numbers for the cam data in DM x + 1 to DM x + 14 is set
in bits 07 to 00, in 2-digit BCD.
Cam ON/OFF data
This is the cam ON/OFF data for steps 1 to 7. When downloading memory, set the data in this area. When uploading
memory, retrieve the data in this area.
15
00
0
ON/OFF Data
000 to 359: 3 digits BCD
FFF: No data
4-2
Peripheral Device Operations and Data Setting
This section explains how to use a peripheral device such as the Programming Console to turn I/O bits ON and OFF, to change present values, and how
to start up Cam Positioner Unit operations and set data.
For these operations, preset the operation mode selector to RUN.
In the examples, the Unit number is set to “0,” and the procedure for the Programming Console is shown.
32
Section 4-2
Peripheral Device Operations and Data Setting
Setting the Bank Number
1,2,3...
1. Monitor word n + 1 (the bank number).
Example: Shift→Word/Indirect→1→0→1→Monitor (When Unit no. is “0”)
2. Write the present value to the bank that is to be executed.
Example: Change→1→Write (Bank no. = 1)
By means of either the Data Setting Console or the setting method using
a peripheral device which is described on the next page, set the data in advance in the bank that is to be executed.
When setting the number of the bank to be executed, make the setting with
bit 00 of word n OFF (i.e., with the Operation Flag OFF), or turn the Operation Flag OFF and then ON again after the setting has been made in word
n + 1.
Note The number of the bank to be executed can be set only in the operation mode.
Operation Startup
1,2,3...
1. Monitor bit 00 of word n (the Operation Flag).
Example: Shift→Contact/Constant→1→0→0→0→0→Monitor (When Unit
no. is “0”)
2. Press the Set/Reset Key to turn ON bit 00 of word n.
The following conditions will occur with operation startup:
The RUN indicator will light on the Data Setting Console.
Cam outputs will turn ON and OFF according to the cam ON/OFF data that
is set.
Bit 00 of word n + 8 (the in-Operation Flag) will turn ON.
Origin Adjustment
1,2,3...
1. Turn ON bit 01 of word n (the Origin Adjustment Flag).
Example: Shift→Contact/Constant→1→0→0→0→1→Monitor→Set/Reset
2. After the origin adjustment has been determined, write the value to EEPROM.
Turn ON bit 02 of word n (EEPROM write).
Example: Shift→Contact/Constant→1→0→0→0→2→Monitor→Set/Reset
Setting Cam ON/OFF Data
1,2,3...
1. Write the DM usage conditions,described in (2) below, to DM m and DM m
+ 1.
2. Write the bank number, cam number, and cam ON/OFF data to DM x onwards.
With the Programming Console, monitor each DM number and then write
the data by changing the present value.
For convenience, the Ladder Support Software (LSS) can be used.
The above settings can be be made after the operations described in (3),
but they must accord with the contents of (1).
3. Either turn the Special I/O Restart Flag (AR 0100 to AR 0109) from OFF
to ON, or turn the C200H power supply from ON to OFF and then ON
again.
These operations will cause the contents of (1) to be read.
@
33
Section 4-2
Peripheral Device Operations and Data Setting
4. Turn the Memory Download Flag (bit 05 of word n) from OFF to ON.
This operation will begin the transfer to the Cam Positioner Unit of the data
from DM x onward.
Data will be transferred one DM word at a time.
Verify the end of the transfer with the Memory Load Completed Flag (bit 04
of word n + 8).
After bit 04 of word n + 8 has been turned ON, it will automatically turn OFF
when bit 05 of word n turns OFF.
ON
OFF
Memory download
(bit 05 of word n)
Memory load completed ON
(bit 04 of word n + 8)
OFF
Note Memory downloading can only be executed when the memory load enabled
flag (bit 06 of word n + 8) is ON. (When this bit is ON, the Data Setting Console display will be lit.) This is independent of the operation mode selector setting and the operating/stopped setting.
Example of Setting Cam ON/OFF Data
Set the following cam ON/OFF data so that the bank number = 1 and the cam
number = 1.
ON
OFF
Cam data
0°
30° 50°
80° 115°
150° 200° 260°
320°
0°
Assume that the Unit number is 0 and that the general DM words to be used
begin at DM 0100.
0100
Leading DM number for cam data storage
DM1001
0001
Number of cam data storage combinations
General DM
DM0100
0101
DM0101
0030
DM0102
0050
DM0103
0080
DM0104
0115
DM0105
0150
DM0106
0200
DM0107
0260
DM0108
0320
DM0109
0000
...
...
1,2,3...
Dedicated DM
DM1000
DM0114
0000
01
Step 1
Step 2
01
Cam no.
Bank no.
For each step, set the ON data
first and then the OFF data.
Step 3
Step 4
If the steps are not to be used,
set either "0000" or "0FFF."
1. Set the data shown above.
2. Turn the Special I/O Restart Flag (AR 0100) from OFF to ON. (Or else turn
the C200H power supply from ON to OFF and then back ON.)
@
34
Section 4-2
Peripheral Device Operations and Data Setting
3. Turn the Memory Download Flag (10005) from OFF to ON.
4. Monitor the memory load completed flag (10804), and wait until it turns
ON. When it turns ON, the transfer will have been completed.
5. Turn OFF bit 10005. When this bit is turned OFF, bit 10804 will turn OFF
automatically.
Retrieving Cam ON/OFF Data
1,2,3...
1. Write into DM m and DM m + 1 the DM usage conditions described in (2)
below.
2. Write the bank number and cam number for the data to be retrieved in DM
x.
Data from a maximum of eight blocks (combinations of bank numbers and
cam numbers) can be retrieved, so the combinations that are to be retrieved should be set for each block in 15 words from DM x.
The above settings can be be made after the operations described in (3),
but they must accord with the contents of (1).
3. Either turn the Special I/O Restart Flag (AR 0100 to AR 0109) from OFF
to ON, or turn the C200H power supply from ON to OFF and then ON
again.
These operations will cause the contents of (1) to be read.
@
4. Turn the memory upload flag (bit 04 of word n) from OFF to ON.
This operation will retrieve the cam ON/OFF data in DM x + 1 to DM x +
14. (If multiple blocks are set in (2) above, it will be retrieved in those areas).
Data will be transferred one DM word at a time.
Verify the end of the transfer with the Memory Load Completed Flag (bit 04
of word n + 8).
After bit 04 of word n + 8 has been turned ON, it will automatically turn OFF
when bit 04 of word n turns OFF.
Memory upload
(bit 04 of word n)
ON
OFF
Memory load completed ON
(bit 04 of word n + 8)
OFF
Note Memory downloading can only be executed when the Memory Load Enabled
Flag (bit 06 of word n + 8) is ON. (When this bit is ON, the Data Setting Console display will be lit.) This is independent of the operation mode selector setting and the operating/stopped setting.
35
Section 4-2
Peripheral Device Operations and Data Setting
Retrieving Example
Retrieve the “bank number = 1” and the “cam number = 1” cam ON/OFF data.
The Unit number is 0.
Dedicated DM
DM1000
0200
Leading DM number for cam data storage
DM1001
0001
Number of cam data storage combinations
General DM
DM0200
0101
01
01
Cam no.
Bank no.
1,2,3...
1. Set the data shown above.
2. Turn the Special I/O Restart Flag (AR 0100) from OFF to ON. (Or else turn
the C200H power supply from ON to OFF and then back ON.)
@
3. Turn the memory upload flag (10004) from OFF to ON.
4. Monitor the Memory Load Completed Flag (10804), and wait until it turns
ON. When it turns ON, the transfer will have been completed.
5. Turn OFF bit 10004. When this bit is turned OFF, bit 10804 will turn OFF
automatically.
6. Monitor DM 0201 onwards.
DM0201
0030
DM0202
0050
DM0203
0080
DM0204
0115
DM0205
0150
DM0206
0200
DM0207
0260
DM0208
0320
DM0209
0FFF
...
...
DM0214
0FFF
Step 1
Step 2
For each step, set the ON data
first and then the OFF data.
Step 3
Step 4
For words with no cam data,
"0FFF" is stored.
Setting the Number of Revolutions Required for a Single Process
1,2,3...
1. Write 0001 (transfer permitted) to DM m + 2.
With the Programming Console, make the settings by changing the
present values.
2. Write the number of revolutions required for a single process into the word
(from DM m + 3 to DM m + 10) that is appropriate for the bank set in (3)
below. (The number of revolutions required for a single process is the number of resolver revolutions required for one process, e.g., the number required to complete one product. The value stored in DM m + 6 is the
number of resolver revolutions divided by the number of revolutions for one
process in shots per minute.)
3. Write into word n + 1 the number of the bank that is to be executed.
36
Section 4-3
Program Examples
4. Either turn the Special I/O Restart Flag (AR 0100 to AR 0109) from OFF
to ON, or turn the C200H power supply from ON to OFF and then ON
again.
@
These operations will cause the contents of DM m + 2 to be read. If DM m
+ 2 is “0001,” then the data from (2) above will be transferred from the
C200H to the Cam Positioner Unit.
@
From this point on, each time the bank no. data in word n + 1 is changed,
the data from (2) above will be transferred.
Note The transfer of the required number of revolutions for a single process can be
only executed when the Memory Load Enabled Flag is ON (i.e., the display on
the Data Setting Console is lit).
Setting Example
Set the following data:
Number of revolutions required for a single process for Bank 1 = 1.00
Number of revolutions required for a single process for Bank 2 = 002
Assume that the Unit number is 0.
1,2,3...
1. Set “0001” (transfer permitted) to DM 1002.
2. Set “4100” to DM 1003.
↑ Two digits to right of decimal point.
3. Set “0001” (bank number = 1) to word 101.
4. Turn the Special I/O Restart Flag (AR 0100) from OFF to ON. (Or else turn
the C200H power supply from ON to OFF and then back ON.)
@
This will cause the number of revolutions required for a single process for
Bank 1 to be set to “1.00.”
5. Set “1002” to DM 1004.
↑ No digits to right of decimal point.
6. Set “0002” (bank number = 2) to word 101. This will cause the number of
revolutions required for a single process for Bank 2 to be set to “2.”
4-3
4-3-1
Program Examples
Setting the Bank Number and Starting Operation
Example
Set the bank number as “2” and start operation. Stop operation with input A.
Conditions
Unit number = 0 (Allocated word numbers: 100 to 109)
@
Operation mode selector is set to RUN. (C200H )
37
Section 4-3
Program Examples
Program Example
25315
10801
MOV(21)
(ON for 1 cycle.) (RUN mode)
#0002
Sets the bank number as "2."
101
25313
10000
CMP(20)
#0002
(Always ON)
107
Waits for word 107 (bank number monitor) to be
set to "0002." (See note below.)
25506
23200
When word 107 is set to "0002," 23200 turns ON.
10000
Operation instruction
(=)
23200
A
10000
END(01)
Note It takes approximately 900 ms for the bank number data to be transferred. The
transfer time required varies with the PC’s cycle time. Therefore, as shown in
the example, verify that the transfer has been completed before turning ON
the Operation Flag.
4-3-2
Setting Cam ON/OFF Data
Example
Set the following cam ON/OFF data so that the bank number = 1 and the cam
number = 1.
Cam data
ON
OFF
0°
30° 50°
80° 115°
150° 200° 260°
320°
0°
General DM words used: DM 0100 to DM 0114
Conditions
Unit number = 0 (Allocated word numbers: 100 to 109)
@
Operation mode selector is set to RUN. (C200H )
Program Example
38
Preset the following data in the dedicated DM Area words using a peripheral
device such as the Programming Console.
Section 4-3
Program Examples
(Turn AR 0100 OFF and ON or turn the C200H
ting.)
Dedicated DM
DM1000
0100
Leading DM number for cam data storage
DM1001
0001
Number of cam data storage combinations
General DM
DM0100
0101
DM0101
0030
DM0102
0050
DM0103
0080
DM0104
0115
DM0105
0150
DM0106
0200
DM0107
0260
DM0108
0320
DM0109
0000
...
...
DM0114
0000
01
01
Cam no.
Step no. 1
Step no. 2
@ ON, OFF, and ON after set-
Bank no.
For each step, set the ON data
first and then the OFF data.
Step no. 3
Step no. 4
If any steps are not to be used,
set either "0000" or "0FFF."
(ON for 1 cycle.)
25315
10801
10806
10804
10005
(RUN mode) (Memory load (Memory load
enabled.)
completed.)
For memory downloading, one DM word at a time
is transferred in a cycle.
10005
END(01)
4-3-3
Program Example to Set 48-point Cam ON/OFF Data
The following example shows how to set ON/OFF data for cam output numbers 1 to 48 for bank 1. The source data is moved to DM 0000 to DM 0119
from the dedicated DM Area words for the 48 cam output numbers starting at
DM 3000, i.e., at total of 720 words, and then downloaded to the Unit.
Here, the unit number is 0 (allocated IR Area words: IR 100 to IR 109) and the
operating mode of the CPU Unit is RUN mode.
Overview
Data for up to 8 cam output numbers, or 120 words (16 words per output number x 8) can be downloaded from the CPU Unit to the Cam Positioner Unit in
one transfer. A total of 6 transfers is thus required to download the data for 48
cam outputs. The cam ON/OFF data is prepared in 6 blocks of 15 words each
39
Section 4-3
Program Examples
as shown below, the data in each block is copied in turn to normal DM Area
words and downloaded to the Cam Positioner Unit. The process must be
repeated 6 times.
Cam Positioner Unit
Normal DM Area words
Set
Dedicated DM Area
words
Memory Download Flag
(bit 05 of word n)
Work area
120 words
(15 words x 8
cam outputs)
Download
XFER or other
transfer instruction
Cam Data Area
Indirect addressing
(Used as storage
pointer)
Cam output
number
1
1 to 8
2
9 to 16
3
17 to 24
4
25 to 32
5
33 to 40
6
41 to 48
ON/OFF data for 48 cam outputs stored in advance. This data transferred 8
outputs (120 words) at a time to the same normal DM Area words.
Initial Setup
The following dedicated DM Area word data and the ON/OFF data for the 48
cam outputs must be stored in advance using a Programming Console or
other Programming Device. Do not store the cam ON/OFF data in normal DM
Area words at this time. The data will be copied from the cam ON/OFF data
area in sequence by the program for downloading.
Dedicated DM
Area Words
DM 1000
DM 1001
0000
0008
Address of first word to hold the cam data.
Number of cam outputs that has been stored.
(Number of cam outputs to be downloaded at once.
• Set the address of the first word in the DM Area that will be used to hold
the cam ON/OFF data for downloading. Here, the address is DM 0000.
• Set the number of cam outputs that will be downloaded for each data
transfer. Here, the maximum number (8) is used.
Normal DM
Area Words
40
DM 0000
0000
to
DM 0119
0000
These 120 words are used to hold the cam data for 8 cam outputs
at a time so that data for all 48 cam outputs can be downloaded in
succession.
Section 4-3
Program Examples
Cam Data
The cam ON/OFF data is set in blocks of 8 words starting at DM 3000 as
shown below.
Address
1
Block
Cam output
numbers
DM 3000 to DM 3119
1
1 to 8
DM 3200 to DM 3319
2
9 to 16
DM 3400 to DM 3519
3
17 to 24
DM 3500 to DM 3719
4
25 to 32
DM 3600 to DM 3919
5
33 to 40
DM 4000 to DM 4119
6
41 to 48
2
3
4
5
6
The following table shows example data for one block, i.e., cam ON/OFF data
for 15 words.
Address
Contents
Meaning
DM 3000
0101
Upper 2 digits: Bank number (1 to 8)
Lower 2 digits: Cam output number (1 to 8)
DM 3001
0030
Step 1 ON data
DM 3002
0050
Step 1 OFF data
DM 3003
0080
Step 2 ON data
DM 3004
0115
Step 2 OFF data
DM 3005
0150
Step 3 ON data
DM 3006
0200
Step 3 OFF data
DM 3007
0260
Step 4 ON data
DM 3008
0320
Step 4 OFF data
DM 3009
0000
Step 5 ON data
DM 3010
0000
Step 5 OFF data
DM 3011
0000
Step 6 ON data
DM 3012
0000
Step 6 OFF data
DM 3013
0000
Step 7 ON data
DM 3014
0000
Step 7 OFF data
Note Set 0000 or 0FFF for steps that are not being used.
Program Execution
Procedure
The program functions as follow to transfer the data:
1,2,3...
1. Block 1 of data starting at DM 5000 is transferred to the normal DM Area
words starting at DM 0000.
2. The Memory Download Bit (bit 05 of word n) is turned ON to download the
data from the normal DM Area words to the Cam Positioner Unit.
3. When the transfer has been completed, block 2 of data is transferred to the
normal DM Area words and the process is repeated.
4. The same processing is performed for blocks 3 to 6.
41
Section 4-3
Program Examples
Program Example
25315
#3000 stored in DM 5000 at startup. DM 5000 is
the pointer to the storage area.
MOV(21)
#3000
First Scan Flag
Storage
pointer
DM 5000
25315
d
First Scan Flag
Download
completed
RSET
c
10804
Memory Load
Completed Flag
(n + 8 bit 04)
#0120
No. of words
#DM 5000
Storage
pointer
First word
for cam data
storage
XFER(70)
Change data incam
data storage words
DM 0000
Memory Load Completed Flag (IR 10804) reset at
startup or when c is ON and d is OFF.
Also, contents of 120 words of data starting at the
address in DM 5000 (initially DM 3000) are copied
to DM 0000 to DM 0119.
a
a
10801
10806
If the data to be downloaded has been copied to
DM 0000 to DM 0119, the Cam Positioner Unit is
in RUN mode, downloading is enabled, and the
current download has not been completed, the
Memory Download Bit is turned ON to download
the data in DM 0000 to DM 0119 to the Cam
Positioner Unit.
10804
10005
Copying
completed
10005
RUN Mode Flag Memory Load Memory Load
(n + 8 bit 01)
Enabled Flag Completed Flag
(n + 8 bit 06) (n + 8 bit 04)
Memory Download Bit
(n bit 05)
10804 Memory Load Completed Flag (n + 8 bit 04)
DIFU(13)
When the download has been completed, the
Memory Load Completed Flag (IR 10804) turns
ON and b is turned ON for one scan.
b
b
CLC(41)
When b turns ON, #0200 is added to the pointer
value in DM 5000 to change the first word for
transfer to DM 0000 to DM 0119.
ADD(30)
#0200
DM 5000
Storage
pointer
Change data incam
data storage words
c
c turns ON when the pointer value has been
changed.
25313
CMP(20)
DM 5000
Always ON Flag
Storage
pointer
Contents of pointer value in DM 5000 compared to
#4200 to see if all the data has been downloaded.
#4200
25506
d
Equals Flag
END(01)
42
Download
completed
If DM 5000 contains #4200, d is turned ON and
the download processing is stopped.
Section 4-3
Program Examples
4-3-4
Monitoring Cam ON/OFF Data
Example
Monitor the “bank number = 1” and the “cam number = 1” cam ON/OFF data.
The monitor data is stored in DM 0200 to DM 0214.
Conditions
Unit number = 0 (Allocated word numbers: 100 to 109)
@
Operation mode selector is set to RUN. (C200H )
Program Example
Preset the following data, using a peripheral device such as the Programming
Console.
(Turn AR 0100 OFF and ON or turn the C200H
ting.)
@ ON, OFF, and ON after set-
Dedicated DM
DM1000
0200
Leading DM number for cam data storage
DM1001
0001
Number of cam data storage combinations
25315
10801
10806
#01 01
MOV(21)
(ON for 1 cycle.) (RUN mode) (Memory load
enabled.)
25315
10801
10806
#0101
Cam no.
DM0200
Bank no.
10804
10004
(RUN mode) (Memory load (Memory load
enabled.)
completed.)
For memory uploading, one DM word of data
is retrieved in a cycle.
10004
END(01)
When memory uploading is complete, set the ON/OFF data.
DM0201
0030
DM0202
0050
DM0203
0080
DM0204
0115
DM0205
0150
DM0206
0200
DM0207
0260
DM0208
0320
DM0209
0FFF
...
...
DM0214
0FFF
Step no. 1
Step no. 2
For each step, set the ON data
first and then the OFF data.
Step no. 3
Step no. 4
For words with no cam data,
"0FFF" is stored.
43
Section 4-3
Program Examples
4-3-5
Setting the Number of Revolutions per Process
Example
With input A, set the number of revolutions required for a single process for
Bank 1 to “1.00,” and start operation with Bank 1. Stop operation with input B.
Conditions
Unit number = 0 (Allocated word numbers: 100 to 109)
@
Operation mode selector is set to RUN. (C200H )
Program Example
Preset the following data in the dedicated DM Area words using a peripheral
device such as the Programming Console.
Dedicated DM
DM1002
0001
DM1003
4100
A
10801
Transfer permitted
4 100 Setting data for number of revolutions
required for a single process
Actual numeric data
2 digits to right of decimal point.
10000
MOV(21)
#0001
(RUN mode)
Sets "bank number = 1" to word 101.
101
CMP(20)
#0001
Waits for word 107 (bank number monitor)
to be set to "0001." (See note below.)
107
25506
23200
When word 107 is set to "0001," 23200 turns ON.
10000
Operation instruction
(=)
23200
B
10000
END(01)
Note It takes approximately 100 ms for the bank number data to be transferred.
Therefore, as shown in the example, verify that the transfer has been completed before turning ON the Operation Flag.
44
SECTION 5
Troubleshooting
This section provides possible errors and corrections.
Error Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
46
45
Section 5
Error Detection
Error Detection
When an error occurs with resolver input or at the Cam Positioner Unit, the
content of the error is output to the Data Setting Console and to an input relay
to notify the user.
Errors, Causes and
Corrections
Display
Status at time of error:
Refers to the operation status and the cam output status when the error
occurs.
O: Operation or cam output continues.
X: Operation or cam output stops.
Error
Operation
mode
PRG
RUN
Status at time
of error
Operating
Probable cause
Possible correction
Cam
output
e01
Memory error
❍
❍
×
×
There is an error in the
EEPROM of the Cam Positioner Unit.
Clear the error (see
page 48).
Replace the Unit.
e02
Communication error
❍
❍
❍
❍
There is an error in the communications between the
Cam Positioner Unit and the
Data Setting Console.
Clear the error (see
page 48).
Replace the connection
cable.
Replace the Unit.
e03
Power failure
error
❍
❍
×
×
Power was interrupted during Clear the error (see
data setting or origin adjust- page 48), and then make
ment.
the settings again.
e20
Bank change
error
×
❍
×
×
The bank number data in
word n + 1 is not set from 00
to 08
The cam setting data is corrupted.
46
Clear the error (see
page 48), and then set
the bank number correctly.
Section 5
Error Detection
Display
Error
Operation
mode
PRG
RUN
Status at time
of error
Operating
Probable cause
Possible correction
Cam
output
e21
Data transfer
error
❍
❍
❍
❍
The cam data is not set from
000 to 359 or 0FFF.
The data for setting the
number of revolutions
required for a single cycle is
outside of the allowable
range.
The decimal point position
data is other than 1, 2, or 4.
The numeric data is not in
BCD.
The memory upload and
memory download points
were turned ON
simultaneously.
The Data Setting Console
was operated during data
transmission.
Data transfer was executed
during Data Setting Console
operation.
The transfer bank number
was not from 1 to 8 or the
transfer cam number was not
1 to 48.
The transfer of the required
number of revolutions for a
single process (i.e., bank
selection) was executed
while the display on the Data
Setting Console was
flashing.
Clear the error (see
page 48), and then check
the probable causes
listed on the left. Correct
the problem and execute
the transfer again.
e22
Parameter
error
❍
❍
❍
❍
The DM m and DM m + 1 set
values are not correct. 0999
is exceeded in the general
DM area.
Correct the set values in
DM m and DM m + 1, and
then clear the error and
try again.
e10
Resolver
disconnection
error
∆ (see ❍
note 2)
×
×
The resolver connection
cable is faulty.
Replace the resolver
connection cable.
Note
1. Display:
Refers to the display on the Data Setting Console.
2. Operation mode:
Refers to the setting of the operation mode selector when the error occurs.
If there is a circle in both the PRG and RUN columns, it indicates that the
error applies to both modes. A triangle for the resolver disconnection error
indicates that the error applies only in PRG mode and when the power is
turned on.
47
Section 5
Error Detection
Display and Output to the Input Relay
(n = 100 + 10 x Unit No.)
Error
Cam Positioner Unit
display
RUN
ALM
Data Setting Console display
Output to input relay
Word (n+8)
DATA
RUN
ALM1
ALM2
Bit 14
Bit 15
Bit 07 to
00 of
word
(n+9)
Not lit
Not lit
Lit
OFF
ON
01
Lit
e01
(Blinking)
e02
Lit
Not lit
Lit
OFF
ON
02
Lit
Lit
e03
Not lit
Not lit
Lit
OFF
ON
03
Bank change
error
Lit
Lit
e20
Not lit
Not lit
Lit
OFF
ON
20
Data transfer
error
Lit
Lit
e21
Lit
Not lit
Lit
OFF
ON
21
Parameter error Lit
Lit
Lit
Not lit
Lit
OFF
ON
22
Resolver disLit
connection error
Lit
e22
e10
Not lit
Lit
Not lit
ON
OFF
10
Memory error
Lit
Lit
Communication
error
Lit
Power failure
error
Error Clearing Methods
When any of the above errors occurs, first remove the cause of the error and
then apply one of the following methods to clear the error. Only methods (3)
and (4) are valid for parameter errors (e22). When either of these two methods
is used to clear an error, the bank number reverts to “0” and must then be
reset.
• Press the CLR key on the Data Setting Console.
• Turn the Error Reset Flag (bit 03 of word n) from OFF to ON.
@
• Turn the C200H ’s power supply from ON to OFF and then back ON.
• Turn the Special I/O Restart Flag (AR 0100 to AR 0109) from OFF to ON.
Duplicate I/O Unit
The Unit number duplicates the number of another Special I/O Unit. The SR
bit 25415 turns ON when an Duplicate I/O Unit error occurs. Refer to AR 0000
to AR 0011 for the duplicated Unit number. The C200H PC will not operate
during a duplicate I/O error.
@
Set the Unit number to a unique number.
Special I/O Unit Error
I/O refresh not operating correctly between the CPU Unit and Cam Positioner
Unit. Operation in not interrupted when a Special I/O Unit error occurs. Refer
to AR 0000 to AR 0015 for the Unit number where the error occurred. After
correcting the cause of the error, set the Special I/O Unit Restart Flag (AR
0100 to AR 0109) to restart operation.
RUN Indicator Unlit
The C200H power supply is turned on but the RUN indicator is not lit. None
of the errors described previously is the cause. Replace the Unit.
No Data Detting console
Display
@
• No 24 VDC power supply is connected to the Cam Positioner Unit input
terminals A10 and B10.
• The connecting cable connector is disconnected.
• The connecting cable is broken.
• A circuit in the Data Setting Console is defective.
• A circuit in the Cam Positioner Unit is defective.
After determining the cause of the error, repair the problem or replace the
Unit.
48
Appendix A
Specifications
General Specifications
Conforms to the [email protected] PC specifications.
Performance Specifications
Item
Specifications
Cam output points
Total: 48 points
Internal/external outputs: 16 points (cam outputs 1 to 16)
Internal outputs:
32 points (cam outputs 17 to 48)
External output
NPN transistor, open collector (with photocoupler insulation)
Switching capacity:
100 mA at 24 VDC
Simultaneous ON points: 8 points max.
External output terminal
24-pin connector (Fujitsu’s FCN-360-series connector)
Resolver
3F88L-RS17
3F88L-RS17T
3F88L-RS15
3F88L-RS15W
Note: The 3F88L-RS15 and 3F88L-RS15W each require a resolver cable.
Resolver input terminal
8-pin round connector
(The 20-cm-long 3F88L-CROR2A Auxiliary Connection Cable is provided with the
Cam Positioner Unit.)
Resolver response r/min
800 r/min max.
Angle detection cycle
200 µs (at a sampling frequency of 5 kHz)
Cam output response time
450 µs (800 r/min)
Control unit (resolver resolution)
1°
Origin adjustment
1° to 359°
Number of ON/OFF control opera- Maximum of 7 per cam output
tions
Number of cam output data banks 8 banks
A single bank contains 48 points of cam output data.
Cam data is stored in EEPROM.
The bank No. to be used is specified via the C200H using the user’s program or
Programming Console.
@
@ using the Programming Console
Data input present value display
Set by the Data Setting Console or via the C200H
or appropriate device, or the user’s program.
Selectors
Front panel: Origin adjustment setting, operation mode selection
Rear panel: CW or CCW selection, cam data protect permitted/not permitted, adjustment operation permitted/not permitted
Internal current consumption
Dimensions (mm)
5 VDC 0.3 A max.
24 VDC +10%/–15% 2 A min.
34.5 x 130 x 101 (W x H x D)
Weight
Approx. 350 g
External power supply
49
Appendix A
Specifications
Output Specifications
Item
Specifications
Switching capacity
24 VDC 100 mA
Leakage current
160 µA max.
Residual voltage
1.8 V max.
ON response time
20 µs max. (see note)
OFF response time
20 µs max. (see note)
Number of circuits
16 pts./common, 1 circuit
Simultaneous ON points
8 points
External power supply
24 VDC at 2 A max. (including load)
Note The ON and OFF response times are numbers that depend on the hardware and are not times that can
be controlled by software.
50
Appendix B
Resolvers
Resolver and Resolver Cable Models
Resolver Models
Specifications
Axle 10 dia.
Axle 6 dia.
Model
Standard type
3F88L-RS17
High-torque type
3F88L-RS17T
Connector type
3F88L-RS15
Lead-wire type
3F88L-RS15W
Resolver Cable Models
Specifications
Extension cable
Both connectors (for
3F88L-RS15)
Cable length
2m
Model
3F88L-CR002C
5m
3F88L-CR005C
10 m
3F88L-CR010C
20 m
3F88L-CR020C
3m
3F88L-CR003NA
5m
3F88L-CR005NA
10 m
3F88L-CR010NA
15 m
3F88L-CR015NA
20 m
3F88L-CR020NA
One connector (for 3F88L- 3 m
RS15W)
5m
3F88L-CR003SA
3F88L-CR005SA
10 m
3F88L-CR010SA
Resolver Specifications
Item
Axial diameter
Axial load
Friction torque
Vibration resistance
3F88L-RS15
3F88L-RS15W
6 dia. mm
Radial: 10 kgf {98 N}
Thrust: 10 kgf {98 N}
30 gf • cm {2.9 mN • m} max.
3F88L-RS17
10 dia. mm
Radial: 20 kgf {196 N}
Thrust: 20 kgf {196 N}
120 gf • cm
{12 mN • m} max.
3F88L-RS17T
500 to 1,500 gf • cm
{49 to 147 mN • m}
max.
Frequency range:10 to 500 Hz
Total amplitude: 1.5 mm or 98 m/s2, whichever is less
Test time:
3 directions: X, Y, Z (2 hrs each)
4,900 m/s2 in ±X, ±Y, and ±Z directions, 3 times each
Protective structure
Drip proof, oil proof
IP52F (JEM)
Maximum cable length Can be extended up to 100 m.
Frequency
5 kHz
Electrical malfunction 10 min
Maximum speed
3,000 rpm (Mechanical)
Mounting method
Servo-mount (mounting hooks included)
Flange-mounting (Flange strength: 25 kgf
{245 N})
Coupling
3F88L-RL6
3F88L-RL10
Wiring method
Connector
Lead wire (350 mm)
Cable (3 m, end connector included)
Color
Munsell N1.5
Munsell 5Y3/1
Ambient operating
–10° to 80°C
temperature
Impact resistance
51
Appendix B
Resolvers
Resolver Dimensions
3F88L-RS17/RS17T
Dimensions at end of axle
9
28±0.5
Four, 4.5-dia.
3
4
72(81)
(See note)
9.5
+0
35 −0.05dia.
45
40 dia.
−0.005
10−0.017 dia.
50±0.3 dia.
45
16
59
21
37
Extension cable
Cable length:
approx. 3 m
59
Note: The numbers in parentheses ( ) are
the dimensions for the 3F88L-RS17T.
3F88L-RS15
16.5±0.5
Dimensions at end of axle
3
72
65 max.
2.5
9
5.5
39 dia.
43 dia.
+0.004
6 −0.016 dia.
+0
33.32−0.05 dia.
RM15WTP-10P
connector (Hirose)
RM15WTP-10S-(8) connector (Hirose)
3F88L-RS15W
16.5±0.5
Dimensions at end of axle
3
64
16 max. 350 max.
2.5
9
5.5
39 dia.
43 dia.
+0.004
6 −0.016 dia.
+0
33.32 −0.05 dia.
52
Appendix B
Resolvers
Resolver Mounting Dimensions
3F88L-RS17/RS17T (Flange Mounting)
Recommended mounting holes
35 +0.025
+0.009 dia.
(Recommended dimensions)
50±0.3 dia.
Four M4
Mounting
50 dia.
Four, M4
screws
Plate thickness: 3 mm min.
Note The flange can withstand a force of 25 kgf (245 N) on the center of the resolver.
3F88L-RS15/RS15W (Flange Mounting)
Recommended mounting holes
33.32+0.025
+0.009 dia.
(Recommended dimensions)
52 dia.
120°
Three M4
Mounting
Three M4
Mounting hooks (included with resolver)
52 dia.
12
6
2.6
Mounting hooks
(External diameter: φ:67)
10
4.4 dia.
Plate thickness: 3 mm min.
Linking the Resolver Directly to the Mechanical System
Using the coupling (3F88L-RL6/RL10) provided with the resolver, link the rotational system’s axle to the
resolver’s axle. If a torque of 1.7 to 2 times the allowable torque transfer is applied, damage will occur at the
central region of the coupling, and the resolver alone will be given the maximum load. Keep the coupling’s axial
core misalignment and bending angle within the specifications.
53
Appendix B
Resolvers
Outer Shape of Coupling
B
A
L
C
P
B
A
Hexagonal hole
Set screw
D dia. E dia.
Coupling model
Resolver model
D dia.
E dia.
L
P
A
B
C
Set screws
3F88L-RL10
RS17(T)
10
22
26.2
19
3.6
7.1
12
M4x6 (four)
3F88L-RL6
RS15(W)
6
15
22
16.4
2.8
5.5
11
M3x4 (four)
Coupling Specifications
Coupling model
Bending
Axial core
angle: θ1 (see misalignment: t1
note 1)
(see note 2)
Allowable torque transfer
Set screws
+20°C
+80°C
Size
Tightening
torque
3F88L-RL10
10°max.
1.0 mm max.
30 kgf • cm
{2.94 N • m}
18 kgf • cm
{1.76 N • m}
M4 × 6
4.5 kgf • m
{0.44 N • m}
3F88L-RL6
10°max.
1.2 mm max.
10 kgf • cm
{0.98 N • m}
6 kgf • cm
{0.58 N • m}
M3 × 5
2.5 kgf • m
{0.24 N • m}
Note 1:
Note 2: Axial core misalignment
t1
θ1
Coupling Linkage Specifications
Axial core of
mechanical system
Axial core of
resolver
C
Note 1. In the diagram above, perform the linkage in the space indicated by C, such that the axial core does
not protrude. If rotation occurs with the axial core protruding, the coupling will loosen and damage the
machinery.
2. If the the bending angle or axial core misalignment is too large, not only will the service life of the
coupling be shortened but the accuracy of the resolver rotation angle will be adversely affected.
Wiring Resolver Cables
For the resolver cable, use a special cable to protect against external noise. If wiring or repeater connections
are used in the middle of the cable, adverse effects can easily occur.
If an extension is required, use the special-purpose 3F88L-CR
@@@C Extension Cable.
Secure the resolver cable so that no external force is applied to the cable.
54
Appendix B
Resolvers
Correct Connection Example
Resolver’s 3F88L-CR0R2A Auxiliary Connection Cable (provided with the Cam Positioner Unit).
3F88L-CR0R2A Auxiliary Connection Cable
(One piece provided with Cam Positioner Unit)
Connector
Connector
Resolver
To Cam Positioner Unit
[email protected]@@C Extension Cable
Incorrect Connection Example
Repeater terminal block
The resolver cable transmits signals that require precision at low voltage. In order to avoid receiving inductive
noise that could adversely affect these signals, it is recommended that resolver cables be wired as far as possible from other lines.
Keep in-panel wiring as far away as possible from control wires and power lines.
External wiring should be contained in a weak-current duct used exclusively for that purpose, and it should be
covered with a grounded metal plate.
55
Appendix C
Dimensions
Cam Positioner Unit
Weight: 350 g
Unit Dimensions
130
101
34.5
11
Backplane
Mounting Dimensions
17
Approx. 200
57
Appendix C
Dimensions
Data Setting Console
Weight: 120 g
Unit Dimensions
96
48
91
12
3
45
44
57
Mounting Dimensions
Panel Cutout
Clearance
92 +0.8
0
45 +0.6
0
Panel thickness 1 to 4 mm
Clearance of at least 150 mm
Allow a clearance of at least 150 mm behind the Data Setting Console when it is installed in the panel to allow
cable connectors to be inserted. A clearance of 50 mm is sufficient if the rear panel can be opened.
58
Index
B
bank number
setting program, 37
bit allocation
data contents, 27
BK (BANKS)
See also display functions
C
CAM
See also display functions
cam
output data, 49
output points, 49
setting data and outputs, 18
cam ON/OFF data
monitoring, 43
programming, 38
retrieving procedures, 36
setting operations, 33
D
DATA
See also display functions
data
input present value display, 49
modes
See also modes
monitoring, 18
setting, 17
setting for peripheral devices, 32
data contents
dedicated DM, 32
general DM, 32
Data Memory
DM number allocation, 26
General DM, 31
Read Only data, 31
Data Setting Console
functions, 16
nomenclature, 15
operating procedures, 14
display functions
BK, 16
CAM, 16
DATA, 16
MODE, 16
STEP, 16
E
error codes, 30
errors
causes and corrections, 46
clearing, 48
data setting console display, 48
indicators, 48
F–K
features, 2
I\O unit
duplicate error, 48
internal power consumption, 49
keyboard functions, 17
M
memory
bit allocation, 27
number allocation, 26
word allocations, 26
MODE
See also display functions
modes
adjustment operation, 23
data setting procedure, 19
monitoring cam angle, 23
monitoring process execution cycles, 22
protect setting, 20
selection, 19
setting process revolutions, 21
mounting racks
maximum Units, 4
N–O
nomenclature and functions, 6
ON/OFF control
operating specifications, 49
operation displays, 16
origin adjustment, 24, 33, 49
outputs
external, 49
P
peripheral devices
data setting, 32
operations, 32
origin adjustment, 33
retrieving cam ON/OFF data, 35
setting bank number, 33
59
Index
startup operation, 33
power supply
external, 49
precautions
applications, xiii
general, xii
operating environment, xii
safety, xii
programming
monitoring cam ON/OFF data, 43
setting bank number, 37
setting cam ON/OFF data, 38
R
resolver
cable models, 51
connecting, 11
models, 51
specifications, 49
S
selectors
specifications, 49
single process
setting number of revolutions, 36
Slave Rack
mounting parameters, 4
60
Special I/O Units
maximum on Slave rack, 4
specifications, 49
STEP
See also display functions
switch settings
DIP switch, 8
operation mode selection, 7
origin adjustment switch, 8
unit number, 7
system configuration, 3
U
Unit
dimensions, 49, 57
mounting dimensions, 57
weight, 49
W
wiring
connecting, 10
connecting resolver, 11
Data Setting Console, 12
external cam output, 8
precautions, 12
preventing noise, 10
recommended cables, 9
Revision History
A manual revision code appears as a suffix to the catalog number on the front cover of the manual.
Cat. No. W224-E1-2
Revision code
The following table outlines the changes made to the manual during each revision. Page numbers refer to the
previous version.
Revision code
Date
1
September 1993
1A
July 1995
2
January 2001
Revised content
Original production
Page 48: The maximum speed in Resolver Specifications corrected from
300 rpm to 3,000 rpm.
PLP section added to the front of the manual.
“C200H” changed to “C200H ” where appropriate to indicate the applicable
PCs.
Pages 2, 16, 17, 27, 28 and 45: “External outputs” changed to “internal/external
outputs.”
Page 8: Note added.
Pages 22, 28: “Per unit time” changed to “per minute.”
Page 28: Information added to description for n+6.
Page 33: “Bit 05” corrected to “bit 04” and “bit 07” corrected to “bit 06.”
Page 34: “Bit 07” corrected to “bit 06.”
Page 35: Information added to step 2 in the middle of the page.
Page 37: Section added.
Pages 37 and 38: “Dedicated DM Area words” added.
@
Page 48: G’s changed to m/s2.
61
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