C200HX
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
1
Motion Control Unit
osition data, creating MC
transferring data to MC Unit,
(
y)
(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
Up
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.
is
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
an
Model
C200H-MC221
-
-
-
MC Unit Support Software (Sold Separately)
Name Computer Specifications Model
MC
Support Software
RS-422 Cable
connects to
peripheral
connector on Unit
front panel)
IBM PC/A
IBM PC/A
T or compatible
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
.)
2
Product Specifications
e od o da a
o ds a oca ed o S ec 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
W
ords allocated to Special
I/O Units in CIO Area
W
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
.
3
Motion Control Unit
sco o
as og a
Model
number
External I/O
Feed operations
Axis control
T
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
4
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
W
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
T
eaching Box
T
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
p
front panel (1 set provided as
standard on this Unit)
Jogging, origin search, present value monitoring, and other
operations by means of manual commands
T
eaching (taking present values into position data)
Cable length: 2 m
Cable length: 4 m
Cable length: 6 m
p
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)
T
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
None
None
Cannot be mounted to two
rightmost slots on CPU Rack.
-SX-10P × 0.18 mm
2
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
5
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