Omron C200HX, C200HE, C200HG, C200H-MC221 DATASHEET

CS1 Series, C200HX/HG/HE, C200HS, C200H C200H-MC221

Motion Control Unit

Specification Sheets

Product Specifications

C200H Special I/O Unit

CS1 Series, C200HX/HG/HE, C200HS, C200H

Motion Control Unit

C200H-MC221

2-axis Motion Control with Multitasking G Language

The

C200H-MC221 is a 2-axis Motion Control Unit

for

the CS1-series, C200HX/HG/HE, C200HS, and C200H ming, it can be used for advanced motion control, and its multitasking capability allows operations to be performed independently for each axis. The following two modes can be used for motion control:

1. Motion control by G language programming in the MC Unit

2. Motion control by instructions from the PC interface area in

The plications

Note: The

MC Unit functions

PCs. With its built-in G-language program

(Automatic

the (Manual

MC Unit has been developed for use in simple positioning ap

S Conveyor Systems: X/Y tables, palletizers/depalletizers,

S Assembling

circular interpolation, or helical circular interpolation with horizontal it does not support coordinate conversions. The MC Unit can,

Mode)

CPU Unit or by manual commands from the T

Mode)

using servomotors. Applicable machines are as follows:

loaders/unloaders,

robots),

simple automated assembling machines (such as

coil

winding, polishing, hole punching), etc.

MC Unit is not designed to perform linear interpolation,

articulated robots or cylindrical robots,

however

Automatic Mode (Executes G-language programs in the MC Unit.)

Manual Mode (Executes manual commands from the CPU Unit or T

eaching Box.)

etc.

Systems: Simple

, perform PTP control with these robots.

robots (including orthogonal

Position control

Speed control Origin search Interrupt feeding Arithmetic operations, etc.

Jogging Deceleration stop Present position preset Origin search (manual) Servo lock, etc.

eaching

Box

because

Stop Mode

Pass Mode Dwell timer

System Configuration

MC Support Software

Automatic Mode

G language program

Teaching Box

MC Unit

C200H-MC221

Analog input servodriver

MC Terminal Block Conversion Unit

Data bits

Operating commands

Servomotor

CPU Unit

Common to Automatic and Manual Modes

“Programmable Controller” is abbreviated as “PC” in these

Teaching Zones

Backlash correction Override

Manual Mode

Specification Sheets.

Teaching Box

Manual controls

Data bits

Manual controls

CPU UnitMC Unit

Motion Control Unit

osition data, creating MC

transferring data to MC Unit,

(

(connects to

Unit end: half- itch 20- in

D09-9F25F (Sanwa Su ly)

connector on Unit

25 in)

Features

Multitasking

The MC Unit is provided with a multitasking G language, an ideal language

• Multiaxis

• Position control can be performed by specifying program

numbers using the PC interface area and executing operation commands, reducing the workload on the CPU Unit’s ladder program.

• Axis configuration can be set, such as controlling X-Y robot

operations

Up to 16 Axes Can be Controlled for Each CPU Unit

to 8 MC Units can be mounted to a CPU Unit, so up

can

be controlled.

High-speed Response to Start Commands from CPU Unit

The

response time from when a start CPU 12 ms.

Operation Can be Started or Stopped by General-purpose Inputs

The

MC Unit is provided can be started or Unit.

• General-purpose inputs can be used as jog start signals,

external device interlock signals, restart signals, and other signals.

G Language to Reduce CPU Unit Programming

for motion control. Up to 100 programs can be registered.

control programs can be easily created.

or controlling operations separately for each axis.

to 16 axes

command is received from the

Unit until the command voltage is output from the MC Unit

with general-purpose inputs, so operation

stopped without needing intervention by the CPU

Models

Applicable PCs

CS1, C200HX/HG/HE C200HS, C200H

Unit classification

C200H Special I/O Unit

Number of controlled

2 axes

Product Specifications

• The MC Unit can perform high-speed-response positioning by

itself.

Interrupt

The tions (such as for feeders) by external sensors.

Compatible with Absolute Encoders

This motors with absolute encoders. It no longer requires origin searches, and allows quick start and reset at system start-up or power-down. The MC Unit can also handle a mixture of absolute and

250-kp/s Encoder Response Frequency

The maximum feedback encoder response frequency is 250 kp/s, so vomotors.

Data

In the MC Support Software, it is possible to create position data by using machinery.

Operate with MPG

Positioning MPG

Special Cable for Connecting Servodrivers

axes

Feeding Function Provided as Standard

MC Unit can perform

MC Unit is compatible with OMNUC U-series and other Servo

incremental encoders.

the MC Unit can be used with high-speed and high-precision ser

Creation Using T

addition to entering numbers

the T

eaching Box to teach positions while actually moving

and simple sync operations can be performed using

(manual pulse generator).

Controlled servodriver

Analog input servodriver

high-speed positioning for feeding opera

eaching Box

in the Position Data Edit Window of

the

Model

C200H-MC221

MC Unit Support Software (Sold Separately)

Name Computer Specifications Model

Support Software

RS-422 Cable

connects to peripheral connector on Unit front panel)

IBM PC/A

T or compatible

Specifications

Item Specifications

Model

number

Applicable PC Unit classification Racks on which MC Unit can be mounted

Maximum number of MC Units that can be mounted

Unit numbers

CS1-series, C200HX/HG/HE, C200HS, C200H C200H Special I/O Unit CPU Rack, C200H Expansion I/O Rack, CS1 Expansion Rack, SYSMAC BUS

Remote I/O Slave Rack 8 Units (16 axes) or 5 Units (10 axes) depending on the PC model. (For details,

refer to o to 8 and A to E, or 0 to 8 depending on the PC model. (For details, refer to

Connectable CPU Unit Models

Editing system parameters, editing position data, creating MC programs (G language), transferring data to MC Unit, monitoring MC Unit, saving data in flash memory

Cable: 3.3 m (connector on MC Unit end: half-pitch 20-pin, connector on computer end: D-sub 25-pin) 25-to-9-pin conversion connector manufactured by Sanwa Supply

Connectable CPU Unit Models

, and printing

C200H-MC221

CV500-ZN3AT1-E

CV500-CIF01 D09-9F25F (Sanwa Suppl

Product Specifications

e od o da a

o ds a oca ed o S ec a

ods a so aa

os o g

Co o u

Method for data transfer with CPU Unit

Controlled servodrivers Analog input servodrivers (Example: OMRON OMNUC H, M, or U Series) Encoder interface

Built-in program language

Control

Automatic/Manual Mode (for each task)

Positioning operations

Position specification method Operating positions can be specified in MC programs by using one of the following

Control unit

Maximum command value Acceleration/deceleration curve Acceleration/deceleration time

Speed reference

Feed rate (PTP operation) specification method

Motion Control Unit

Model

number

ords allocated to Special

I/O Units in CIO Area

ords allocated to Special

I/O Units in DM Area W

ords in Expansion Data

Area (DM or EM Area)

Control method

Number of controlled axes Number of simultaneously

controlled axes PTP (independent) control Multitasking can be used to execute independent operating modes and programs for

Independent Linear interpolation Circular interpolation Interrupt feeding

Minimum setting unit Units

20 words/Unit (uses 2 unit numbers.) CPU Unit to MC Unit:

Program numbers, cycle start (MC program operation command), origin search command, automatic/manual mode switching, etc.

MC Unit to CPU Unit: Status: Positioning completed, zones, busy flag, etc. Monitor data: Present position, error codes, M codes, etc.

2 words used out of 100 words allocated Expansion Data words are specified in initial settings. 23 words per Unit CPU Unit to MC Unit:

Data transfer area specifications, present position preset values, etc. MC Unit to CPU Unit:

System error codes, task error codes, ef

Line receiver input; maximum response frequency: 250 kp/s (before multiplication) Pulse ratio: 4 (fixed) Note: The applicable absolute encoder is the OMRON OMNUC U Series. G language (Started by receiving a start command from the CPU Unit ladder

diagram program.) Speed reference voltage output-type semi-closed loop system, using incremental

and absolute encoder inputs (automatic trapezoidal or S-curve acceleration/deceleration method)

2 axes max. 2 axes max.

each axis. Automatic Mode: Mode for executing MC program created in G language.

Manual Mode: Mode for executing manual commands from CPU Unit (PC interface area) or T

Note: The Automatic and Manual Modes are switched according to the PC interface area of the CPU Unit.

There are a total of 10 Manual Mode commands, including origin search, reference origin return, jogging, and present position preset.

The operation command (cycle start) is started in Automatic Mode using the PC interface area of the CPU Unit.

Independent operations for a maximum of two axes Linear interpolation for a maximum of two axes Circular interpolation for a maximum of two axes on a plane. Operations for each axis

three methods. Direct Specification of Coordinate V

Example: When G00 X100 is specified with absolute specification, the X axis moves to a position of 100.

Address Specification of Position Data Example: When G00 XA0000 is specified, the axis moves to the position set as position data address 0000.

Indirect Register Specification Example: When G00 X(E00) is specified, the X axis moves to the position set as the position data address in the E00 indirect register

1, 0.1, 0.01, 0.001, 0.0001 mm, inch, degree, pulse (There is no unit conversion function.) –39,999,999 to +39,999,999 T Individual acceleration/deceleration settings possible: 0 to 9,998 ms (2-ms

increments) Speed control for a maximum of two axes.

When the unit is pulses, the setting range is from 1 p/s to 1,000 kp/s (after multiplication by 4).

Can be set for each axis. Feed rate = High speed × Override value/100 Real-time speed can be changed by altering the override value.

eaching Box.

rapezoidal or S-curve (Can be selected for each axis.)

C200H-MC221

fective program numbers, etc.

alues

Motion Control Unit

sco o

as og a

Model

number

External I/O

Feed operations

Axis control

ask program

management

Auxiliary function Saving program

data

Self-diagnostic function Error detection functions

Input

Output Servodriver

Peripheral device

Maximum rapid feed rate

Maximum interpolation feed rate

Rapid feed override Interpolation feed override 0% to 199.9% (Setting unit: 0.1%) Jog feed override Zone settings Backlash correction Backlash for mechanical system

In-position zone

Position loop gain

Position loop feed-forward gain

Number of tasks Number of programs

Program capacity

Position data capacity Number of registers Subroutine nesting M code MC Unit

External peripheral devices

Individual axis control

Servodriver relationships

Encoder

Generalpurpose inputs

relationships

Product Specifications

C200H-MC221

The following signals are each provided for two axes: CCW limit inputs CW limit inputs Origin proximity inputs Emergency stop inputs

The following signal is provided for two axes: Driver alarm signal

Line receiver inputs For two axes 250 kp/s max. before multiplication Fixed at

Note: When using a manual pulse generator (MPG), connect it to the Y input terminal. (X-axis + MPG)

2 points (for external start commands, etc.)

The following signals are each provided for two axes: Speed command voltage output (±10 V) Operation command output SEN signal (for absolute encoder) Driver alarm reset signal

1 serial channel for T slide switch on the front panel)

T MS Support Software: 9,600 bits/s for RS-422 and RS-232C Maximum feed rate for PTP operation

36.86 m/min under the following conditions: Encoder resolution: 2,048 p/r Motor speed: 4,500 r/m Control unit: 0.001 mm/pulse

Maximum feed rate for interpolation operations

36.86 m/min under the same conditions as above 0% to 100.0% (Setting unit: 0.1%)

0% to 100.0% (Setting unit: 0.1%) Up to 8 zones/axis can be set.

Can be set from 0 to 999 pulses. Number of accumulated pulses for determining the positioning completed status Can be set from 0 to 999 pulses. Servo system response adjustment gain 5 to 250 (1/s) Servo system response adjustment gain 0% to 100% 2 max. (program execution units) When 1 task is used:

When 2 tasks are used: When 1 task is used: 800 blocks max.

When 2 tasks are used: 400 blocks max./task 2,000 positions max. (when only one axis is used) (A0000 to A1999) 32 (Mainly used for specifying position data numbers.) (E00 to E31) 5 levels max. 000 to 999 MC programs, system parameters, and position data can be stored in the flash

memory in the MC Unit. MC Support Software can be used to save data to a floppy disk or the hard disk at

the personal computer Memory corruption is detected. Error counter warning, error counter over

errors, communications errors (T software limit over error, phase-Z error error detection

×4

eaching Box or MC Support Software (switchable using the

eaching Box: 9,600 bits/s for RS-422

100 max. 50 max./task

, absolute encoder error detection, CPU

eaching Box), flash memory error

, overtravel, emergency stop, unit number

, driver alarm detection, driver reverse wiring detection, CPU Unit error

, EEPROM error,

-axis encoder

Product Specifications

Servodriver connector on Unit

eac g o Co ec g

Model

number

Settings

Indicators Connectors on front panel Internal current consumption (supplied from

Power Supply Unit) Dimensions

eight (Connectors excluded)

Safety standards

Standard accessories

Cat No.

Motion Control Unit

C200H-MC221

The following switches are located on the front panel. Rotary switch: Unit number setting (0 to 8, A to E) Slide switch: Peripheral selection switch (used for determining whether to connect the peripheral connector to T

The following switch is located on the rear panel. DIP switch: Absolute encoder default setting function, software switch enabled/disabled, T

6 LED indicators: Running, error Servodriver connector 650 mA or less at 5 VDC (with T

200 mA or less at 24 VDC

130.0 × 34.5 × 100.5 mm (H × W × D) Single-slot size Note: The height including the Backplane is 200 to 240 mm when the attached

connector and the recommended cable are used. 500 g max. Conforms to UL (Class 2), CSA (Class 2), and EC directives (EMC directive,

low-voltage directive). 10126-3000VE snap-on connector for Servodrivers and 10326-42F0-008 connector

cover (manufactured by Sumitomo 3M): 1 set Peripheral connector (10120-3000VE 20-pin connector and 10320-42F0-008

connector cover manufactured by Sumitomo 3M): 1 set Introduction: W314, Details: W315 (suf

eaching Box Japanese/English mode switching

eaching Box or MC Support Software)

, motor rotation direction (CCW/CW)

, I/O connector

, peripheral connector (one each)

eaching Box connected: 850 mA or less)

fixes omitted)

Options (Sold Separately)

Name Specifications Model

MC Terminal Block Conversion Unit

MC T

erminal Block Conversion

Unit Cable Snap-on connector for

Servodriver connector on Unit front panel (1 set provided as standard on this Unit)

RS-232C cable and connector for MC Support Software

eaching Box

eaching Box Connecting

Cable

ROM Cassette --- CVM1-MP702

For easier wiring of I/O connectors

For connecting the I/O connectors on the front panel of the Unit

Soldered connector

Connector cover

Recommended cable

Peripheral connector on Unit

front panel (1 set provided as standard on this Unit)

Jogging, origin search, present value monitoring, and other operations by means of manual commands

eaching (taking present values into position data) Cable length: 2 m Cable length: 4 m Cable length: 6 m

Soldered connector Connector cover

XW2B-20J6-6

XW2Z-100J-F1

10126-3000VE (Sumitomo 3M)

10326-42F0-008 (Sumitomo 3M)

CO-DS-IREVV (Hitachi Cable)

10120-3000VE (Sumitomo 3M) 10320-42F0-008 (Sumitomo 3M) CVM1-PRO01-E

CV500-CN224 CV500-CN424 CV500-CN624

Applicable CPU Units

PC CPU

CS1-series CS1H-CPUjj

C200HX/HG/HE

C200HS C200HS-CPU01(-j)/21(-j)/31/03/23/33 C200H C200H-CPU01/02/03/11/21/22/23/31

CS1G-CPUjj C200HE-CPU1

C200HG-CPU33/43 (-ZE) C200HX-CPU34/44 (-ZE)

C200HG-CPU53/63 (-ZE) C200HX-CPU54/64 (-ZE) C200HX-CPU65-ZE/85-ZE

Unit model

1/32/42 (-ZE)

otal number of MCUs that can be

mounted on CPU Units, Expansion

I/O Racks, and SYSMAC BUS

Remote I/O Slave Racks (see note)

8 (unit numbers 0 to 8 and A to E)

5 (unit numbers 0 to 8)

8 (unit numbers 0 to 8 and A to E)

5 (unit numbers 0 to 8) 5 (unit numbers 0 to 8)

Unit location restrictions

None

None Cannot be mounted to two

rightmost slots on CPU Rack.

-SX-10P × 0.18 mm

Note:

Restrictions on SYSMAC BUS Remote I/O Slave Racks

The

maximum number of C200H Special I/O Units that can be mounted

on a SYSMAC BUS Remote I/O Slave Unit dif

fers according to

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