Omron C200HW-MC402-E Operation Manual
W903-E2-02
C200HW-MC402-E
Motion Control Unit
Operation Manual
C200HW-MC402-E
Motion Control Unit
Operation Manual
Produced June 2001
Notice:
OMRON products are manufactured for use according to proper procedu res 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 injur y to p eople 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 a s 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 par ticular interest for efficient and convenient opera-
tion of the product.
1,2,3... Indicates lists of one sort or another, such as procedures, checklists, etc.
OMRON, 2001
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 conta ined in this publication.
v
TABLE OF CONTENTS
PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
5 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
SECTION 1
Features and System Configuration . . . . . . . . . . . . . . . . 1
1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1-3 Motion Control Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1-4 Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1-5 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1-6 Comparison with C200HW-MC402-UK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
SECTION 2
Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2-1 Components and Unit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2-2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2-3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2-4 Servo System Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2-5 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
SECTION 3
PC Data Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3-1 IR/CIO Area Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3-2 Overview of Data Exchanges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3-3 Details of the Data Exchange Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
SECTION 4
Multitasking BASIC Programming . . . . . . . . . . . . . . . . 57
4-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4-2 BASIC Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4-3 Motion Control Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
4-4 Command Line Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4-5 BASIC Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4-6 Error Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
vii
TABLE OF CONTENTS
SECTION 5
BASIC Motion Control Programm ing Langua ge . . . . . 71
5-1 Notation Used in this Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5-2 Classifications and Outlines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5-3 Command, function and parameter description. . . . . . . . . . . . . . . . . . . . . . . . . . . 84
SECTION 6
Programming Environment . . . . . . . . . . . . . . . . . . . . . . . 157
6-1 Motion Perfect Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
6-2 Motion Perfect Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
6-3 Going Online with the MC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
6-4 Motion Perfect Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
6-5 Motion Perfect Desktop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
6-6 Motion Perfect Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
6-7 Suggestions and Precautions in Using Motion Perfect . . . . . . . . . . . . . . . . . . . . . 177
SECTION 7
Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
7-1 Problems and Countermeasures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
7-2 Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
7-3 Error Handling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
7-4 CPU Unit Error Flags and Control Bits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
SECTION 8
Maintenance and Inspection. . . . . . . . . . . . . . . . . . . . . . . 189
8-1 Routine Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
8-2 Handling Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Appendix
Appendix A Upgrading from C200HW-MC402-UK. . . . . . . . . . . . . . . . . . . . . . . . . 193
Appendix B PC Interface Area Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Appendix C Programming Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
viii
About this Manual:
This manual describes the installation and operation of the C200HW-MC402-E Motion Control Unit
(MC Unit) and includes the sections described below.
Please read this manual carefully and be sure you understand the information provided before
attempting to install or operate the MC Unit. Be sure to read t he precautions p rovided in the following
section.
Precautions provides general precautions for using the MC Unit, Programmable Controller (PC), and
related devices.
Section 1
to its operation. Also the specifications and the comparison with previous C200HW-MC402-UK is
shown.
Section 2
Section 3
between the MC Unit and the CPU Unit.
Section 4
which programs are managed for the MC Unit.
Section 5
cation using the MC Unit. All BASIC system, task and axis statements that determine the various
aspects of program execution and MC Unit operation are presented.
Section 6
tor and debug motion based applications for the MC Unit.
Section 7
Section 8
Unit operating in optimum cond ition. It also i ncludes proper procedures when replacing an MC Unit or
battery.
The Appendices provide a guide for upgrading from the C200HW-MC402-UK Unit and the PC Interface Lists. Furthermore, some convenient programming examples are given for the user.
describes the function of the C 200HW-MC402-E Motion Cont rol Unit and concepts related
describes information required for hardware setup and installation.
describes the IR/CIO area allocation and presents the di fferent methods of dat a exchange
gives an overview of the fundamentals of multitasking BASIC programs and the methods by
describes the commands and parameters required for programing the motion control appli-
provides an overview of software package Motion Perfect, which is used to program, moni-
provides procedures on troubleshooting problems that may arise with the MC Unit.
explains the maintenance and inspec tion procedures that must be followed to keep the M C
!WARNING
Failure to read and understand the information provided in this manual may result in personal injury ordeath, damage to the product , or product failure. Please read eachsection
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 Motion Control Unit and related devices.
The information contained in this section is important for the safe and reliable application of the Motio n Control
Unit. You must read this section and understand the information contained before attempting to set up o r o perate
a Motion Control Unit and PC system.
1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
5 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
6-1-1 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
6-1-2 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi
xi
Intended Audience 1
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 prod uct 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 installing and operating OMRON Motion
Control Units. Be sure to read this manual before operation and keep this
manual close at hand for reference during operation.
!WARNING
It is extremely important that Motion Control Units and related devices be
used for the specified pur pose a nd under t he specified c onditions, especia lly
in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying Motion Control Units
and related devices to the above mentioned applications.
3 Safety Precautions
!WARNING
!WARNING
!WARNING
Never attempt to disassemble any Units while power is being supplied. Doi ng
so may result in serious electrical shock or electrocution.
Never touch any of the terminals while power is being supplied. Doing so may
result in serious electrical shock or electrocution.
Provide safety measures in external circuits (i.e., not in the Programmable
Controller or MC Unit) to ensure safety in the system if an abnormal ity occurs
due to malfunction of the PC, malfunction of the MC Un it, or external factors
affecting the operation of the PC or MC Unit. Not providing sufficient safety
measures may result in serious accidents.
• Emergency stop circuits, interlock circuits, limit circuits, and similar safety
measures must be provided in external control circuits.
• The PC or MC Unit outputs may remain ON or OFF due to deposits on or
burning of the output relays, or destruction o f the output transistors. As a
counter-measure for such problems, external safety measures must be
provided to ensure safety in the system.
• When the 24-VDC output (service power supply to the PC) is overloaded
or short-circuited, the voltage may drop and result in the outputs bei ng
turned OFF. As a countermeasure for such problems, external safety
measures must be provi d e d to ensure safety in the system.
xii
Operating Environment Precautions 4
• It is the nature of high speed motion control and motion control language
programming and multi-tasking systems, that it is not always possible for
the system to validate the inputs to the func tions. It is the responsibility of
the programmer to ensure that various BASIC s tatements are called c orrectly with the correct number of inputs and that the values are correctly
validated prior to the actual calling of the various functions.
!Caution
!Caution
!Caution
Connect the ENABLE output (drivers enable signal) to the Servo Drivers. Otherwise, the motor may run when the power is turned ON or OFF or when an
error occurs in the Unit.
Do not save data into the flash memor y duri ng me mor y operation or while the
motor is running. Otherwise, unexpected operation may be caused.
Do not reverse the polarity of the 24-V power supply. The polarity must be
correct. Otherwise, the motor may star t running unexpectedly and may not
stop.
4 Operating Environment Precautions
!Caution
!Caution
Do not operate the control system in the following locations:
• Locations subject to direct sunlight.
• Locations subject to temperatures or humidity outside the range specified
in the specifications.
• Locations subject to condensation due to radical temperature changes.
• Locations subject to corrosive or inflammable gases.
• Locations subject to dust (especially iron dust) or salts.
• Locations subject to vibration or shock.
• Locations subject to exposure to water, oil or chemicals.
Take appropriate and sufficient countermeas ures when installing systems in
the following locations:
• Locations subject to static electricity or other sources of noise.
• Locations subject to strong electromagnetic fields.
• Locations subject to possible exposure to radiation.
• Locations near power supply lines.
!Caution
The operating environment of the P C System c an 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 rema ins within the spec ified conditions dur ing the life
of the system.
5 Appli c a tion Precau tions
Observe the following precautions when using the Motion Control Unit or the
PC System.
!WARNING
Failure to abide by the following precautions could lead to serious or possibly
fatal injury. Always heed these precautions.
• Always ground the system to 100 Ω or le ss whe n in sta lling the system to
protect against electrical shock.
xiii
Application Precautions 5
• 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 the MC Unit or any other Units.
• Assembling the Units.
• Setting rotary switches.
• Connecting cables or wiring the system.
• Connecting or disconnecting the connectors.
!Caution
Failure to abide by the following precautions could lead to faulty operation of
the PC, the MC Unit or the system, or could damage the PC or MC Unit.
Always heed these precautions.
• Maximum 12 of the digital inputs (I0 to I15) should be switched on at any
one time to ensure that the Unit remains within internal temperature specifications. Failure to meet this condition may lead to degradation of performance or damage of components.
• After development of the application programs, be sure to save the program data in flash memory within the MC Unit (using the EPROM command in BASIC). The program data will remain in the S-RAM during
operation and power down, but considering possible battery failure it is
advised to store the data in flash memory .
• It is strongly recommended to store dynamic application data, which can
not be initiated in program, in the PC Unit’s memory considering possible
battery failure.
• Do not turn OFF the power supply to the Unit while data is being written to
flash memory. Doing so may cause problems with the flash memory.
• Confirm that no a dverse effect will occur in the system before attempting
any of the following. Not doing so may result in unexpected operation.
• Changing the operating mode of the PC.
• Changing the present value of any word or any set value in memory.
• Force-setting/force-resetting any bit in memory
• Install external breakers and take other safety measures against short-cir-
cuiting in external wiring. Insufficient safety measures against shor t-circuiting may re s ult in burning.
• Be sure that all mounting screws, terminal screws, and cable connector
screws are tightened securely. Incorrect tightening may result in malfunction.
• Before touching the Unit, be sure to first touch a gro unded m etall ic object
in order to discharge any static built-up. Not doing so may result in malfunction or damage.
• Check the pin numbers before wiring the connectors.
• Be sure that the connectors, terminal blocks, I/O cables, cables between
drivers, and other items with locking devices are properly locked into
place. Improper locking may result in malfunction.
• Always use the power supply voltages 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 pa rticular ly careful in places
where the power supply is unstable. An incorrect power supply may result
in malfun c tion.
• Use crimp terminals for wiring. Do not connect bare stranded wires
directly to terminals. Connection of bare stranded wires may result in
burning.
xiv
Conformance to EC Directives 6
• Leave the label attached to the Unit when wiring. Removing the label may
result in malfunction if foreign matter enters the Unit.
• Remove the label after the completion of wiring to ensure proper heat dissipation. Leaving the label attached may result in malfunction.
• 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 Out put Units in excess of
the maximum switching capacity. Excess voltage or loads may result in
burning.
• Disconnect the functional ground terminal when performing withstand
voltage tests. Not disconnecting the functional ground terminal may result
in burning.
• Double-check all wiring and switch settings before turning ON the power
supply. Incorrect wiring may result in burning.
• 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 t op of the cables or other wir ing lines. Doing so
may break the cables.
• Resume operation only after transferring to the new MC Unit the contents
of the parameters, position data, and other data required for resuming
operation. Not doing so may result in an unexpected operation.
• 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.
• Confirm that set parameters and data operate properly .
• Carefully check the user program before actually running it on the Unit.
Not checking the program may result in an unexpected operation.
• Do not attempt to take any Units apart, to repair any Units, or to modify
any Units in any way.
• Perform wiring according to specified procedures.
6 Conformance to EC Directives
6-1 Applicable Directives
• EMC Directives
• Low Vol tage Directiv e
6-1-1 Concepts
EMC Directives
OMRON devices that comply with EC Directives also conform to the related
EMC standards so that they can be more easily built into other devices or machines. The actual products have been checked for conformity to EMC standards (see the following note). Whether the products conform to the standards in the system used by the customer, however, must be checked by the
customer. EMC-related performance of the OMRON devices that comply with
EC Directives will vary depending on the c onfiguration, wiring, and other conditions of the equipment or control panel in which the OMRON devices are
installed. The customer must, therefore, perform final checks to confirm that
devices and the over-all machine conform to EMC standards.
Note Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN61131-2
EMI (Electromagnetic Interference): EN50081-2
(Radiated emission: 10-m regulations)
xv
Conformance to EC Directives 6
Low Voltage Directive
Always ensure that devices operating at voltages of 50 to 1,000 VAC or 75 to
1,500 VDC meet the required safety standards for the PC (EN61131-2).
6-1-2 Conformance to EC Directives
The C200HX/HG/HE ser ies and CS1 ser ies PCs comply with E C Directives.
To ens ure that the machine or device in which a PC is used complies with EC
directives, the PC must be installed as follows:
1,2,3... 1. The PC must be installed within a control panel.
2. Reinforced insulation or double insulation must be used for the DC power
supplies used for the communications and I/O power supplies.
3. PCs complying with EC Directives also conform to the Common Emission
Standard (EN50081-2). When a PC is built into a machine, however , noise
can be generated by switching devices using relay outputs and cause the
overall machine to fail to meet the Standards. If this occurs, surge killers
must be connected or other measures taken external to the PC.
The following methods represent typical methods for reducing noise, and
may not be sufficient in all cases. Required countermeasures will vary depending on the devices connected to the control panel, wiring , the configuration of th e system, a n d othe r conditions.
xvi
SECTION 1
Features and System Configuration
This section des cribes the feature s and system conf igur ation of the C200HW-MC402-E Motion Control Unit and co ncepts
related to its operation. It also indi cates the diff erence with the previous C200HW-MC402-UK Unit.
1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1-1-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1-1-2 Description of Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1-3 Motion Control Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1-3-1 PTP-control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1-3-2 CP-control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1-3-3 EG-Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1-3-4 Other Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1-4 Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1-4-1 Feedback Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1-4-2 Servo System Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1-5 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1-6 Comparison with C200HW-MC402-UK . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1
Features Section 1-1
1-1 Features
1-1-1 Overview
The C200HW-MC402-E Motion Control (MC) Unit is a Special I/O Unit that
can perform
Unit’s multi-tasking BASIC motion control language provides an easy to use
tool for programming advanced motion control applications.
Three types of motion control are possible: point-to-point, continuous path
and electronic gearing.
advanced MC operations on up to four axes simultaneously. The
Point-to-point Control Point-to-point (PTP) control enables positioning independently for each axis.
Axis specific parameters and c ommands are us ed to determi ne the p aths for
the axes.
Continuous Path Control Continuous path (CP) control enables the user not only to control the start and
end positions, but also the path between those points. Possible multi-axis
paths are linear interpolation, circular interpola tion, helical interpolation. Also
user defined paths can be realized with the CAM control.
Electronic Gearing Electronic gearing (EG ) enables controlling an axis as a direct li nk to another
axis. The MC Units supports electronic gear boxing, linked moves and CAM
movements and adding all movements of one axis to another.
The MC Unit can be used in many applications. The following areas have
been identified as applicable areas for the MC Unit.
• Packaging
• Automotive welding
• Coil winding
• Web control
• Cut to length
• Drilling
• Electronic component assembly
• Glue laying
• Flying shears
• Laser guidance
• Milling
• Palletisation
• Tension control
There are many other types of machines that can be controlled by the MC
Unit.
2
Features Section 1-1
1-1-2 Descr ip tio n of Feat ures
The MC Unit provides the following features.
Easy Programming with
BASIC Motion Control
Language
A multi-task BASIC motion control language is used to program the MC Unit.
A total of 14 program s can be held i n the Unit an d up to 5 ta sks can be r un
simultaneously. Programs can read a nd writ e to the PC mem ory areas us ing
simple commands from BAS IC or the IORD/IOWR instructions f rom the PC ’s
ladder program.
Windows-based
Programming Software
The MC Unit is programmed using a Windows-based application called
1
Motion Perfect. Motion Perfect allows extremely flexible programming and
debugging.
Virtual Axes The MC Unit contains a total of 8 axes, which consists of 4 servo axes and 4
virtual axes. The virtual axes acts as a perfect servo axes and are used for
computational pur poses for creating profiles. They can be linked directly to
the servo axes.
PC Data Exchange The coordination of the MC Unit with the CPU Unit is largely improved by
modifying the PC Data Exchange interface. The PC Data Exchange interface
now even more allows a centralized control from the PC. The MC Unit uses
the full functionality of the C200HX/HG/HE or CS1 PC. It is now capable of
both exchanging fast control bits via the IR/CIO area as exchanging large
position profile data directly to the MC Unit’s Table array.
Hardware-based
Registration Inputs
There is a high-speed registration input for each axis. On the rising or falling
edge of a registration input, the MC Unit will store the current position in a register. The registered position can then be used by the BASIC program as
required. The registered positions are captured in hardware.
General-purpose Input
and Output Signals
Starting, st opping, limit switching, origin sea rches and many other f unctions
can be controlled without the use of PC I/O. The time required to switch an
output or read an input is thus not dependant on the cycle time. The general
I/O are freely allocable to the different functions.
Reduced Machine Wear The traditional trapezoidal speed profile is provided to generate smooth star t-
ing and stopping. The trapezoidal corners can be rounded off to S-curves.
Trapezoidal Speed Profile
with Square Corners
Time
Trapezoidal S pee d Profil e
with S-curve Corners
SpeedSpeed
Time
1.Motion Perfect is a product of Trio Motion Technology Limited.
3
System Configuration Section 1-2
1-2 System Configuration
Basic System
Configuration
The basic system configuration of the MC Unit is shown below. The diagram
shows the basic physical components of a coordinated mot ion control application.
Power Supply Unit
Computer running
• Motion Perfect
• CX-Programmer
or Syswin
Power supply (24-V) for I/O
Power supply (5/24-V) for Axes
Servo Drivers
Termin al
Block
I/O Cable
MC Unit
CPU Unit
Axis Cable
General
Purpose
I/O
The equipment and models which can be used in the system configuration
are shown in the following table.
Device Model
Motion Control Unit C200HW-MC402-E
CPU Unit Possible models:
C200HX/HG/HE
C200HS
CS1H/CS1G
Power Supply Unit Possib le models:
C200HW-PA204
C200HW-PA204S
CPU Backplane Possible models:
C200HW-BC031/BC051/BC81/BC101
CS1W-BC023/BC033/BC053/BC083/BC103
Terminal Block R88A-TC04-E
4
Motion Control Concepts Section 1-3
Device Model
Personal Computer (for
Motion Perfect)
Motion Perfect Version 2.0 or later
Servo Driver R88D-UA, -UT, -W series
Servomotor R88M-UA, -UT, -W series
Inverter 3G3FV in Flux Vector Control
Note 1. The MC Unit cannot be mounted to a C200H PC.
2. The C200HS CPU Units do not support the IORD/IOWR instructions. The
MC Unit can only communicate with a C200HS CPU Unit using the
PLC_READ and PLC_WRITE commands.
3. The MC Unit cannot be mounted to a SYSMAC BUS Slave Rack.
4. The MC Unit can be mounted next to the CPU Unit on the CPU Rack, but
care must be taken to first deter mine the mounting locations of certain
Communications Unit and other Units that require bus connections to the
CPU Unit.
IBM Pers onal Computer or 100% compatible
Cables to be supplied by
the user
The following standard cables are available. A cable can also be prepared by
the user.
Item Model
R88A-CMX001S-E I/O Connection Cabl e fro m MC Unit to Terminal Block (1m)
R88A-CMX001J1-E Axis Connection Cable fr om MC Unit to Terminal Block
(1m)
R88A-CMU001J2-E Connection from Ter minal Block to UA Servo Driver (1m)
R88A-CMUK001J3-E Connection from Terminal Block to UT Servo Driver (1m)
R88A-CMUK001J3-E2 Connection from Terminal Block to UT/W Servo Driver (1m)
R88A-CCM002P4-E Connection Cable RS-232C from MC Unit to computer (2m)
1-3 Motion Control Concepts
The MC Unit offers the following types positioning control operations.
1. Point-to-point control
2. Continuous Path control
3. Electronic Gearing
This section will introduce some of the commands and parameters as use d in
the BASIC programming of the motion control application. Refer to
SECTION 5 BASIC Motion Control Pro g ramming Language for details.
Coordinate System Positioning operations performed by the MC Unit are based on an axis coordi-
nate system. The MC Unit conver ts the encoder edges and pulses from t he
encoder into an internal absolute coordinate system.
The engineering unit which specifies the distanc es of travelling can be freely
defined for each axis separately. The conversion is performed through the
use of the unit conversion factor, which is defined by the UNITS axis parameter. The origin point of the coordinate system can be deter mined using the
DEFPOS command. This com mand re-defines th e current position to zero or
any other value.
A move is defined in either absolute or relative terms. An absolute move takes
the axis to a specific predefined position with respect to the origin point. A relative move takes the axis from the current position to a position that is defined
relative to this current position. The following diagram shows gives an exam-
5
Motion Control Concepts Section 1-3
ple of relative (command MOVE) and absolute (command M OVEABS) linear
moves.
MOVEABS(30)
MOVE(60)
MOVEABS(50)
MOVE(50)
MOVE(30)
0
50 100
Axis position
Axis Types The MC Unit has 8 axes in tota l, which can be used for different motion con-
trol purposes depending on the application. Th e type of each axis is determined by the ATYPE axis parameter. The following table lists the different
available axis types.
Axis
type
ATYPE
value
Description
Virtual 0 A virtual axis is used for computational purposes to cre-
ate a move profile without physical movement on any
actual Servo Driver. All move commands and axis
parameters available for the servo axis are also available for the virtual axis and the v ir t ual axis behaves like
a perfect servo axis (demanded po sition is eq ual to the
actual position).
Possible application for the virtual axis is having a virtual move profile added to a servo axis or to test a
developed application before controlling the actual
motors.
Axis range: [0, 7]
Servo 2 The servo axis controls the connected Servo Driver.
Based on the calculated movement profile and the
measured position feedback of the Servomotor the
proper speed reference is outputted to the Servo Driver.
Axis range: [0, 3]
Encoder 3 The encoder axis defines an axis which provides an
encoder input without the servo control speed reference
output to the system. An encode r can be c onnected for
measurement, registration and/or synchron ization functions.
Axis range: [0, 3]
Refer to 1-4 Control System for details on the servo system and encoder
feedback signals. Axes 0 to 3 are servo axes by default and axes 4 to 7 are
fixed as virtual axes.
6
Motion Control Concepts Section 1-3
1-3-1 PTP-control
In point-to-point positioning, each axi s is moved independently of the other
axis. The MC Unit supports the following operations.
• Relative move
• Absolute mo ve
• Continuous move forward
• Continuous move reverse
Relative and Absolute Moves
To m ove a single axis either the command MOVE for a relative move or the
command MOVEABS for an absolute move is used. Each axis has its own
move characteristics, which are defined by the axis parameters.
Suppose a control program is executed to move from the origin to an axis
no. 0 coordinate of 100 and axis no. 1 coordinate of 50. If the speed parameter is set to be the s ame for both axes and the acceleration and dec eleration
rate are set sufficiently high, the m ovements for axis 0 and axis 1 will be as
illustrated below.
Axis 1
50
MOVEABS(100) AXI S(0)
MOVEABS(50) AXIS(1)
0
50
100
Axis 0
At start, both the axis 0 and axis 1 will move to a coordinate of 50 over the
same duration of time. At this point, axis 1 will stop and the axis 0 will continue to move to a coordinate of 100.
Relevant Axis Parameters As mentioned before the move of a certain axis is determined by the axis
parameters. Some relevant parameters are given in the next table.
Parameter Description
UNITS Unit conver sion factor
ACCEL Acceleration rate of an axis in units/s
DECEL Deceleration rate of an axis in units/s
SPEED Demand speed of an axis in units/s.
2
.
2
.
Defining moves The speed profile below shows a simple MOVE operation. The UNITS param-
eter for this axis has been defined for example as meters. The required m aximum speed has been set to 10 m/s. In order to reach this speed in one
second and also to decelerate to zero speed again in one second, both the
acceleration as the deceleration rate have been set to 10 m/s
2
. The total distance travelled is the sum of distances travelled during the acceleration, constant speed and deceleration segm ents. Suppose the distanc e moved by the
7
Motion Control Concepts Section 1-3
MOVE command is 40 m, the speed profile will be given by the following
graph.
Speed
ACCEL=10
10
DECEL=10
SPEED=10
MOVE(40)
0
12345
6
Time
The following two speed profiles show the same movement with an acceleration time respectively a deceleration time of 2 seconds.
Speed
ACCEL=5
6
DECEL=10
SPEED=10
MOVE(40)
Time
ACCEL=10
DECEL=5
SPEED=10
MOVE(40)
10
Speed
10
0
12345
0
12345
6
Time
8
Motion Control Concepts Section 1-3
D
Vad
Move Calculations The following equations a re used to calculate the total time for the motion of
the axes. Consider the moved distance for the MOVE command as , the
demand speed as , the acceleration rate and deceleration rate .
Acceleration time
V
---=
a
2
Acceleration dist a nc e
V
------=
2a
Deceleratio n time
V
---=
d
2
Deceleration distance
V
------=
2d
Continuous Moves
1-3-2 CP-control
Constant speed distance
V2ad+()
D=
-----------------------–
2ad
D
Total time
The FORWARD and REVERSE commands can be used to start a continuous
movement with constant speed on a cert ain axis. The FORWARD command
will move the axis in positive direction and the REVERSE comman d in negative direction. For these commands also the axis parameters ACCEL and
SPEED apply to specify the acceleration rate and demand speed.
Both movements can be canceled by using either the CANCEL or RAPIDSTOP command. The CANCEL command will cancel the m ove for one axis
and RAPIDSTOP will cancel moves on all axes.
Continuous Path control enables to control a specif ied p ath bet ween t he st art
and end position of a movement for one or multiple axes. The MC Unit supports the following operations.
• Linear interpolation
• Circular interpolation
• Helical interpolation
• CAM control
Va d+()
--- -=
---------------------+
V
2ad
Linear Interpolation
In applications it can be required for a set of motors to perform a move operation from one position to another in a straight line. Linearly interpolated moves
can take place among several axes. The commands MOVE and MOVEABS
are also used for the linear interpolati o n. I n t his c a s e the comma nds will h ave
9
Motion Control Concepts Section 1-3
multiple arguments to specify the relative or absolute move for each axis.
Consider the following three axis move in a 3-dimensional plane.
MOVE(50,50,50)
Axis 2
Axis 1
Axis 0
Speed
Time
The speed profile of the motion along the pa th is given in the diagram. T he
three para meters SPEED, AC CEL a n d DECEL w h ich determine the multi axis
movement are taken from the corresponding parameters of the base axis.
The MOVE command computes the various component s of speed demand
per axis.
Circular Interpolation
It may be required that a tool travels from the starting point to the end point in
an arc of a circle. In this instance the motion of two axes is related via a circular interpolated move using the MOVECIRC command. Consider the following
diagram.
Helical Interpolation
MOVECIRC(-100,0,-50,0,0)
-50
Axis 1
0
50
50
Axis 0
The centre point and desired end po int of the trajectory relative to the start
point and the direction of movement are specified. The MOVECIRC command
computes the radius and the angle of rotation. Like the linearly inter polated
MOVE command, the ACCEL, DECEL and SPEED variables associated with
the base axis determine the speed profile along the circular move.
Helical interpolation performs a helical movement on three axes. The motion
control c ommand MHELICA L will perform a circular interpo lation to two axis
and will add a linear move to the third axis. Positioning is performed by again
specifying the centre point, end point and direction for the circular distance
10
Motion Control Concepts Section 1-3
and the distance for the third axis. The diagram shows helical interpolation in
a three dimensional plane for axes 0 to 2.
MHELICAL(0,0,0,50,0,150)
Axis 0
Axis 2
Axis 1
CAM Control
Additional to the standard move profiles the MC Unit also provides a way to
define a position profile for the axis to move. The CAM command will move an
axis according to position values stored in the MC Unit Table array. The
speed of travelling through the profile is determ ined by the axis pa rameter s of
the axis.
1-3-3 EG-Control
CAM(0,99,100,20)
Position
Time
Electronic Gearing control allows you to create a direct gearbox link or a
linked move between two axes. The MC Unit supports the following operations.
1. Electronic gearbox
2. Linked CAM
3. Linked move
4. Adding axes
11
Motion Control Concepts Section 1-3
Electronic Gearbox
The MC Unit is able to have a gearbox link from one axis to another as if there
is a physical gearbox connecting them. This can be done using the CONNECT command in the program. In the command the ratio and the axis to link
to are specified.
CONNECT Axis
2:1
Axes Ratio CONNECT command
01
1:1 CONNECT(1,0) AXIS(1)
2:1 CONNECT(2,0) AXIS(1)
1:1
1:2
Master Axis
Linked CAM control
1:2 CONNECT(0.5,0) AXIS(1)
Next to the standard CAM profiling tool the MC Unit also provides a tool to link
the CAM profile to another axis. The command to create the link is called
CAMBOX. The travelling speed through the profile is not deter mined by the
axis parameters of the a xis but by the position of t he linked axis. This is like
connecting two axes through a cam.
CAMBOX(0,99,100,20,0) AXI S(1)
CAMBOX Axis (1) Position
Master Axis (0) Position
12
Motion Control Concepts Section 1-3
Linked Move
The MOVELINK command provides a way to link a specified move to a master axis. The move is divided into an acceleration, dece leration and constant
speed part and they are specified in master link distances. This can be particularly useful for synchronizing two axes for a fixed period.
MOVELINK(50,60,10,10,0) AXIS(1)
Speed
Master Ax is (0)
Synchronized
MOVELINK Axis (1)
Time
Adding Axes
It is very useful to be able to add all movements of one axis to another. One
possible application is for instance changing the offset between two axes
linked by an electronic gearbox. The MC Unit provides this possibility by using
the ADDAX command. The movements of the linked axis will cons ists of all
movements of the actual axis plus the additional movements of the master
axis.
Speed axis 0*
BASE(0)
ADDAX(2)
FORWARD
MOVE(100) AXIS(2)
MOVE(-60) AXIS(2)
Speed axis 2
Time
+
Speed axis 0
Time
=
Time
1-3-4 Other Operations
Canceling Moves In normal operation or in case of emergency it can be necessary to cancel the
current movement from the buffers. When the CANCEL or RAP IDSTOP commands are g iven, the selected axis respe ctively all axes will canc el thei r current move.
Origin Search The encoder feedback for controlling the position of the motor is incremental.
This means that all movement must be defined with respect to an origin point.
The DATUM command is used to set up a procedure whereby the MC Unit
13
Control System Section 1-4
goes through a sequence and searches for the origin based on digital inputs
and/or Z-marker from the encoder signal.
Print Registration The MC Unit can capture t he position of an axis in a regi ster when an event
occurs. The event is referred to as the print registration input. On the risin g or
falling edge of an input signal, which is either the Z-marker or an input, the MC
Unit captures the position of an axis in hardware. This position can then be
used to correct possible error between the actual position and the desired
position. The print registration is set up by using the REGIST command.
The position is captured in hardware, and therefore there is no software overhead and no interrupt service routines, eliminating the nee d to deal with the
associated timing issues. Each servo axis has one registration input.
Merging Move s If the MERGE axis parameter is set to 1, a movement will always be followed
by a subsequent movement without stopping. The following illustrations will
show the transitions of two moves with MERGE value 0 and value 1.
Speed
MERGE=0
Time
Speed
MERGE=1
Time
Jogging Jogging moves the axes at a constant speed forward or reverse by manual
operation of the digital in puts. Different speeds are also selectable by input.
Refer to the FWD_JOG, REV_JOG and FAST_JOG axis parameters.
1-4 Control System
1-4-1 Feedback Pulses
The MC Unit is designed to comply with the standard O MRON Servomotors
which have an incremental encoder output. In this section, the signals produced by an incremental optical quadrature encoder are discussed. Incremental encoders are available in linear as well as the more common rot ary
types.
Incremental Encoders
The incremental encoder are e ncoders for which the output pos ition information is relative to a starting position and only the distance moved is measured.
The main components of the rotary incremental encoder are an encoder disk,
light source and photodete ctors, plus an amplification circuitry to “square-up”
the photodetector output. The encoder disk is im printed with marks or slots
evenly spaced around its perimeter. As the disk rotates, light strikes the photodetector at the passing of each slot or mark. Amplifiers then convert the
photodetector output to square wave form.
Quadrature signals are produced by using two photodetectors, one positioned
precisely one half a slot, or marker width, from the other. So quadrature refers
to two periodic functions separated b y a quarter cycle or 90 .
With this arrangement, the direction of rotation can be easily detected by
monitoring the relative phase of bo th signals. For example, if channel A leads
channel B, then counterclockwise (CCW) movement could be indicat ed. Con-
°
14
Control Sy st em Section 1-4
versely, if channel B leads channel A, then clockwise (CW) movement would
be indicated.
Ty pically, rotary encoders also provide an additional Z-mar ker or slot on the
disk used to produce a reference pulse. By properly decoding and counting
these signals, the direction of motion, speed, and relative position of the
encoder can be determined.
The number of output pu lses produced per revolution per channel is equivalent to the number of marks around the disk. This position information is
decoded in encoder edges, which is actually the number of pulses multiplied
by four. The resolution is multiplied because the circuit generates a pulse at
any rising or falling edge of either of the two phase signals.
Decoding
Understanding how the signals generated by a quadrature encoder are
decoded will help considerably when applying the quadrature decoder feature
in an actual situation.
The basic task of the decoder is to provide two counter input lines: one that
produces clock pulses when CCW motion is detected and another that produces clock pulses when CW motion is detected. These clock pulses are supplied to counters in the MC Unit, one for CW counts and one for CCW counts.
The contents of the counters can be compared w ith each ot her by software,
and the relative position of the rotary device can be determined f rom the difference.
One advantage of this approach is that the actual counting is done by hardware devices, freeing the MC Unit for other operations. The MC Unit has only
to periodically read the counter values and to make a quick subtraction.
Decoder Th eory of
Operation
Forward Rotati on
Re vers e Rotat ion
A closer look at the quadrature signals will be helpful. In this example, the
direction of rotation is CCW if phase A leads ph ase B, and CW if phase A
leads phase B.
The decoder circuit detects a transition and generates a pulse on the appropriate counter input channel depending on wheth er the transition is in the CW
or CCW direction. Although time is plotted on the horizontal axis, it is not necessarily linear. The mechanical device may be changing speed as well as
direction.
Phase A
Phase B
Phase A
Phase B
Standard OMRON Servomotors are designed for an advanced A-phase for
forward rotation and an advanced B-phase for reverse rotation. The MC Unit
is designed to comply with this phase advancement, allowing OMRON Ser vo
Driver Connecting Cables to be used without modification.
15
Control System Section 1-4
For typical OMRON Servo Drivers, there are 1,000 pulses per revolution. This
implies that there are 4,000 edges per revolution. So there will b e a Z pu lse
every 4,000 edges.
The signals A, B and Z appear physically as A and /A, B and /B and Z and /Z.
These appear as differential signals on twisted-pair wire inputs, ensuring that
common modes are rejected and that the noise level is kept to a minimum.
When using Servomotors by other makers, check carefully the encoder specification for phase advancement. If the definition differs from the ones given
above, reverse the B-phase wiring between the MC Unit and the Servo Driver.
In most case, this should resolve the problem.
1-4-2 Servo System Principles
The servo system used by and the internal operation of the MC Unit are
briefly described be low. Refer to 2-4 Servo System Precautions for precautions related to servo system operation.
Inferred Closed Loop
System or Semi-closed
Loop System
Internal Operation of the
MC Unit
1,2,3... 1. The MC Unit performs actual position control. It receives encoder pulses
The servo system of the MC Unit uses an inferred closed loop system. This
system detects actual machine movements by the rotation of the motor in
relation to a target value. It calculates the error between the target value and
actual movement, and reduces the error through feedback.
Inferred closed loop systems occupy the mainstream i n modern servo systems applied to positioning devices for industrial applications. Commands to
the MC Unit, speed control voltages to the Servo Drivers, and feedback signals from the encoder are described in the next few pages.
Desired
position
MC Unit
12 3
Error
counter
D/A
Converter
Speed
reference
voltage
Servo System
Speed
Control
Motor
4
Speed
feedback
Encoder
Position
feedback
and calculates the required speed reference from the di fference between
the actual position and the desired position.
2. The calculated desired spee d is directly converted by the D/A converter
into an analogue sp eed reference voltage, which is provided to the Servo
Driver.
3. The Servo Driver controls the rotational speed of the Ser vomotor corresponding to the speed reference input.
4. The rotary encod er will generate the feedback pulses for both the spe ed
feedback within the Servo Driver speed loop and the position feedback
within the MC Unit position loop.
Motion Control Algorithm The servo system controls the motor by continuously adjusting the voltage
output that serves as a spee d reference to the Ser vo Dr iver. The speed reference is calculated by com paring the measured position of the axis from the
encoder with the demand position generated by the MC Unit.
16
Control Sy st em Section 1-4
The axis parameters MPOS, DPOS and FE contain the value of respectively
the measured position, demand position and the following error. The following
error is the difference between the demanded and measured position. MC
Unit uses five gain values to control how the servo function generates the voltage output from the following error.
The control algorithm for the motion con trol system of the MC Unit is sho wn in
the diagram below. The five gains are described below.
K
∆
vff
K
p
K
ov
Output
signal
∆
Measured
position
Demand
position
Proportional Gain The proportional gain creates an output that is proportional to the
foll owing er ror .
O
All practical systems use proportional gain. For many just using this gain
parameter alone is sufficient. The proportional gain axis parameter is called
P_GAIN.
Integral Gain The integral gain creates an output t hat is propor tional to the sum of
the following errors that have occurred during the system operation.
O
Integral gain can cause overshoot and so is usually used only on systems
working at constant speed o r with slow accelerations. The integral gain axis
parameter is called I_GAIN.
KpE⋅=
p
K
i
Following
error
+
K
Σ
K
i
∆
d
-
K
p
++
O
p
E
K
i
O
i
E
E
⋅=
i
å
Derivative Gain The derivative gain produces an output that is proportional to the
change in the following error and speeds up the response to changes in
error while maintaining the same relative stability.
O
Derivative gain may create a smoother response. High values may lead to
oscillation. The derivative gain axis parameter is called D_GAIN.
Output Speed Gain The output speed gain produces an output that is proportional to
the change in the measured position and increases system damping.
O
The output speed gain can be us eful for smoothing motions but will gene rate
high following errors. The output speed gain axis parameter is called
OV_GAIN.
d
ov
K
K
d
ov
K
d
E
E∆⋅=
K
ov
P
m
Pm∆⋅=
O
d
O
ov
17
Specifications Section 1-5
Speed Feedforward Gain The speed feedforward gain produces an output that is propor-
tional to the change in dem and position and minimizes the following error
K
vff
O
P
d
vff
at high speed.
O
vff
K
vff
Pd∆⋅=
The parameter can be set to minimise the following error at a constant
machine speed after ot her gai ns have been set. Th e speed feed forward gain
axis parameter is called VFF_GAIN.
Default Values The default settings are given below along with the resulting profiles. Frac-
tional values are allowed for gain settings.
Gain Default
Proportional Gain 1.0
Integral Gain 0.0
Der iva tive Gai n 0.0
Output Speed Gain 0.0
Speed Feedforward Gain 0.0
1-5 Specifications
General Specifications
General specifications other than those shown below conform to those for the
SYSMAC C200HS/C200HX/C200HG/C200HE PCs.
Item Specifications
Power supply voltage 5 VDC (from Backplane)
24 VDC (from external power supply)
Voltage fluctuation tolerance 4.75 - 5.25 VDC (from Backplane)
21.6 - 26.4 VDC (from external power supply)
Internal current consu mp tion 600 mA or less for 5 VDC
50 mA or less for 24 VDC
Weight (Connectors excluded) 500 g max.
External Dimensions 130.0 x 35 x 100.5 mm (H x W x D)
Functional Specifications
Type of Unit C200H Special I/O Unit
Applicable PC C200HX/HG/HE and CS1
Backplanes on which MC Unit can be
mounted
Method for data
transfer to CP U
Unit
External connected devices Per sonal computer with Motion Perfect Programming
Controlled Servo Drivers Analogue (speed) input Servo Driver s
Control Control meth od Inferr ed closed loop with incremental encoder and with
18
Item Contents
CPU Backplane
Words allocated in
IR/CIO area
PC and MC Unit
instructions
Maximum No. of axes 8
Maximum No. of
interpolated axes
Maximum No. of
servo axes
Maximum No. of vir-
tual axes
10 words per unit (S ee note 1.)
Any number of words modified by ladder program or
BASIC program instruction
Software
PID , output speed and speed f eed forward gains
8
4
8
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