Omron C200HW-MC402-E Operation Manual

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W903-E2-02

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C200HW-MC402-E

Motion Control Unit

Operation Manual

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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.

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

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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.

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

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

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

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

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)

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

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.

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

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.

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

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-

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)

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.

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

MOVEABS(100) AXI S(0) MOVEABS(50) AXIS(1)

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.

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

. 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

Motion Control Concepts Section 1-3

MOVE command is 40 m, the speed profile will be given by the following graph.

Speed

ACCEL=10

DECEL=10 SPEED=10 MOVE(40)

12345

Time

The following two speed profiles show the same movement with an acceleration time respectively a deceleration time of 2 seconds.

Speed

ACCEL=5

DECEL=10 SPEED=10 MOVE(40)

Time

ACCEL=10 DECEL=5 SPEED=10 MOVE(40)

Speed

12345

Time

Motion Control Concepts Section 1-3

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

---=

Acceleration dist a nc e

------= 2a

Deceleratio n time

---=

Deceleration distance

------= 2d

Continuous Moves

1-3-2 CP-control

Constant speed distance

V2ad+()

-----------------------– 2ad

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+()

--- -=

---------------------+

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

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

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

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

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

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

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

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

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-

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.

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

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.

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.

∆

vff

Output signal

∆

Measured position

Demand position

Proportional Gain The proportional gain creates an output that is proportional to the

foll owing er ror .

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.

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⋅=

Following error

∆

⋅=

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.

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.

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.

E∆⋅=

Pm∆⋅=

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

vff

at high speed.

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

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

Specifications Section 1-5

Item Contents

Speed control Speed control of up to 4 axes Measurement Units User definable Pos itioning opera-

tions

Encoder interface Line receiver input; maximum response frequency:

Accelerat ion/deceleration curves Trapezoidal or S-curve External

I/O

Power supply f or general and axis I/O Pr ovided external ly Task program man-

agement

Linear interpolation Linear interpolation for any number of axes Circular interpolation Circular interpolation for any two axes Helical interpolati on Helical interpolation for any three axes CAM profile CAM profile movement for any axis Electronic gearbox Electronic gearbox link between any two axes Linked CAM Linked CAM profile mov em ent for any two axes Linked move Linked mo ve for any two axes Adding axes Adding any two axes

250 kp/s (before multiplication) 1 M counts/s (afte r multiplication)

Serial Communication ports

Encoder Line receive inputs:

Servo Driver relationship

General Purpose I/O Up to 16 digital inputs and 8 out puts can be wired to

Registration inputs Each servo axis has a registration input which capture

Programming language

Number of tasks Up to 5 tasks running simultaneously plus the Com-

Max . nu m ber of pr ograms

Data storage capacity 251 (VR) + 16000 (Table) max. Data transfer to PC

Unit

One RS-232C port for connection to computer wit h the Motion P erfect software.

One RS-232C port for general purpose.

For four axes (250 kp/s, before mul tiplication) The foll owing signals are provided. Inputs:

Driver Alarm Signal (each axis)

Outputs:

Driver Enab le ( all axes) Speed Reference Voltage (each axis) Driver Alarm Reset (all axes)

control MC Unit functions. These can include limit switches, emergency stop switches and proximity inputs.

the position in hardware. Timing specification (see note 2):

Digital Input (rising edge): 10 s (max.) Digital Input (falling edge): 200 s (max.) Z-marker (rising edge): 2 Z-marker (falling edge): 2

BASIC

mand Line Interface task 14

PLC_READ and PLC_WRITE command in BASIC program, IORD and IOWR instructions in ladder program in C200HX/HG/HE PCs

s (max.) s (max.)

Comparison with C200HW-MC402-UK Section 1-6

Item Contents

Saving program data

Self diagnostic functions Detection of memory corruption via checksum

MC Unit Battery-backed RAM with flash memory backup.

(See note 3.)

External devi ces Motion Perfect softw are manages a backup on the

hard disk of the personal computer.

Detection of error counter over run

Note 1. The number of MC Units that can be moun ted under on e CPU Unit must

be determined b ased on the maximum number of Special I/O Units that can be allocated words in the CPU Units, the power supply capacity on the CPU or Expansion Rack, and the current consumption of the Units mounted to the Rack. Refer to the CPU Unit’s operation manual for details on calculation methods.

2. This specification is the time between the edge in the input signal and the capture of the position data.

3. The service life for the flash memory is 100,000 writing operations.

1-6 Comparison with C200HW-MC402-UK

The following table shows a comparison between the C200HW-MC402-E Unit and the previously released C200HW-MC402-UK Unit.

!Caution

The C200HW-MC402-E is not fully backward compatible with the C200HWMC402-UK. Please check Appendix A Upgrading from C200HW-MC402-UK carefully before upgrading to the C200HW-MC402-E.

Item C200HW-MC402-UK C200HW-MC402-E

Applicable PCs C200HS,C200HX/HG/HE

(HX up to CPU 6 4 ) Supported axes 4 (4 servo) 8 (4 servo and 4 virtual) Allocated IR/CIO area words 6 words (6 input) 10 words (8 input,

Compatible software Motion Perfect 1.24 and 2.0 Motion Perfect 2.0 Serial Port A Used for Motion Perfect con-

nection and user-defined

communication. Cyclic Servo Period Set by SERVO_PERIOD

Commands and instructions

PLC_READ/ PLC_WRITE

IORD/ IOWR Yes

CLEAR_BIT/ SET_BIT/ READ_BIT

param e ter (d efault 1 ms)

Yes Yes

Read/write to MC Unit’s VR

array in one-word format

No Yes

C200HS,C200HX/HG/HE and CS1

2 output).

- Transfer input and output words

- General stat us bits shifted

- Modified origin search bits

- Added PC Transfer Error bit See notes 1 and 2.

Dedicated to Motion Perf ect connection

Fixed to 1 ms

Also reads/writes al located IR/CIO area words

Yes Read/write to MC Unit’s VR

and Table array and oneword and three-word format supported

Enables bit operation for VR variables

Comparison with C200HW- M C402-UK Section 1-6

Item C200HW-MC402-UK C200HW-MC402-E

Commands and instructions

INPUT/ KEY/ LINPUT

PROC No Yes.

INDEVICE/ OUTDEVICE

CLEAR/ RESET No Yes

APPENDPROG/ AXISVALUES/ EX/ INPUTS0/ INPUTS1/ LOADSYSTEM/ MPE/ STORE

WAIT LOADED/ LIST

No Yes

Added functionality for serial communications

Allows a process parameter of a particular task to be read/written

Yes No

Port 0 is def ault port fo r serial communication

Commands to clear memory

Yes Commands reserved for

Motion Perfect: descriptions have been removed from manual

No Yes

Added functionality

Note 1. The allocation of the IR/C IO area bits has been modi fied in comparison

with the C200HW-MC402-UK. Please refer to 3-1 IR/CIO Area Allocation and Appendix A Upgrading fr om C200HW-MC402-UK for more information.

2. The names of some IR/CIO area bits have been modified. Unless otherwise indicated, the functionality has not changed. T he names of th e connection pins have been modified without any change in function.

SECTION 2

Installation

This sectio n des cribes the MC Unit componen ts and provides the information required for installing the MC Unit.

2-1 Components and Unit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2-2-1 Installation Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2-2-2 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

2-2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2-3-1 Connector Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

2-3-2 I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

2-3-3 Serial Port Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

2-3-4 Terminal Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

2-3-5 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

2-3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

2-4 Servo System Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

2-5 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Components and Unit Settings Section 2-1

2-1 Com ponents and Unit Se t tings

The following diagram shows the main components of the MC Unit.

MC402-E

RUN DISABLE

Indicators

TOOL

MACHINE No.

Axis Connector

DRV 0,1,2,3

I/O Connector

I/O

Communication Ports: RS-232C

Unit No. switch

The following table describes the indicators on the front of the MC Unit.

Indicator Color Status Meaning

RUN Green ON The MC Unit is operating normally.

OFF The MC Unit is not recognized by the PC at ini-

tialization or is malfunctioning. Flashing alone The battery voltage is low. Flashing with

DISABLE

DISABLE Red ON The axes have been disabled. The Servo

OFF The axes are enabled. Flashing alone The following error has exceeded the li mit. The

Flashing with RUN

0 to 7 Orange ON These indicat ors can be control led from the pro-

OFF

An error occurred in the communication

between MC Unit and CPU Unit.

Enable Output is not ON.

Servo Drives ha ve been disabled.

An error occurred in the communication

between MC Unit and CPU Unit.

gram s. R ef e r t o 5-3-53 DISPLAY for details.

Unit No. Switch

!Caution

Set the number the unit number between 0 and F.

CPU Unit Unit No. setting range

C200HS-CPU01-E/21-E/31-E/03-E/23-E/33-E

0 to 9 C200HE-CPU11-E/32-E/42-E/11-ZE/32-ZE/42-ZE, C200HG-CPU33-E/43-E/33-ZE/43-ZE, C200HX-CPU34-E/44-E/34-ZE/44-ZE

C200HG-CPU53-E/63-E/53-ZE/63-ZE,

0 to F C200HX-CPU54-E/64-E/54-ZE/64-ZE/85-ZE CS1H-CPU66-E/65-E/64-E/63-E CS1G-CPU45-E/44-E/43-E/42-E

Do not change the unit number while power is being supplied to the Unit.

Installation Section 2-2

2-2 Installation

2-2-1 Installation Method

1,2,3... 1. Attach the hooks on the upper section of the MC Unit onto the Backplane.

2. Insert the MC Unit connector into the Backplane connector.

!Caution

Do not mount the MC Unit while the power is turned ON to the Rack. When removing the MC Uni t, lift it out while pressing down on the lock lever

with a screwdriver, as shown in the following illustration.

Wiring Section 2-3

2-2-2 Dimensions

The basic dimensions of the MC Unit are shown below.

2-3 Wiring

2-3-1 Connector Pin Assignments

I/O Connector

The I/O Connector is used for wiring to external I/O. All I/O are general purpose and functions like limit inputs and origin proximity inputs can be allocated. Inputs I0 / R0 to I3 / R3 can also be used as the Registration Inputs for axi s 0 to 3. Refer to 2-3-2 I/O Specifications for electrical specifications.

Recommended Connector and Cable

Connector pin arrangement

The 3M model numbers are listed below.

Connector IDC plug connector s with

26-pin MDR 10126-6000EC or

10126-6000EL 10326-A200-00

The IDC or soldered connectors can be used with various types of cables. The following 3M cable is recommended for the MC Unit.

• Round-Jacketed, Shielded, Discrete Wire Cable 3444C-series, 28 AWG Stranded, Twisted-pair, PVC/PVC.

metal ba ck s h ells

Soldered connector wit h

plastic shells

10126-3000VE or 10126-3000VC 10326-52F0-0086

25 15

Wiring Section 2-3

I/O Connec tor Pin Functions

Pin Signal

Name Function

1 24V_IO 24V supply for I/O circuit s 2 O0 Output 0 3 O1 Output 1 4 O2 Output 2 5 O3 Output 3 6 O4 Output 4 7 O5 Output 5 8 O6 Output 6 9 O7 Output 7 10 I0 / R0 Input 0 or Registr ation input for axi s 0 11 I1 / R1 Input 1 or Registr ation input for axi s 1 12 I2 / R2 Input 2 or Registr ation input for axi s 2 13 0V_IO 0V common for I/O circuits 14 I3 / R3 Input 3 or Registr ation input for axi s 3 15 I4 Input 4 16 I5 Input 5 17 I6 Input 6 18 I7 Input 7 19 I8 Input 8 20 I9 Input 9 21 I10 Input 10 22 I11 Input 11 23 I12 Input 12 24 I13 Input 13 25 I14 Input 14 26 I15 Input 15

Axis Connector

Recommended Connector and Cable

The Axis Connector is used to connect the Servo Drivers for axes 0 to 3. Refer to 2-3-2 I/O Specifications for electrical specifications.

The 3M model numbers are listed below

Connector IDC plug connector s with

meta l back s h e lls

40-pin MDR 10140-6000EC or

10140-6000EL 10340-A200-00

Soldered connector wit h

plastic shells

10140-3000VE or 10140-3000VC

10340-5500-008

The IDC or soldered connectors can be used with various types of cables. The following 3M cable is recommended for the MC Unit.

• Round-Jacketed, Shielded, Discrete Wire Cable 3444C-series, 28 AWG Stranded, Twisted-pair, PVC/PVC.

Wiring Section 2-3

Connector pin arrangement

Axis Connector Pin Functions

Pin Signal

Name Function

1 0V_DRV 0V common for control si gnals 2 /ALARM_0 Alarm input for axis 0 3 /ALARM_1 Alarm input for axis 1 4 /ALARM_2 Alarm input for axis 2 5 A_0 Encoder phase A axis 0 6 /A_0 Encoder phase /A axis 0 7 B_0 Encoder phase B axis 0 8 /B_0 Encoder phase /B axis 0 9 Z_0 Encoder phase Z axis 0 10 /Z_0 Encoder phase /Z axis 0 11 VREF_0 Speed reference signal axis 0 12 0V_ENC 0V common for encoder signal s 13 A_1 Encoder phase A axis 1 14 /A_1 Encoder phase /A axis 1 15 B_1 Encoder phase B axis 1 16 /B_1 Encoder phase /B axis 1 17 Z_1 Encoder phase Z axis 1 18 /Z_1 Encoder phase /Z axis 1 19 VREF_1 Speed reference signal axis 1 20 0V_REF 0V comm on for reference signals 21 /ALARM_3 Alarm input for axis 3 22 ALARMRST Drivers alarm reset signal 23 ENABLE Dr ivers enable signal 24 24V_DRV 24V supply for driver control signals 25 A_2 Encoder phase A axis 2 26 /A_2 Encoder phase /A axis 2 27 B_2 Encoder phase B axis 2 28 /B_2 Encoder phase /B axis 2 29 Z_2 Encoder phase Z axis 2 30 /Z_2 Encoder phase /Z axis 2 31 VREF_2 Speed reference signal axis 2 32 0V_ENC Ground encoder signals 33 A_3 Encoder phase A axis 3 34 /A_3 Encoder phase /A axis 3 35 B_3 Encoder phase B axis 3 36 /B_3 Encoder phase /B axis 3

Wiring Section 2-3

Pin Signal

Name Function

37 Z_3 Encoder phase Z axis 3 38 /Z_3 Encoder phase /Z axis 3 39 VREF_3 Speed reference signal axis 3 40 0V_REF 0V common for speed reference signals

Note The 0V_REF and 0V_ENC pins are connected inside the MC Unit.

2-3-2 I/O Specifications

The following tables provide specifications and circuits for the Axis and I/O connections.

Digital Inputs

I/O inputs: I0 to I15

Item Specification Circuit Configuration

Type PNP Maximum voltage Input curren t 3.2 mA at 24 VDC

24 VDC + 10

Motion Control Unit

6.8kΩ

I0/R0 10

ON voltage 12 V min. OFF voltage 5 V max. ON response time

(see note) OFF response time

(see note)

1.8 ms (max.)

2.1 ms (max.)

Note The given response time is the time between the chan ge in the input voltage

!Caution

External power

supply 24V

0V_IO 13

0V common for I/O circuits

910Ω

and the corresponding change in the IN variable. This time includes the physical delays in the input circuit.

Maximum 12 of the digi tal inp uts (I0 to I 15) s hou ld be switched on at any o ne 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.

Please refer to 1-5 Specifications for timing specification on print registration using inputs I0/R0 to I3/R3.

Wiring Section 2-3

Axis inputs: ALARM (axis 0 to 3)

Item Specification Circuit Configuration

Type NPN Maximum voltage

24 VDC + 10

Motion Control Unit

Input current 3.2 mA at 24 VDC ON voltage 12 V min. OFF voltage 5 V max. ON response time

1.8 ms (max.)

(see note) OFF response time

2.1 ms (max.)

(see note)

Note The given response time is the time between the chan ge in the input voltage

and the corresponding change in the IN variable. This time includes the physical delays in the input circuit.

Digital Outputs.

Item Specification Circui t Confi guration

Type PNP Current capacity 100 mA each output

(800 mA total for group of 8)

Maximum voltage 24 V + 10% ON response time

(see note) OFF response time

(see note) Protection Over current, over

1.3 ms (max.)

1.4 ms (max.)

temperature and 2 A fuse on common

24V_DRV

External power

supply 24V

I/O outputs: O0 to O7

Equivalent

circuit

isolated from system)

Internal Circuitry (glavanically

To other output circuits

910Ω

6.8kΩ

2/ALARM_0

24V for Drive control signals

Motion Control Unit

2A Fuse

24V_IO

0V_IO

LOAD

External power

supply 24V

Item Specification Circuit Configur ation

Type NPN

Current capacity 80 mA each output

Maximum voltage 24 V + 10%

ON response time

1.3 ms (max.)

(see note)

OFF response time

1.4 ms (max.)

(see note)

Note The given response time is the time between a chan ge in the OP o r WDOG

variable and the corresponding change in the digital output signal. This time includes the physical delays in the output circuit.

Axis outputs: ENABLE, ALARMRST

Motion Control Unit

Equivalent

from system)

circuit

Internal Circuitry (glavanically isolated

To other Drive control circuits

24 24V_DRV

ALARMRST

22 23 ENABLE

0V_DRV

LOAD

External power

supply 24V

Wiring Section 2-3

Encoder Input

Item Specification Circuit Configuration

Signal level EIA RS-422-A Stan-

dards

Input impedance 48 k min.

Ω

Response frequency 250 kp/s

Termination None

(see note)

Note Termination res istors can be m ounted on the Terminal Block if required (see

Analogue Output

Item Specification Circuit Configuration

Output Voltage 0 to ±10 V

section 2-5 Wiring Precautions).

A_0

/A_0

B_0

/B_0

C_0

/C_0

120V_ENC

+5V

Phase A axis 0

0V +5V

Phase B axis 0

0V +5V

Phase Z axis 0

Line receiver

System 0V

Motion Control Unit

Resolution 12-bit

Output impedance 100

Load impedance 10 k min.

Ω

System 0V

2-3-3 Serial Port Connections

The MC Unit has two ser ial RS-232C ports for communication with external devices. Port A is the programming port of the unit, connect this port to the computer to configure the Unit using the Motion Perfect software package. Port B can be used for connection to other external devices.

The table below shows the connector on the MC Unit (8-pin mini-DIN) and the pin allocation for both RS-232C ports.

Pin Layout Pin Symbol Name Port

7 8

+12V

-12V

VREF_0

0V_REF

1- Not used 2- Not used -

1 2

3 SD-A Send data A 4 SG-A Signal ground A 5 RD - A Receive data A 6 SD-B Send data B 7 SG-B Signal ground B 8 RD - B Receive data B

Wiring Section 2-3

You can use the following connection cable for connection to the computer.

Product Description

R88A-CCM002P4-E Connection cable RS-232C (2m)

The connections to the computer are shown below.

2-3-4 Terminal Block

Personal Computer

2RD 3SD 5GND 7RTS 8CTS

Shell FG

D-sub 9-pin

MC Unit

3SD-A 5 RD-A 4SG-A

mini-DIN 8-pin

The Terminal Block (Quick Conne ct Kit) can be used t o facilitate the connec tions to the Servo Drivers and other devices. The Terminal Block can be mounted on a DIN rail.

10 9 8 7

80 mm

123456

205 mm

The table below shows the various items on the unit.

Item Description Connection Type

1 Axis 0 encoder output 9-pin D-sub (female) 2 Axis 0 Servo Driver connection 15-pin D-sub (female) 3 Axis 1 Servo Driver connection 15-pin D-sub (female) 4 Axis 2 Servo Driver connection 15-pin D-sub (female) 5 Axis 3 Servo Driver connection 15-pin D-sub (female) 6 I/O connections Screw terminals 7 24V and 5V supply for Axis connections Screw terminals 8 Axis connection to MC Unit 40-pin MDR socket (female) 9 24V supply for I/O connections Screw terminals 10 I/O connection to MC Unit 26-pin MDR socket (female)

Wiring Section 2-3

Dimensions The unit’s dimensions are 205mm x 80mm x 57 mm (L x H x D) without the

cables connected.

Cable and Connector Parts

The available ready-made cables together with the Terminal Block are shown in the next table.

Product Description

R88A-TC04-E Terminal Block R88A-CMX001S-E I/O connection cable from MC Unit to Terminal Block (1m) R88A-CMX001J1-E Axis connection cable from 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 Ter minal Block to UT/W Servo Driver (1m)

Pin Allocations

Axis D-sub 15-Pin The pin layout of the15-pin D-sub connectors, which are used for item 2 to 5,

is shown in the next table.

Pin Signal

Name Function

1 0V_DRV 0V common for control signals 2 /ALARM Alarm input for axis 3 ALARMRST Drive alarm reset signal 4 0V_ENC 0V common for encoder signal s 5 A Encoder phase A 6 B Encoder phase B 7 Z Encoder phase Z 8 VREF Speed reference signal 9 24V_DRV 24V power suppl y for control signal s 10 ENABLE Driver enable signal 11 5V_ENC 5V power supply for encoder 12 /A Encoder phase /A 13 /B Encoder phase /B 14 /Z Encoder phase /Z 15 0V_REF 0V common for refer ence signal

Axis D-sub 9-Pin The Terminal Block has a second 9-pin D-sub conne ction for Axis 0 (item 1)

to enable the encoder signals of this axis to be outputted. This can be used to cascade the signals through to another MC Unit with Terminal Block.

Pin Signal

Name Function

1 0V_DRV 0V common for control signals 2 A Encoder phase A 3 B Encoder phase B 4 Z Encoder phase Z 5- 6 /A Encoder phase /A 7 /B Encoder phase /B 8 /Z Encoder phase /Z 9- -

Wiring Section 2-3

I/O Connec ti o ns The order of the pins for the I/O connections (item 6) is as follows. Refer to

2-3-1 Connector Pin Assignments for the pin descriptions.

I15 I13 I11 I9 I7 I5 R3 R1 O7 O5 O3 O1

I14I12I10I8 I6 I4 R2R0O6O4O2O0

Power Supplies There are 2 sets of terminals for supplying power to the interface unit

1. The 24V and optional 5V supply for the Axes part (item 7).

2. The 24V supply for the I/O connections to the unit (item 9). The 24V power supply to the Axis connection and the I/O connec tion should

in principle be separate. This will ensure 500V RMS galvanic isolation between the two circuits.

The 5V power supply is used to supply power an Omron FV Driver or a standalone line driver encoder feedback is used.

Terminating resistors Immediately next to each item 1-5 there is a 6 pin through-hole connection

that allows placement of terminating resistors on the encoder A, B and Z signals. These resistors will have to be soldered onto the sites by competent personnel. The resistor pack recommended for this operation is the 220 Ω / 0.2 W resistors e.g. Bourns 4306R-102-221, which contains 6 isolated resistors in one package.

2-3-5 Conn ec tio n E xamp l es

W Driver

Terminal Block

0V_DRV 1 /ALARM 2 ALARMRST 3 0V_ENC 4 A5 /A 12 B6 /B 13 Z7 /Z 14 VREF 8 0V_REF 15

24V_DRV 9 ENABLE 10 5V_ENC 11

R88A-WT❏

32 ALMC OM 31 ALM 44 RESET

1GND 33 +A 34 - A 36 +B 35 - B 19 +Z 20 - Z

5REF

6AGND

Shell 47 +24VIN 40 RUN

Wiring Section 2-3

3G3FV Inverter

Terminal Block

0V_DRV 1 /ALARM 2 ALARMRST 3 0V_ENC 4 24V_DRV 9 ENABLE 10 5V_ENC 11 VREF 8 0V_REF 15

A5 /A 12 B6 /B 13 Z7 /Z 14

3G3FV

1Forward / stop

4Alarm reset 11 Seq. input common 19 Fault output (NC) 20 Fault output common 13 Freq. ref. input 17 Freq. ref. common

3G3FV-PPGX2 (TA2 Terminal)

1 A-phase +

2 A-phase -

3 B-phase +

4 B-phase -

5Z-phase +

6Z-phase -

MY4-24VDC (Reset Relay)

9/10/11/12 2A/2B/2C/2D

5/6/7/8 1A/1B/1C/1D

13 Co il 14 Co il +

MY4-24VDC (Enable Relay)

9/10/11/12 2A/2B/2C/2D

5/6/7/8 1A/1B/1C/1D

13 Co il 14 Co il +

Servo System Precaution s Section 2-4

2-4 Servo System Precautions

The following precautions are directly related to the operation of the servo system. Ref e r to 1-4-2 Servo System Principles for a description of servo sys- tem operation.

Motor Run away In a servo system employing a Servomotor, faulty or disconnected wiring may

cause the Servomotor to run out of control. Therefore, careful attention must be paid to preventing faulty or disconnected wiring.

When the wiring is correct, the Ser vomoto r will maint ain the st opped position through corrective operations as long as a position loop is formed and servolock is in effect.

If the motor rotates in the CW direction due to a factor such as temperature drift, it is detected by the encoder and the internal error counter of the MC Unit is notified of the direction and amount of rotation by means of feedback signals output by the encoder.

The count of the error counter is ordinarily zero unless otherwise designated. When the motor moves in the CW direction, the feedback signal t ransfers the direction and amount of movement as a count to the error counter. In response, the MC Unit outputs a control voltage to rotate the motor in the CCW direction to zero the error count.

The control voltage is output to the Ser vo Driver, and the Servomotor rotates in the CCW direction. If the motor rotates in this CCW direction, the encoder detects the direction and amount of movement and no tifies the error counter in the MC Unit with feedback signals to subtract and zero the count again.

The position loop subtracts the count in the error counter to zero it. The analogue ground is comm on among all axes, preventing the reversal of

axes by swapping the wires. The reversal can easily be achieved in software inside the Servo Driver using the PP_STEP command.

Runaway Caused by Faulty Wiring

MC Unit

Servo Control

Control voltage

(2)

0 V

(1)

Servo driver

Phase A

Phase B

Servomotor

Encoder

If the phase-A and phase-B feedback input lines are wired in rev erse (crossed dotted lines at 1 in the figure), the servolock will not be effective and the motor will run out of control.

1,2,3... 1. If the phase-A and phase-B feedback input lines are wired in reverse, the

error counter will receive the information as a rotation in the CCW direction.

2. If the motor rotates in t he CW di rection due t o drift or some o ther cause, the encoder will detect the direction and amount of movement and transmit feedback signals to the error counter in the MC Unit.

Servo System Precautions Section 2-4

3. As a result, the error counter having a count in the CCW direc tion will attempt to zero the count by outputting a control voltage to the Servo Driver in the CW direction.

4. The Servomotor will rotate in the CW direction, repeating the above steps 1 to 3, causing the motor to run out of control.

Runaway can occur not only from reversed wiring of phases A and B of the feedback inputs, but also from reversed wiring of the speed control voltage and the ground lines (crossed dotted lines at 2 in the figure above).

Runaway Caused by Disconnected Wiring

The Ser vomotor will run out of c ontrol not only when the pos ition loop is not correctly formed, but also when the position loop is i nterr upt ed due to disconnected wiring.

MC Unit

Servo Control

Control voltage

0 V

1,2,3... 1. Wire Breakage with Servomotor Rotating:

While the Servomotor is rotating, the speed control voltage is not 0 V because of the signal from the error counter. If the feedback line is broken, no feedback signals will be given to the error counter and the speed control voltage remains unchanged from the value that existed before the line breakage, causing motor runaway.

2. Wire Breakage with Servomotor Stopped: If the feedback line is broken while the Servomotor is stopped and correct feedback signals cannot be returned, the speed control voltage will remain at zero without changing. Therefore, the Servomotor will also remain stopped. In fact, however, the motor may move in one direction without stopping.

This is caused by a discrepancy between the 0 V of the MC Unit’s control voltage and the 0 V of the Ser vo Driver’s voltage input. When the two 0 voltages do not match, an el ectr ic pot ent ial difference is generate d, resulting in a false control voltage. This in turn causes the Ser vomotor to move in one direction without stopping.

To prevent this, repair the wiring or adjust the 0 V of either the M C Unit or the Servo Driver so that the 0 V levels match.

Servo driver

Phase A

Phase B

Servomotor

Encoder

Following Error Li m it Setting

While following a motion profile, the servo system will generally follow the set profile but not exactly. There will be a following error. The following error limit can be set according to operating conditions using the axis parameter FE_LIMIT. If for any reason the following error exceeds this limit, the servo enable output will reset and the Servo Driver will be disabled, causing the motor to come to a sudden halt. T he user must m ake sure that this doe s not have an adverse effect on the machine. See 5-3-66 FE_LIM IT for details.

Wiring Precautions Section 2-5

External Limit Switches Another fail-safe condition must normal ly be set up us ing monitorin g sensors

installed at the edges of the workpiece’s range of movement to detect abnormal workpiece movement and stop operation if a runaway occurs. This can be done by mapping the address of FWD_IN and REV_IN to the relevant digital inputs. See 5-3-75 FW D_IN and 5-3-143 REV_IN for details.

Monitoring sensors are installed outside of the limit inputs. If the workpiece reaches one of the sensors, the appropriate bit in the axis status will be turned ON. The enable signal to the Servo Driver will be turned OFF and then the dynamic brake will be applied to stop the motor.

2-5 W iring Precau ti ons

Electronically controlled equipment may malfunction bec ause of noise generated by power supply lines or external loads. Such malfunctions are difficult to reproduce, and determining the cause often requires a great deal of time. The following precautions will aid in avoiding noise malfunctions and improving system reliability .

• Use electrical wires and cables of the designated sizes as specified in the operation manual for the Servo Driver. Use larger size cables for FG lines of the PC or the Servo Driver and ground them over the shorte st possible distances.

• Separate power cables (AC power supply lines and motor power supply lines) from control cables (pulse output lines and external input signal lines). Do not group power cables and control cables together or place them in the same conduit.

• Use shielded cables for control lines.

• Use the Terminal Block and the ready -ma de cables design ed for MC Unit

to reduce connectivity problems.

• Connect a surge absorbing diode or surge absorber close to relays. Use a surge-absorbing diode with a voltage tolerance of at least five times greater than the circuit voltage.

DC relay

Surge absorbing diode

AC relay

Surge absorber

Solenoid

SOL

Surge absorber

• Noise may be generated on the power supply line if the same p ower supply line is used for an electric welder or electri ca l discharge unit. Connect

Wiring Precautions Section 2-5

an insulating transformer and a line filter in the power supply section to rem ove such no ise.

• Use twisted-pair cables for power supply lines. Use adequate grounds

(i.e., to 100 or less) with wire cross sections of 1.25 mm

• Use twisted-pair shielded cables for control voltage output signals, input signals and feedback signals.

• Use wires of maximum 2 m between the MC Unit and the Servo Driver for control voltage output signals.

• If the distance of the encoder from the MC Unit is more than 10 m, terminating resistors should be place d on the Ter minal Block. The maximum distance for the encoder position signal from the encoder to the MC Unit must not exceed 20 m.

• The input terminals that operate th e 24 V system are isolated with optical couplers to reduce external noise effects on the control sy stem. Do not connect the analogue voltage ground and the 24 V system ground.

Ω

or greater.

SECTION 3

PC Data Exchange

This secti on describes the IR/CIO area al location and pre sents th e differe nt methods of da ta excha nge between the MC Unit and the CPU Unit.

3-1 IR/CIO Area Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3-1-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3-1-2 Overview of IR/CIO Area Allocations . . . . . . . . . . . . . . . . . . . . . . . 43

3-2 Overview of Data Exchanges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

3-2-1 Data Exchange Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

3-2-2 Data formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

3-3 Details of the Data Exchange Met hods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

3-3-1 Data Words in IR/CIO Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

3-3-2 Data Transfer by CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

3-3-3 Data Transfer by MC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

IR/CIO Area Allocation Section 3-1

3-1 IR/CIO Area Allocation

3-1-1 Overview

Each MC Unit is allocated 10 words in the Special I/O Unit Areas of the CPU Unit’s IR or CI O area. The words t hat are allocated depend on the Unit No . set on the rotary switch on the f ront panel of the MC Unit. The cont ents of the allocated 10 words is exchanged automatically between the CPU Unit and the MC Unit ev ery time the CPU Unit refres hes I/O.

Input and Ou tput Words The words allocated to the MC Unit are classified as input and ou tput words.

The input and output directions are defined from the CPU Unit’s perspective.

Data Exchange for the C200HX/HG/HE, C200HS

CPU Unit MC Unit

IR 100 IR 101

IR 102

IR 109 IR 110

IR Area

Unit 0

}

Unit 1

Automatic data exchange during I/O Refresh

Unit 0

2 words

}

8 words

}

IR 119

Special I/O Area Allocation for C200HX/HG/HE, C200HS

Unit no. Allocated words Unit no. Allocated words Unit no. Allocated words Unit no. Allocated words

0 IR 100 to IR 109 4 I R 140 to IR 149 8 IR 180 to IR 189 C IR 420 to IR 429

1 IR 110 to IR 119 5 I R 150 to IR 159 9 IR 190 to IR 199 D IR 430 to IR 439

2 IR 120 to IR 129 6 I R 160 to IR 169 A IR 400 to IR 409

(See no te.)

3 IR 130 to IR 139 7 I R 170 to IR 179 B IR 410 to IR 419

(See no te.)

E IR 440 to IR 449

F IR 450 to IR 459

(See note.)

Note For C200HG-CPU53-E/63-E/53-ZE/63-ZE and C200HX-

CPU54-E/64-E/54-ZE/64-ZE/65-ZE/85-ZE CPU Units only.

IR/CIO Area Allocation Section 3-1

Data Exch an g e for the CS1 Series

CPU Unit MC Unit

CIO 2000 CIO 2001 CIO 2002

CIO 2009 CIO 2010

CIO Area

Unit 0

}

Unit 1

Automatic data exchange during I/O Refresh

Unit 0

2 words

}

8 words

}

CIO 2019

Special I/O Area Allocation for CS1 Series

Unit no. Allocated words Unit no. Allocated words Unit no. Allocated words Unit no. Allocated words

0 CIO 2000 to

CIO 2009

1 CIO 2010 to

CIO 2019

2 CIO 2020 to

CIO 2029

3 CIO 2030 to

CIO 2039

4 CIO 2040 to

CIO 2049

5 CIO 2050 to

CIO 2059

6 CIO 2060 to

CIO 2069

7 CIO 2070 to

CIO 2079

8 CIO 2080 to

CIO 2089

9 CIO 2090 to

CIO 2099

A CIO 2100 to

CIO 2109

B CIO 2110 to

CIO 2119

C CIO 2120 to

CIO 2129

D CIO 2130 to

CIO 2139

E CIO 2140 to

CIO 2149

F CIO 2150 to

CIO 2159

3-1-2 Overview of IR/CIO Area Allocations

The following tables show the data which is automatically exchanged during the I/O refresh period. The first word allocated t o the MC Unit in the IR/CIO area is specified as “n” (refer to the previous section). The value of “n” can be calculated from the unit number using the following equation.

• C200HX/HG/HE, C200HS

Unit numbers 0 to 9: n = 100 + 10 x Unit number Unit numbers A to F: n = 400 + 10 x (Unit number - 10)

• CS1 Series

Unit numbers 0 to F: n = 2000 + 10 x Unit number

Outputs The outputs consists of two transfer output words, which are used for data

exchange from the CPU Unit to the MC Unit. More details can be found in the next section.

Output

word

n 00 to 15 Output Word 1 First transf er output word. n + 1 00 to 15 Output Word 2 Second transfer output wor d.

Inputs The inputs consists of the status flags of the MC Unit and transfer input

Bit Name Function

words. The transfer input data are two words, which are used for data exchange from the MC Unit to the CPU Unit. More details can be found in the

next section.

IR/CIO Area Allocation Section 3-1

Input word Bit Name Function

n + 2 00 Unit Operating Flag OFF: MC Unit is not operating. ON: MC Unit is operating.

01 Motion Error Flag OFF: No error. ON: A m otion error has occurred. 02 Task 1 Flag OFF: Task1 is inactive. ON: Task 1 is active. 03 Task 2 Flag OFF: Task 2 is inactive. ON: Task 2 is active. 04 Task 3 Flag OFF: Task 3 is inactive. ON: Task 3 is active. 05 Task 4 Flag OFF: Task 4 is inactive. ON: Task 4 is active. 06 Task 5 Flag OFF: Task 5 is inactive. ON: Task 5 is active. 07 PC Transfer Busy Flag ON: The MC Unit is exchanging data with the PC Unit.

08 to 15 Digital Input Stat us Flags Indicate the status of digital inputs 0 to 7. n + 3 00 to 15 Digital Input Status Flags Indicate the status of the digital inputs 8 to 23. n + 4 00 to 15 Digital Output Status

Flags

n + 5 00 Axis 0 Following Error

Warning Limit Flag 01 Axis 0 Forward Limit Flag ON: A forward limit is set for axis 0. 02 Axis 0 Reverse Limit Flag ON: A rever se lim it is set for axis 0. 03 Axis 0 Origin Search Flag ON: An origin search is in progress for axis 0. 04 Axis 0 Feedhold Flag ON: A feedhold is set for axis 0. 05 Axis 0 Following Error

Limit Flag 06 Axis 0 Software Forward

Limit Flag 07 Axis 0 Software Reverse

Limit Flag 08 Axis 1 Following Error

Warning Limit Flag 09 Axis 1 Forward Limit Flag ON: A forward limit is set for axis 1. 10 Axis 1 Reverse Limit Flag ON: A rever se lim it is set for axis 1. 11 Axis 1 Origin Search Flag ON: An origin search is in progress for axis 1. 12 Axis 1 Feedhold Flag ON: A feedhold is set for axis 1. 13 Axis 1 Following Error

Limit Flag 14 Axis 1 Software Forward

Limit Flag 15 Axis 1 Software Reverse

Limit Flag

Indicate the stat us of digital outputs 8 to 23.

ON: The warning limit was exceeded for the following error for axis 0.

ON: The limit was exceeded for the following error for axis 0.

ON: The software forward limit was exceeded for axis 0.

ON: The software reverse limi t was exceeded for axis 0.

ON: The warning limit was exceeded for the following error for axis 1.

ON: The limit was exceeded for the following error for axis 1.

ON: The software forward limit was exceeded for axis 1.

ON: The software reverse limi t was exceeded for axis 1.

IR/CIO Area Allocation Section 3-1

Input word Bit Name Function

n + 6 00 Axis 2 Following Error

Warning Limit Flag 01 Axis 2 Forward Limit Flag ON: A forward limit is set for axis 2. 02 Axis 2 Reverse Limit Flag ON: A rever se lim it is set for axis 2. 03 Axis 2 Origin Search Flag ON: An origin search is in progress for axis 2. 04 Axis 2 Feedhold Flag ON: A feedhold is set for axis 2. 05 Axis 2 Following Error

Limit Flag 06 Axis 2 Software Forward

Limit Flag 07 Axis 2 Software Reverse

Limit Flag 08 Axis 3 Following Error

Warning Limit Flag 09 Axis 3 Forward Limit Flag ON: A forward limit is set for axis 3. 10 Axis 3 Reverse Limit Flag ON: A rever se lim it is set for axis 3. 11 Axis 3 Origin Search Flag ON: An origin search is in progress for axis 3. 12 Axis 3 Feedhold Flag ON: A feedhold is set for axis 3. 13 Axis 3 Following Error

Limit Flag 14 Axis 3 Software Forward

Limit Flag 15 Axis 3 Software Reverse

Limit Flag

n + 7 00 Task 1 BASIC Error Flag ON: An error occurred in the BASIC program in task 1.

01 Task 2 BASIC Error Flag ON: An error occurred in the BASIC program in task 2. 02 Task 3 BASIC Error Flag ON: An error occurred in the BASIC program in task 3. 03 Task 4 BASIC Error Flag ON: An error occurred in the BASIC program in task 4. 04 Task 5 BASIC Error Flag ON: An error occurred in the BASIC program in task 5. 05 Low Battery Flag ON: The volt age of the backup battery is lo w. 06 Not used --07 PC Transfer Error Flag ON: An error has occurred during data transfe r between MC Unit and

08 to 15 Indicator Mode Contains the value of the DISPLAY system parameter, which deter-

n + 8 00 to 15 Input Word 1 First transfer input word. n + 9 00 to 15 Input Word 2 Second transfer input word.

ON: The warning limit was exceeded for the following error for axis 2.

ON: The limit was exceeded for the following error for axis 2.

ON: The software forward limit was exceeded for axis 2.

ON: The software reverse limi t was exceeded for axis 2.

ON: The warning limit was exceeded for the following error for axis 3.

ON: The limit was exceeded for the following error for axis 3.

ON: The software forward limit was exceeded for axis 3.

ON: The software reverse limi t was exceeded for axis 3.

PC Unit.

mines the displ ay mode of the bank of the 8 LED indicator s on the front panel. Ref er to 5-3-53 DISPLAY for details.

Overview of Data Exchanges Section 3-2

3-2 O vervi ew of Data Exchanges

3-2-1 Data Exchange Methods

The MC Unit is able to exchange data with the CPU Unit the following three ways.

Data Words in IR/CIO Area The MC Unit and the CPU Unit both have access to their own allocated words

in memory. These transfer I/O words allocated in the MC Unit memory and in the CPU Unit’s IR/CIO Area are exchanged during the I/O refresh period. The MC Unit accesses the words by using the BASIC commands PLC_READ and PLC_WRITE.

CPU Unit MC Unit

No program required

Allocated Words

I/O Refresh

PLC_READ PLC_WRITE

VR Array

Allocated Words

Data Transfer by CPU Unit The CPU Unit is able to read/write directly into both the VR and Table mem-

ory areas of the MC Unit by using the ladder instructions IORD and I OWR. BASIC programming in the MC Unit is not required.

CPU Unit

IORD IOWR

MC Unit

No program required

I/O Memory

Table/VR Array

Overview of Data Exchanges Section 3-2

Data Transfer by MC Unit The MC Unit can initiate data trans fer to and from the CPU Unit usin g the

PLC_READ and PLC_WRITE commands. The CPU Unit’s user program is not required and the transfer will be executed at the next I/O refresh.

CPU Unit MC Unit

No program required

I/O Memory

Next I/O refresh

PLC_WRITE PLC_READ

VR Array

3-2-2 Data formats

The data transfers commands of t he PC Unit and the MC Uni t support two data format types.

One-word format The data is transferred word by word from each PC memory location to each

variable in the MC unit and vice versa. The value in the MC Unit is always the integer equivalent of the hexadecimal value in the PC (no 2's complement). From the floating-point data in the MC uni t only the intege r par t will be transferred. The valid range is [0,65535].

Three-word format The data in the PC is represented by three memo ry elements, in total three

words. The following is the configuration of a BCD position data item.

j+0000A j+1 j+2

x102x101x10

x10

x106x105x10

x10

0 4

Decimal point A = 0 (Indicates 1)

1 (Indicates 0.1)

Position data

2 (Indicates 0.01) 3 (Indicates 0.001) 4 (Indicates 0.0001)

3210bit

x10

Sign bit (s) 0: positive 1: negative

Example 1: The three-word format of value 56143 is given by

j+00000 j+16143 j+20005

Example 2: The three-word format of value -48.89 is given by

j+00002 j+14889 j+28000

One data item uses three words. Therefore the total words for data transfers should be the amount of data transferred multiplied by three.

Details of the Data Exchange Methods Section 3-3

3-3 D etails of the Data Exchange Met hod s

3-3-1 Data Words in IR/CIO Area

Data is read/written during the I/O refresh from either the MC Unit or the CPU Unit.

• The amount of data is two words output and two words input.

• The data is copied between the VR area and the allocated words in the

MC Unit by using the PLC_READ and PLC_WRITE commands.

Transfer Output

The two words output data present in the CPU Unit is copied at every I/O refresh to the allocated words within the MC Unit. When a PLC_READ command is given, the contents of the allocated words (n, n +1) will be copied to the specified VR variables in the MC Unit.

The following example is for a C200HX/HG/HE PC.

CPU Unit MC Unit

Transfer Input

None

IR Area

n 0110101010001111 n+1 0000000000001111

I/O Refresh

PLC_READ(PLC_REFRESH, 0, 2, 0)

VR(0) 27279 VR(1) 15

At PLC_READ

n 0110101010001111 n+1 0000000000001111

After the PLC_WRITE command is given, the content of the specified VR variables will b e copied to th e allocated wo rds in the MC Un it. On the next I/O refresh, this data will be copied to the a llocated words (n+8, n+9) in t he IR/ CIO area of the CPU Unit.

The following example is for a C200HX/HG/HE PC.

CPU Unit

None

PLC_WRITE(PLC_REFRESH, 0, 2, 10)

MC Unit

IR Area

n+8 0000000000101101 n+9 0000000101001101

I/O Refresh

VR(10) 45 VR(11) 333

At PLC_WRITE

n+8 0000000000101101 n+9 0000000101001101

Details of the Data Exchange Methods Section 3-3

3-3-2 Data Transfe r by CPU Unit

The CPU Unit is able to independently read and write to the MC Unit’s Table and VR array.

• The maximum amount of data transferred is 128 words.

• The data transfer is synchronous with the ladder program.

IORD Instruction

The IORD instruction can be used in the following way to read data from the MC Unit. Refer to the Operation Manual of your PC Unit for furthe r details on using this instruction.

IORD

C C: Control code S S: Sourc e Information D D: First destination word

Val ue (hex) Details

❏❏❏

❏❏❏❏

VR (one-word format): Data i s tr ansferred from the first VR variable as specified b y Range (BCD): 000 to 250.

VR (three-word format): Data is transferred from the first VR variable as specified b y Range (BCD): 000 to 250.

Table ( three-word format): Data is tr ansferred from the first Table variable as specified by

❏❏❏.

❏❏❏❏ multiplied by factor 1 0.

Range (BCD): 0000 to 1599.

C200HX/HG/HE

Val ue (hex) Details

❏❏❏

CS1 Series S: left most 4 digits

S+1: right most 4 digits

Val ue (hex) Details

#000n

S+1:

Val ue (hex) Details

❏❏❏❏ The no. of transfer words is specif ied by ❏❏❏❏.

D: First destinati on word in CPU Unit’s memory.

Value n is the unit number of the MC Unit. Range: 0 to F.

The amount of data is specifi ed by Range: (BCD): 001 to 128.

Value n is the unit number of the MC Unit. Range: 0 to F.

Range: 0000 to 0080 Hex

❏❏❏.

Details of the Data Exchange Methods Section 3-3

Data

Item Detail

PC C200HX/HG/HE Operand D IR Area 1 IR 000 to IR 235 SR Area 1 SR 236 to SR 252 SR Area 2 SR 256 to SR 299 IR Area 2 IR 300 to IR 511 HR Area HR 00 to HR 99 AR Area AR 00 to AR 27 LR Area LR 00 to LR 63 TC Area TC 000 to TC 511 TR Area - -DM Area DM 0000 to DM 6143 EM Area --Indire ct DM

addresses Constants ---

Data

Item Detail

PC CS1 Operand D CIO Area CIO 0000 to CIO 6143 Work Area W000 to W511 Holding Bit Area H000 to H511 Auxilia ry Bit Area A000 to A959 Timer Area T0000 to T4095 Counter Area C0000 to C4095 DM Area D00000 to D32767 EM Area without

bank EM Area with bank En_00000 to En_32767 (n = 0 to C) Indirect DM/EM

addresses in binary

Indirect DM/EM addresses in BCD

Constants --Data Registers --Directly addressing

Index Regist ers Indirect addr essing

using Index Registers

*DM 0000 to DM 6655

E00000 to E32767

@D00000 to @D32767 @E00000 to @E32767 @En_00000 to @En_32767 (n = 0 to C)

*D00000 to *D32767 *E00000 to *E32767 *En_00000 to *En_32767 (n = 0 to C)

---

,IR0 to , IR15

-2048 to +2047 ,IR0 to ,IR15 DR0 to 15, IR0 to IR15 ,IR0 to , IR15+(++)

-(--) IR0 to IR15

Details of the Data Exchange Methods Section 3-3

Flags

Value

(see note)

Instruction Exe cution Error Flag (ER) (25503)

Carry Flag (CY) (25504)

Greater Than Flag (GR) (25505)

Equals Flag (EQ) (25506)

Less Than Flag (LE) (25507)

Overflow Flag (OF) (25404)

Underflow Flag (UF) (25405)

Negative Flag (N) (25402)

• The number of transfer words is not in BCD, or it is 0 words or is greater than 128 words.

• The indirectly addressed DM address is greater than 6656 or not BCD.

• The destination Unit No. is outside the range 0 to F, or is on a SYSMAC BUS slave rack.

• The number of transfer words is not BCD.

--- ---

Reading was correct ly completed.

--- ---

ON OFF

C., S., and D. settings are correct.

Reading was not corre ctl y completed.

Note SR A rea addresses for the C200HX/HG/HE, C200 H, and C200HS are g iven

in parentheses.

Value ON OFF

PC Transfer E rro r Flag (IR n+7 bit 07)

• The control code is not valid for the MC Un it.

• The amount of words is not a multiple of three for three-word format transfer.

• The MC Unit’s Table or VR address in combination with the amount of data is invalid.

• There is an overflow of IORD/IOWR and PLC_READ/PLC_WRITE transfers.

None of the errors has occurred.

Note The user should be aware that t he MC Unit does not check if the MC Unit data

is in the range of the three-word format.

Details of the Data Exchange Methods Section 3-3

Transfer example for C200HX/HG/HE PC

IOWR Instruction

In the following example, 20 words from VR(123) to VR(142) is t ransferred from the MC Unit wi th unit num ber s et t o 0 t o addresses DM0000 to D M00 19 in one-word format.

001.00 IORD

#A123 #0020

DM0000

The IOWR instruction can be used in the following way to write data to the MC Unit. Refer to the Operation Manual of your PC Unit for further details on using this instruction.

IOWR

C C: Control code S S: First source word D D: Destination information

Val ue (hex) Details

❏❏❏

❏❏❏❏

VR (one-word format): Data i s tr ansferred to the first VR variable as specified by (BCD): 000 to 250.

VR (three-word format): Data is transferred to the first VR variable as specified b y Range (BCD): 000 to 250.

Table ( three-word format): Data is tr ansferred to the first Table variable as specified by multiplied by factor 10. Range (BCD): 0000 to

1599.

❏❏❏. Range

❏❏❏.

❏❏❏❏

S: First source word in CPU Unit’s me mory.

C200HX/HG/HE

Val ue (hex) Details

❏❏❏

CS1 Series D: left most 4 digits

D+1: right most 4 digits

Val ue (hex) Details

#000n Value n is the unit number of the MC Unit.

D+1:

Val ue (hex) Details

❏❏❏❏ The no. of transfer words is specif ied by ❏❏❏❏.

Value n is the unit number of the MC Unit. Range: 0 to F.

The amount of data is specifi ed by Range: (BCD): 001 to 128.

Range: 0 to F.

Range: 0000 to 0080 Hex.

❏❏❏.

Details of the Data Exchange Methods Section 3-3

Data

Item Detail

PC C200HX/HG/HE Operand S IR Area 1 IR 000 to IR 235 SR Area 1 SR 236 to SR 255 SR Area 2 SR 256 to SR 299 IR Area 2 IR 300 to IR 511 HR Area HR 00 to HR 99 AR Area AR 00 to AR 27 LR Area LR 00 to LR 63 TC Area TC 000 to TC 511 TR Area - -DM Area DM 0000 to DM 6655 EM Area --Indire ct DM

addresses Constants ---

Data

Item Detail

PC CS1 Operand S CIO Area CIO 0000 to CIO 6143 Work Area W000 to W511 Holding Bit Area H000 to H511 Auxilia ry Bit Area A000 to A959 Timer Area T0000 to T4095 Counter Area C0000 to C4095 DM Area D00000 to D32767 EM Area without

bank EM Area with bank En_00000 to En_32767 (n = 0 to C) Indirect DM/EM

addresses in binary

Indirect DM/EM addresses in BCD

Constants #0000 to #FFFF (binary) Data Registers --Directly addressing

Index Regist ers Indirect addr essing

using Index Registers

*DM 0000 to DM 6655

E00000 to E32767

@D00000 to @D32767 @E00000 to @E32767 @En_00000 to @En_32767 (n = 0 to C)

*D00000 to *D32767 *E00000 to *E32767 *En_00000 to *En_32767 (n = 0 to C)

---

,IR0 to , IR15

-2048 to +2047 ,IR0 to ,IR15 DR0 to 15, IR0 to IR15 ,IR0 to , IR15+(++)

-(--) IR0 to IR15

Details of the Data Exchange Methods Section 3-3

Clea r i ng P C Transf e r E rr o r in MC Unit

Val ue (hex) Details

#EC00

S: Use any sour ce address

C200HX/HG/HE

Val ue (hex) Details

#n001

CS1 Series

Val ue (hex) Details

#000n Value n is the unit number of the MC Unit.

D+1:

Val ue (hex) Details

#0001 The amount of data should always be 0001.

The PC transfer error flag in IR/CIO area is cleared.

Value n is the unit number of the MC Unit. The amount of data should always be 001.

Range: 0 to F.

Flags

Value

(see note)

Instruction Exe cution Error Flag (ER) (25503)

Carry Flag (CY) (25504)

Greater Than Flag (GR) (25505)

Equals Flag (EQ) (25506)

Less Than Flag (LE) (25507)

Overflow Flag (OF) (25404)

Underflow Flag (UF) (25405)

Negative Flag (N) (25402)

ON OFF

• The number of transfer words is not in BCD, or it is 0 words or is greater than 128 words.

• The indirectly addressed DM address is greater than 6656 or not BCD.

• The Unit No. of the MC Unit is outside the range 0 to F, or is on a SYSMAC BUS slave rack.

• The number of transfer words is not BCD.

• The instruction was not correctly compl eted.

--- ---

Writing was correctly completed.

--- ---

C., S., and D. settings are correct.

Writing was not correctly completed.

Details of the Data Exchange Methods Section 3-3

Note SR A rea addresses for the C200HX/HG/HE, C200 H, and C200HS are g iven

in parentheses.

Value ON OFF

PC Transfer E rro r Flag (IR n+7 bit 07)

• The control code is not valid for the MC Un it.

• The amount of words is not a multiple of three for three-word format transfer.

• The MC Unit’s Table or VR address in combination with the amount of data is invalid.

• There is an overflow of IORD/IOWR and PLC_READ/PLC_WRITE transfers.

Note The user sh ould b e aware that the MC Uni t doe s not che ck if the PC mem ory

data complies to the three-word format.

Transfer example In the following example, 60 words from DM0100 to DM0159 is transferred in

three words format from the PLC Unit to TABLE(10100) to TABLE(10119) of the MC Unit with unit number set to 5.

001.00 IOWR #1010

DM0100

#5060

None of the errors has occurred.

3-3-3 Data Transfe r by MC Unit

The MC Unit is able to independently read and write from the MC Unit’s VR array to the CPU Unit’s I/O memory by using the PLC_READ and PLC_WRITE commands.

• The maximum amount of data transferred is 127 words.

• The commands only support the one-word format.

• The data is transferred at the end of the CPU scan cycle during I/O

refresh.

• The BASIC program will be paused until c om plet ion of the transfer.

Refer to the 5-3-122 PLC_READ and 5-3-124 PLC_WRITE for more details on the commands.

PLC_READ Command

The following BASIC program will read 50 words from the CPU Unit’s DM 0 to DM 49 to VR variables 100 to 149 in one-word format. A PC u ser program is not required.

BASIC program:

PLC_READ(PLC_DM,0,50,100)

PLC_WRITE Command

The following BASIC program will write 50 words from the MC Unit’s VR variables 0 to 99 from the CPU Unit’s EM 200 to EM 299 to in one-word format. A PC user program is not required.

BASIC program:

PLC_WRITE(PLC_EM,200,100,0)

Details of the Data Exchange Methods Section 3-3

Restrictions for CS1-series PCs

When the MC Unit is used with a CS1-series PC, there are some addressing restrictions for the data transfer using the PLC_READ and PLC_WRITE commands. Note that the other two methods do not have these restrictions and should be used for accessing data outside this range.

The addresses shown in the following table can be specified for PLC_REA D and PLC_WRITE.

Area CS1 address Designation method

PC_area First word address

DM area D00000 to D06655 PLC_DM 0 to 6655 CIO area CIO 0000 to CIO 0511 PLC_IR 0 to 511 Data Link area (in

CIO area) Holding Bit area,

part 1 Holding Bit area,

part 2 Timer area T0000 to T0511 PLC_TC 0 to 511 EM area, bank 0 E0_00000 to E0_06143 PLC_EM 0 to 6143

CIO 1000 to CIO 1063 PLC_LR 0 to 63

H000 to H099 PLC_HR 0 to 99

H100 to H127 (except H101)

PLC_AR 0 to 27

SECTION 4

Multitasking BASIC Programming

This section gives an overview of the fundamentals of multitasking BASIC programs and the methods by which programs are managed for the MC Unit.

4-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

4-2 BASIC Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

4-2-1 Axis, System and Task Statements . . . . . . . . . . . . . . . . . . . . . . . . . . 58

4-2-2 Data Structures and V ariables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4-2-3 Mathematical Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

4-3 Motion Control Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

4-4 Command Line Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

4-5 BASIC Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

4-5-1 Managing Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

4-5-2 Program Compilation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

4-5-3 Program Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

4-6 Error Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Overview Section 4-1

4-1 O verview

The C200HW-MC402 Motion Control Unit features a multitasking version of the BASIC programming language. The motion control language is largely based upon a tokenised BASIC and the programs are compiled into th e tokenised form prior to their execution.

Multitasking is simple to set up and use and allows very complex machines to be programmed. Multitasking gives the MC Unit a significant advantage over equivalent single task systems. It allows modular applications where the logically connected processes can be grouped together in the same task program, thus simplifying the code architecture and design.

The MC Unit can hold up to 14 programs if mem ory s ize permits. A total of 5 tasks can be allocated to the programs. The execution of the programs is user controlled using BASIC.

The BASIC commands, functions and parameters presented here can be found in SECTION 5 BASIC Motion Control Programming Language.

4-2 BASIC Programming

The BASIC language consists among others of commands, functions and parameters. These BASIC statements are the building blocks provided to control the MC Unit operation.

Commands Commands are words recognized by the processor that perform a certain

action but do not return a value. For example, PRINT is a recognized word that will cause the value of the following functions or variables to be printed on a certain output device.

Functions Functions are words recognized by the processor that perform a certain

action and return a value related to that action. For example, ABS will take the value of its parameter and return the absolute value of it to be u sed by some other function or command. For example ABS(-1) will return the value 1, which can be used by the PRINT command, for example, to generate a string to be output to a certain device.

Parameters Parameters are words recognized by the processor that contain a certain

value. This value can be read and, if not read only, written. Parameters are used to determine and monitor the behavior of the system. For example, ACCEL determines the acceleration rate of a movement for a certain axis.

4-2-1 Axis, System and Task Statements

The commands, functions an d parameters apply either to (one of) the axes, the tasks running or the general system.

Axis Statements The motion control commands and the axis parameters apply to one or more

axes. Axis parameters determine and monitor how an axis reacts on commands given and how it reacts to the outside world. Every axis has a set of parameters, so that all axes can work independently of each other. The motion control commands are able to control one or more of the axes simultaneously, while every axis has its own behavior.

The axis parameters are reset to their default values either when the power to the MC Unit is turned ON, the MC Unit is restarted from Motion Perfect, the MC Unit is restarted using the Restar t Bit in the CPU Unit or the INITIALISE command is executed.

The commands and param eters work on some base axis or group of axes, specified by the BASE command. The BASE command is used to change this base axis group and every task has its own group which can be changed at any time. The default base axis is 0.

BASIC Programming Section 4-2

Individual axis dependent commands or parameters can also be programmed to work on a temporary base axis by including the AXIS function as a modifier in the axis dependent c ommand. A temporary base axis is effective only for the command or parameter after which AXIS appears.

Task Statements The task parameters apply to a sin gle task. The task parameters monitor the

task for example for error handling. The PROC modifier allows the user to access a parameter of a certain task. Without PROC the current task is assumed. The BASE command (see above) is task specific and can be used with the PROC modifier.

System Statements These statements govern the overall system features, which are basically all

statements which do not belong to the first two groups.

4-2-2 Data Structures and Variables

BASIC programs can store numerical data in various types of variables. Some variables have predefined functions, such as the axis parameters and system parameters; other variables are available for the programmer to define as required in programming. The MC Unit’s Table, global and local variables are explained in this section. Furthermore also the use of labels will be specified.

Table

The Table is an array structure that contains a series of numbers. These numbers are used for instance to specify positions in the profile for a CAM or CAMBOX command. They can also be used to store data for later use, for example to store the parameters used to define a workpiece to be processed.

The Table is common to all tasks o n th e MC Un it , i.e., the values written to th e Table f rom one task can be read from ot her tasks. The Table is backed up by a battery and will ma intain it s content s whe n power is tur ned OFF.

Table values can be wr itten and read using the TABLE command. The maximum length of the array is 16000 elements, from TA BLE (0) to TABLE(15999). The Table array is initialized up to the highest defined element.

Global Variables

!Caution

The global va ria bles, also called VR variables, are comm on to all ta sks o n the MC Unit. This means that if a program running on task 2 sets VR(25) to a certain value, then any other program running on a different task can read that same value from VR(25). This is very useful for synchronizing two or more tasks, but care must be taken to avoid more than one program wr iting to the same variable at the same time. The controller has 251 global variables, VR(0) to VR(250). The variables are read and written using the VR command. The VR variables maintain their values when power is turne d OFF to the M C Unit. They are stored in RAM backed up by battery in the MC Unit.

If the voltag e of t he ba ckup batt ery drops, Table and glob al data will be l ost. This can happen when the power to the MC Unit is turned OF F for a long period of time. Th e user should be very aware of t his an d s hou ld take the following precautions:

• Initialize variables from a program at power up as much as possible.

• Store dynamic application data, which can not be defined in programs, in the PC Unit’s memory as much as possible.

• Update the data from the PC Unit at each power up before operation.

The Low Batter y f lag w ill tur n ON when the voltage of t he backup bat tery has dropped. Also the BATTERY_LOW system parameter will become TRUE. For detailed information , refer to 3-1-2 Overview of IR/CIO Area Allocations and 5-3-28 BATTERY_LOW.

BASIC Programming Section 4-2

Local Variables

Named variables or local variables can be de clared in programming and are local to the task. This means that two or more programs running on different tasks can use the same variable name, but their values can be different. Local variables cannot be read from any task except for the one in which they are declared. Local variables are always cleared when a program is st arted. The local variables can be cleared by using either the CLEAR or the RESET command. Undefined local variables will retur n zero. Local variables cannot be declared on the command line.

A maximum of 255 local variables can be declared. Only the first 16 characters of the name are significant.

Labels

BASIC programs are normally executed in descending order through the lines. Labels can be used to alter this execution flow using the BA SIC commands GOTO and GOSUB. To define a label it must appear as the first statement on a line and it must be end ed by a colon (:). Labels c an be character strings of any length, but only the first 15 characters are significant.

Using Variables and Labels

Each task has its own local labels and local variables. For example, consider the two programs shown below:

start:

FOR a = 1 to 100

MOVE(a)

WAIT IDLE NEXT a GOTO start

start:

a=0 REPEAT

a = a + 1

PRINT a UNTIL a = 300 GOTO start

These two programs when run simultaneously in different tasks and have their own version of variable “a” and label “start”. Note that undefined local variables will also return zero and not generate an error message.

If you need to hold data in common between two or more programs, VR variables should be used, or alter natively, if a large amount of data is to be held, the Table can be used.

To m ake a program more readable when using a VR variable, a named local variable can be used as a constant in the VR variable. The constant, however, must be declared in each program using the variable. In the example below,

VR(3) is used to hold a length parameter.

start:

GOSUB initial VR(length) = x

...Body of program

initial:

length = 3 RETURN

start:

GOSUB initial MOVE(VR(length)) PRINT VR(length)

...Body of program

initial:

length = 3 RETURN

4-2-3 Mathematical Specifications

Number format The MC Unit ha s two main formats for numeric values: single pre cision float-

ing point and single precision integer.

Motion Control Application Section 4-3

The single precision floating point format is internally a 32 bit value. It has an 8 bit exponent field, a sig n bi t and 23 bit fraction field with an i mplicit 1 as the 24th bit. Floating point numbers have a valid range of to

3.4± 10

⋅

5.9± 10

Integers are essentially floating point numbers with a zero exponent. This implies that the integers are 24 bits wide. The integer range is therefore given from -16777216 to 16777215. Numeric values outside this range will be floating point.

39–

⋅

!WARNING

All mathematical calculations are done in floating point format. This implies that for calculations of/with larger values the results may have limited accuracy. The user should be aware of this when developing the motion control application.

Positioning For positioning, the Unit will round up if the fractional encod er edge distance

calculated exceeds 0.9. Otherwise the fractional value will be rounded down.

Floating point comparison The comparison functions considers small difference between values as

equal to avoid unexpected comparison results. Therefore any two values for which the difference is less than are considered equal.

1.19 10

6–

⋅

Precedence The precedence of the operators is given below:

Unary Minus, NOT ^ / * MOD + = <> > >= <= < AND OR XOR Left to Right

The best way to ensure the precedence of various operators is through the use of parentheses.

4-3 Moti on Control Application

Initialisation

For setting up a motion application with the MC Unit, the following parameters need to be considered.

Parameter Description

WDOG The WDOG parameter contai ns the software switch used to con-

trol the enable rel ay contact, whi ch enables all drivers.

SERVO The SERV O parameter determines whether the base axis runs

under servo control (ON) or open loop (OFF). When in open loop the output speed reference voltage is determined by the DAC parameter.

DAC The DAC paramet er contains the voltage value which is applied

directly to the Servo Driver when the base axis is in open loop.

P_GAIN The P_GAIN parameter contains the proportional gain for the

axis. I_GAIN The I_GAIN parameter con tai ns the integral gain for the axis. D_GAIN The D_GAIN parameter conta ins the derivative gain for the axis . VFF_GAIN The VFF_GAIN par am eter contains the speed f eed forward gain

for the axis. OV_GAIN The OV_GAIN parameter contains the output speed gai n for the

axis.

Motion Control Application Section 4-3

In the following example a simple motion application including ini tialisation for a single axis is shown.

init:

BASE(0) P_GAIN=.5: I_GAIN=0: D_GAIN=0 VFF_GAIN=0: OV_GAIN=0 ACCEL=1000 DECEL=1000 SPEED=500 WDOG=ON SERVO=ON

loop:

MOVE(500) WAIT IDLE WA(250) MOVE(-500) WAIT IDLE WA(250) GOTO loop

Move Execution

Every task on the MC Unit has a set of buffers that holds the information from the motion commands given. The motion com mands include MOVE, MOVEABS, MOVEMODIFY, MOVECIRC, MHELICAL, FORWARD, REVERSE, MOVELINK, CONNECT, CAM and CA MBOX. Refer to 5-2-1 Motion Control Commands for details on specific commands.

Motion Generator The motion generator, a background process that prepares and runs moves,

has a set of two motion buffers for each axis. One buffer holds the Actual Move, which is the move currently executing on the axis. The MTYPE axis parameter contains the identity number of this move. For example the MTYPE will have value 10 if currently the FORWARD move is executed. The other buffer holds the Next Move, which is executed after the Actual Move has finished. The NTYPE axis parameter contains the identity number of this next move.

The BASIC programs are separate from the motion generator program, which controls moves for the axes. The motion generator h as separat e func tions for each axis, so each axis is capable of being programmed w ith its own axis parameters (for example speed, acceleration) and moving independently and simultaneously or they can be linked together using special commands.

When a move command is processed, the motion generator waits until the move buffers for the required axes are empty and then loads these buffers with the move information.

Note If the task buffers are full, the program execution is paused until buffers are

available again. This also applies to the command line task and no commands can be given for that period. Motion Perfect will disconnect in such a

Motion Control Application Section 4-3

case. The PMOVE task parameter will be set t o TRUE when the task buffers are full and will be reset to FALS E when the task buffers are available again.

Task buffers

Task 1

MOVECI RC(..) AXIS (0) FORWAR D AXIS(1)

Task 2 Task 3 Task 4

MOVE(. .) AXIS(0)

Task 5

Move buffers

Axis 0 1 2 .. 7

Next Move (NTYPE) MOVE (1) FORWARD (10) IDLE (0) .. IDLE (0) Actual Move (MTYPE) MOVECIRC (4) MOVECIRC (4) IDLE (0) .. IDLE (0)

Sequencing On each servo interrupt every millisecond (see 4-5-3 Program Execution), the

motion generator examines the NTYPE buffers to see if any of them are available. If there are any available then it checks the task buffers to see if there is a move waiting to be loaded. If a move can be loaded, then the data for all the specified axes is loaded from the ta sk buffers into the NTYP E buffers and the corresponding task buffers are marked as idle. This process is called sequencing.

Motion Generator

Sequencing

Move Loading

Move Loading Once sequencing has been completed, the MTYPE buffers are checked to

see if any moves can be loaded. If the required MTYPE buffers are available, then the move is loaded from the NTYPE buffers to the MTYPE buffers and the NTYPE buffers are marked as idle. This process is called move loading.

If there is a valid move in the MTYPE buffers, then it is processed. When the move has been completed, the MTYPE buffers are marked as idle.

Accessing I/O

The MC Unit has three different types of I/O. These are the physical I/O, the driver I/O and the virtual I/O. The inputs and outputs are accessi ble by using the IN and OP commands in BASIC and within Motion Perfect using the I/O status window. Refer to 5-3-83 IN, 5-3-115 OP and 6-6-6 I/O St atus W indow for further details.

Motion Control Application Section 4-3

The different types of inputs are explained here.

Input type Range

(amount)

Physical 0 - 15 (16) The physical inputs are freely allocable to the dif-

ferent functions. Some of the functions are origin search, limit switches, jog inputs and so on. The MC Unit uses axis parameters to allocate a certain function to an input.

The first four inputs R0 to R3 are used as registration inputs for axis 0 to 3. These inputs can also be used for any other purpose.

The relat ed BASIC command and axi s par amete rs are

REGIST Registr ation Command DATUM_IN Selection of origin switch input FAST_JOG Selection of fast jog input FHOLD_IN Selection of feedhold input FWD_IN Selection of forward limit input FWD_JOG Selection of forward jog input REV_IN Selection of reverse limit input REV_JOG Selection of reverse jog input

Driver 16 - 19 (4) The four driver inputs nr. 16 to 19 correspond to

the four alarm inputs from the drivers of axis 0 to 3.

Virtual 20 - 31

(12)

The virtual inputs are only present inside the MC Unit and are used for computational purposes only. The virtual inputs and outputs are bi-directional. The inputs are controlled by the outputs. All functions which can be used on physical inputs can also by these used for these virtu al inputs.

Description

The different types of outputs are explained here.

Output

type

Physical 8 - 15 (8) The physical outputs are freely allocable to any

Driver 16 (1) The single driver output is the driver alarm reset for

Virtual 20 - 31

Range

(amount)

(12)

Description

user defined functions. An output can be set and reset depending on the current axis position by using the command PSWITCH.

Note that the physical output connections O0 to O7 are corresponding to the internal outputs 8 to 15.

all drivers. The v irtual outputs are onl y present i nside the M C

Unit and are used for computational purposes only. The virtual inputs and outputs are bi-directional. The inputs are controlled by the outputs.

Command Line Interface Section 4-4

4-4 Command Line Inter face

The Command Line Interface provides a direct interface for the user to give commands and access parameters on the system. There are two options to use the command line interface:

• Use the Terminal Window within Motion Perfect and the MC Unit connected. See SECTION 6 Programming Environment for details.

• Use a VT100 Terminal to co nnect to the MC Unit. This is s imilar to using the Terminal Window within Motion Perfect when the MC Unit is disconnected.

The MC Unit puts the last 10 commands given on the command line in a buffer. Pressing the Up and Down Cur sor Key will cycle through the buffer to execute the command again.

4-5 BASIC Programs

The MC Unit can store up to 14 programs in memory, provided the capacity of memory is not exceeded. The MC Unit suppor ts simple file-handling instruc tions for managing these program files rather like the DOS filing system on a computer.

The Motion Perfect software package is used to store and load programs to and from a computer for archiving, printing and editing. It also has several controller monitor and debugging facilities. Refer to SECTION 6 Programming Environment for details on Motion P erf ect .

4-5-1 Managing Programs

Motion Perfect automatically creates a project which contains the programs to be used for an application. The programs of the project are kept both in the controller as on the computer. Whenever a program is created or edited, Motion Perfect edits both copies in order to always have an accurate backup outside the controller at any time. Motion Perfect checks that the two versions of the project are ide ntical using a cyclic redundancy check. If the two dif fer, Motion Perf ect allows copyi ng the MC Unit version to disk or vice versa.

Programs on the computer are stored in ASCII text files. They may therefore be printed, edited and copied using a simple text editor. The source programs are held in the MC Unit in a tokenised form and as a result, the sizes of the programs will be less on the MC Unit com pared t o the s am e program s on t he computer.

Stor ing Programs Programs on the MC Unit are held in battery-backed RAM or flash EPROM

when power is turned OFF. At start-up before operation either the programs present in RAM are us ed or the program s in flas h EPROM w ill be cop ied first to RAM. These two options are selectable by using the POWER_UP system parameter.

The current programs in RAM can be copied to flash EPROM by using t he EPROM command. Both the POWER_UP parameter as the EPROM command are also provided by Motion Perfect with buttons on the control panel and commands under the Program and Controller menus.

Note After development of the application programs, be sure to save the data in

flash memory within the MC Unit. The 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 .

BASIC Programs Section 4-5

Program Commands The M C Uni t has a number of BASIC comm ands to al low cr eation, m anipu la-

tion and deletion of programs. Motion Perfect provides buttons which also perform these operations.

Command Function

SELECT Selects a program for editing, deleting etc. NEW Deletes the current selected program, a specified

program or all programs. DIR Lists the directory of all programs. COPY Duplicates a specified program. RENAME Renames a specified program. DEL Deletes the current selected program or a specified

program. LIST Lists the current selected program or a specified

program.

4-5-2 Program C omp ila tio n

The MC Unit system compiles programs automatically when required. It is not normally required to force the MC Unit to compile programs, but programs can be compiled under the Program Menu in Motion Perfect.

The MC Unit automatically compiles programs at the following times.

• The selected program is compiled before it is executed if it has been edited.

• The selected program is compiled if it has been edited before switching the selected program to another program.

• The selected program is compiled by using the COMPILE command.

The program syntax and structure are checked during compilation. If compilation is unsuccessful, a message will be p rovided and no program cod e will be generated. A red cross will appear in the Motion Perfect directory box.

Programs cannot be run whe n comp ilation errors o ccur. The errors should be corrected and the program recompiled.

The compilation process also includes the following:

• Removing comments.

• Compiling numbers into the internal processor format.

• Converting expressions into reverse Polish Notation format for execution.

• Precalculating variable locations.

• Calculating and embedding loop structure destinations.

4-5-3 Progra m Execu tio n

The timing of the execution for the different tasks and the refreshing of the I/O of the Unit revolves around the servo period of the system. For the MC Unit the servo period is set to 1 m s. The servo period is not synchronised with the PC scan time.

I/O Refresh The I/O st atus of the MC Unit is refresh ed at the beginning of every ser vo

cycle.

• The captured status of the digital inputs is transferred to the IN system input variable. Note that this is the status captured in the previous ser vo cycle.

• The analogue outputs for the speed references are updated.

• The digital outputs are upda ted conform the s t atus of the OP sy stem out -

put variable.

• The status of the digital inputs is captured.

BASIC Programs Section 4-5

Note that no automatic processing of the I/O signals is taking place, except for registration. This implies that all actions must be programmed in the BASIC programs.

Program Tasks This servo period is split into three equal segments. These three slots are

partly taken up by respectively servo control, the background communications and the basic house keeping tasks. The rema ining period in ea ch of the time slots is available for the BASIC tasks.

The multi-tasking executive operates as follows. There are 6 tasks available for execution. Tasks 1 to 5 are user tasks, which are used to run BASIC programs simultaneously, one program p er t ask. E ach program can be al located to a specific task or priority, which implies more or less execution time (see Program Execution Priority below). It is important to know that the BASIC program execution is not synchronised with the servo cycle. The command line always uses the system task 0. This task is used for the raw terminal communications and Motion Perfect communications.

Relevant commands Motion Perfect provides several ways of executing, pausing and stopping the

programs using buttons on the control panel and the editing windows. The following commands can be given on the command line to control t he execution.

Command Function

RUN Run the current selected program or a specified pro-

gram, optionally on a specified task number.

STOP Stop the current selected program or a specified

program. HALT Stop all programs on the system PROCESS Displays all running tasks.

Setting Prog ram s to R un at Start-up

Program Exec utio n Priority

The user can explicitly allocate the task priority on which th e BASIC program is expected to run. When a user program is run without explicit task allocation, it is assigned the highest available task priority. Tasks 5 and 4 have high priority and tasks 3,2 and 1 have low priority.

Programs can be set to run automatically at different priorities when power is turned ON. If required , the computer can be left connected as an operator interface or may be removed and the programs run “stand-alone”.

Programs are set in Motion Perfect to run automatically at star t-up using the Set Power Up Mode… selection under the Program Menu. This operation sets which program to run automatically and at which priority. This can also be accomplished by the RUNTYPE parameter. The current status can be seen with the DIR command.

The programs given task no. 5 and 4 have high priority and programs given task 3, 2 and 1 have low prior ity. Task 0, which is t he com m and line task, has also low priority. When both high and low priority tasks are running , the high priority tasks are divided over two slot and the low priority task are divided over one slot. If all tasks have the same priority the tasks will be divided equally over the three slots. Tasks with the same priority will be allocated to the slots in such a way that over multiple servo period s that they will have equal execution time.

Consider the following examples:

Example 1: Tasks 1 & 2 and command line running.

Servo Cycle (n)

Servo Control House Keeping Communications Task 0 Task 1 T ask 2

Error Processing Section 4-6

The real-time executive operates in a round-robin schedule.

Example 2: Tasks 1, 2 & 3 and command line task 0 running

Servo Cycle (n) Servo Cycle (n+1)

Servo Control

Task 0 Task 1 Task 2 T ask 3 Task 0 Task 1

The real-time executive allocates the time slots to tasks 0, 1, 2 & 3 in turn.

Example 3: Tasks 1 & 4 and command line task 0 running

Servo Control

Task 4 Task 4 Task 0 Task 4 Tas k 4 T ask 1

The real-time executive invokes task 4 as a high priority task every servo cycle. The remaining tasks fit in the remaining slot in turn.

Example 4: Tasks 1, 2, 4 & 5 and command line task 0 running

Servo Control

Task 5 Task 4 Task 0 Task 5 Tas k 4 T ask 1

House Keeping

Ser vo C ycle (n) Ser vo C ycle (n+1)

House Keeping

Ser vo C ycle (n) Ser vo C ycle (n+1)

House Keeping

Comms Servo

Control

Comms Servo

Control

Comms Servo

Control

House Keeping

Comms

Servo Control

Task 5 Task 4 Task 2

The real-time executive invokes task 5 and task 4 as a high priority tasks every servo cycle. Note that the high priority tasks take up both high priority slots. The remaining tasks fit in the remaining slot in turn. If task 3 was also added to above scenario it will be executed in the third slot alongside tasks 0, 1 & 2.

4-6 Error Processing

For the safety of the application it is very impor tant that proper safety measures are taken for the different problems which may occur in the system. For safe operation at all times the user must make use of the several options to check for these errors in both the MC Unit or in the PC Unit.

It is advisable to have the master control of the application within the PC Unit, not the MC Unit. The PC Unit can monitor the status of the MC Unit and of the other Units, manage emergen cy shut-downs for the application, control the data flows from and to the MC Unit, and so on.

As for the MC Unit, the BASIC programming language provide the programmer with the freedom to i nc lude a lot of safety measures or not. This requires a sensible solution, which covers all possible behaviour of the system.

This section will present the possible errors that may occur and suggest the way to detect them. For a full description of the error handli ng refer to section

7-3 Error Handling and for the IR/CIO area description section 3-1-2 Overview of IR/CIO Area Allocations.

Servo Cycle ( n+2)

House Keeping

Comms

!Caution

The PC or MC Unit outputs may have undefined status due to deposits on or burning of the output relays, or destruction of the output transistors. As a counter-measure for such problems, external safety measures must be provided to ensure safety in the system.

Error Processing Section 4-6

BASIC Errors If a BASIC error is ge nerated during the execution of a B ASIC command in

some task, the program will be halted immediately or the user can define a specific error routine structur e to stop the system. The error routine can stop the driver, put the digital I/O in a safe status and notify the PC Unit of the error. Please refer to section 5-3-27 BASICERROR on the way to include an error subro u tine in a BASIC progr a m. T he BASIC error is also in dica ted in the PC’s IR/CIO area.

Motion E r ror In case a motion error occurs, the MC Unit will disable the control of the driver

automatically. The user has the ability to decide for each axis which motion errors will disable the driver by using the ERRORMASK parame ter (see section 5-3-61 ERRORMASK). After detection of the motion error the user is free to program the necessar y counter measures for the other axes and t he complete system. The PC’s IR/CIO area also indicates the axis on which the error has occurred and the type of error.

PC Interface Error In c ase of an error in the P C transfer using IORD and IOWR instruction, t he

PC Interfac e E r ro r fl ag ( n+7 bit 07) in t he I R / C IO ar e a will be se t . Th is bit can be checked in the PC program to deal with any unforeseen event for PC transfers.

Please refer to Appendix C Programming Examples to find an example of implementing the control of the application including error checking. Example no. 12 shows a master program which is dedicated to the c ontrol of th e appl ication by running t he appropriate programs and is c ontinuously checking for any error event which may occur. This program should be set to run at startup of the MC Unit. It is strongly recommended to use this program or a similar program within every application.

SECTION 5

BASIC Motion Control Programming Language

This section de scri bes t he commands and param eters re quired for progra ming t he moti on cont rol appl icati on usi ng the MC Unit. A ll BAS IC sy stem , t ask an d axi s st atem ents th at d eterm in e the var ious asp ec ts of p rogr am execu tion a nd M C Un it operation are presented.

5-1 Notation Used in this Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

5-2 Classifications and Outlines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

5-2-1 Motion Control Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

5-2-2 I/O Commands and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

5-2-3 Loop and Conditional St ructures . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

5-2-4 Program Commands and Functions . . . . . . . . . . . . . . . . . . . . . . . . . 78

5-2-5 System Commands and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 78

5-2-6 Mathematical and Logical Functions . . . . . . . . . . . . . . . . . . . . . . . . 80

5-2-7 Constants. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

5-2-8 Motion Perfect Commands, Functions and Parameters . . . . . . . . . . 81

5-2-9 Axis Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

5-2-10 Task Commands and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

5-2-11 PC Data Exchange Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

5-3 Command, function and parameter description . . . . . . . . . . . . . . . . . . . . . . . 84

5-3-1 Multiply: * . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

5-3-2 Power: ^ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

5-3-3 Add: +. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

5-3-4 Subtract: –. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

5-3-5 Divide: / . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

5-3-6 Is Less Than: < . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

5-3-7 Is Less Than Or Equal To: <=. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

5-3-8 Is Not Equal To: <> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

5-3-9 Is Equal To: = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

5-3-10 Is Greater Than: >. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

5-3-11 Is Greater Than or Equal To: >=. . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

5-3-12 Statement separator: “:” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

5-3-13 Comment field: ‘. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

5-3-14 ABS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

5-3-15 ACCEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

5-3-16 ACOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

5-3-17 ADDAX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

5-3-18 AND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

5-3-19 ASIN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

5-3-20 ATAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

5-3-21 ATAN2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

5-3-22 ATYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

5-3-23 AUTORUN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

5-3-24 AXIS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

5-3-25 AXISSTATUS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

5-3-26 BASE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

5-3-27 BASICERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

5-3-28 BATTERY_LOW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

5-3-29 CAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

5-3-30 CAMBOX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

5-3-31 CANCEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

5-3-32 CHECKSUM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

5-3-33 CLEAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

5-3-34 CLEAR_BIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

5-3-35 CLOSE_WIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

5-3-36 COMMSERROR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

5-3-37 COMPILE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

5-3-38 CONNECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

5-3-39 CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

5-3-40 COPY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

5-3-41 COS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

5-3-42 CREEP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

5-3-43 D_GAIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

5-3-44 DAC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

5-3-45 DAC_OUT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

5-3-46 DA TUM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

5-3-47 DA TUM_IN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

5-3-48 DECEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

5-3-49 DEFPOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

5-3-50 DEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

5-3-51 DEMAND_EDGES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

5-3-52 DIR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

5-3-53 DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

5-3-54 DPOS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

5-3-55 EDIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

5-3-56 ENCODER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

5-3-57 ENDMOVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

5-3-58 EPROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

5-3-59 ERROR_AXIS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

5-3-60 ERROR_LINE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

5-3-61 ERRORMASK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

5-3-62 EXP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

5-3-63 FALSE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

5-3-64 FAST_JOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

5-3-65 FE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

5-3-66 FE_LIMIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

5-3-67 FE_RANGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

5-3-68 FHOLD_IN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

5-3-69 FHSPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

5-3-70 FOR TO STEP NEXT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

5-3-71 FORWARD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

5-3-72 FRAC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

5-3-73 FREE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

5-3-74 FS_LIMIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

5-3-75 FWD_IN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

5-3-76 FWD_JOG. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

5-3-77 GET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

5-3-78 GOSUB RETURN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

5-3-79 GOTO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

5-3-80 HAL T. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

5-3-81 I_GAIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

5-3-82 IF THEN ELSE ENDIF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

5-3-83 IN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

5-3-84 INITIALISE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

5-3-85 INPUT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

5-3-86 INT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

5-3-87 JOGSPEED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

5-3-88 KEY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

5-3-89 LAST_AXIS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

5-3-90 LINPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

5-3-91 LIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

5-3-92 LN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

5-3-93 LOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

5-3-94 MARK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

5-3-95 MERGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

5-3-96 MHELICAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

5-3-97 MOD. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

5-3-98 MOTION_ERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

5-3-99 MOVE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

5-3-100 MOVEABS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

5-3-101 MOVECIRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

5-3-102 MOVELINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

5-3-103 MOVEMODIFY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

5-3-104 MPOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

5-3-105 MSPEED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

5-3-106 MTYPE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

5-3-107 NEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

5-3-108 NIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

5-3-109 NOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

5-3-110 NTYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

5-3-111 OFF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

5-3-112 OFFPOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

5-3-113 ON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

5-3-114 ON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

5-3-115 OP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

5-3-116 OPEN_WIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

5-3-117 OR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

5-3-118 OUTLIMIT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

5-3-119 OV_GAIN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

5-3-120 P_GAIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

5-3-121 PI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

5-3-122 PLC_READ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

5-3-123 PLC_TYPE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

5-3-124 PLC_WRITE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

5-3-125 PMOVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

5-3-126 POWER_UP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

5-3-127 PP_STEP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

5-3-128 PRINT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

5-3-129 PROC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

5-3-130 PROCESS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

5-3-131 PROCNUMBER. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

5-3-132 PSWITCH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

5-3-133 RAPIDSTOP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

5-3-134 READ_BIT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

5-3-135 REG_POS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

5-3-136 REGIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

5-3-137 REMAIN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

5-3-138 RENAME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

5-3-139 REP_DIST. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

5-3-140 REP_OPTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

5-3-141 REPEAT UNTIL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

5-3-142 RESET. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

5-3-143 REV_IN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

5-3-144 REV_JOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

5-3-145 REVERSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

5-3-146 RS_LIMIT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

5-3-147 RUN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

5-3-148 RUN_ERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

5-3-149 RUNTYPE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

5-3-150 SCOPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

5-3-151 SCOPE_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

5-3-152 SELECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

5-3-153 SERV O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

5-3-154 SET_BIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

5-3-155 SETCOM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

5-3-156 SGN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

5-3-157 SIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

5-3-158 SPEED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

5-3-159 SQR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

5-3-160 SRAMP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

5-3-161 STEPLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

5-3-162 STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

5-3-163 TABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

5-3-164 TAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

5-3-165 TICKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

5-3-166 TRIGGER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

5-3-167 TROFF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

5-3-168 TRON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

5-3-169 TRUE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

5-3-170 TSIZE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

5-3-171 UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

5-3-172 VERSION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

5-3-173 VFF_GAIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

5-3-174 VP_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

5-3-175 VR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

5-3-176 WA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

5-3-177 WAIT IDLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

5-3-178 WAIT LOADED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

5-3-179 WAIT UNTIL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

5-3-180 WDOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

5-3-181 WHILE WEND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

5-3-182 XOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

Notation Used in this Section Section 5-1

5-1 Notation Used in this Section

This section describes the notation used in describing command s, functions, and parameters. The section n ame gives the nam e of t he com m and, f unction or parameter. The descriptions within the section are divided into the following parts. Individual par ts are omitted when they are not applicable.

Type: The classification is given for command, function or parameter.

Syntax: Standard BASI C nota tion is used to show command or function syntax.

Text that must be typed exactly as given is in typewriter font. The names of arguments are given in italic font with underscores_f or_s pac es.

Replace these with the actual arguments. Items in square brackets “[ ]” in the syntax notation are optional and can be

omitted. Repetition is denoted by “{ }” brackets. Items enclosed in these brackets are repeated zero or more times.

Alternative: Any alternative form of a command, function or parameter is given.

Description: This field descri bes the pur pose an d application of the command, func tion or

parameter.

Precautions: Specific precautions related to programming are provided.

Arguments: The name of each a rgume nt is given in bold i talic font followed by a descr ip-

tion of the argument.

See also: In this field the related commands, functions and parameters are given.

Example: One or more application examples is given for most commands, functions,

and parameters.

5-2 Classifications and Outlines

The table below describes the groups into which commands, functions, and parameters are divided.

Groups

Motion Control Commands I/O Commands and Functions Loop and Conditional Structures Program Commands and Funct ions System Commands and Parameters Mathematical Funct ions Constants Motion Perfect Commands and Parameters Axis Parameters Task Functions and Param eters PC Data Exchange Commands

The rest of the tables in the following sections outline the commands, functions and parameters used for the MC Unit.

Classifications and Outlines Section 5-2

5-2-1 Motion Control Commands

The table below outlines the motion control commands. Refer to the specified pages for details.

Name Syntax Description Page

ADDAX ADDAX(axis) ADDAX sets a link to a superimposed axi s. All

BASE BASE(axis_1[,axis_2[, .... ]])

BA(axis_1[,axis_2[, .... ]])

CAM CAM(start_point,end_point,

table_multiplier,distance)

CAMBOX CAMBOX(start_point,end_point,

table_multiplier,link_distance, link_axis[,link_option

[,link_position]])

CANCEL CANCEL[(1)]

CA[(1)]

CONNECT CONNECT(ratio,driving_axis)

CO(ratio,driving_axis)

DATUM DATUM(sequence) DATUM performs one of 7 origin search sequences

DEFPOS DEFPOS(pos_1[,pos_2[, .... ]])

DP(pos_1[,pos_2[, .... ]])

FORWARD FORWARD

MHELICAL MHELICAL(end_1,end_2,

centre_1,centre_2,direction, distance_3) MH(end_1,end_2,centre_1, centre_2,direction,distance_3)

MOVE MOVE(dist_1[,dist_2[, .... ]])

MO(dist_1[,dist_2[, .... ]])

MOVEABS MOVEABS(pos_1[,pos_2[, .... ]])

MA(pos_1[,pos_2[, .... ]])

MOVECIRC MOVECIRC(end_1,end_2,

centre_1,centre_2,direction) MC(end_1,end_2,centre_1,

centre_2,direction)

MOVELINK MOVELINK(distance,

link_distance,link_acceleration, link_deceleration,link_axis

[,link_option[,link_position]]) ML(distance,link_distance,

link_acceration,link_deceleration, link_axis[,link_option

[,link_position]])

MOVEMODIFY MOVEMODIFY(position)

MM(position)

demand position movements for the superimposed axis will be added to any moves that are currently being executed.

BASE is used to set the base axis to the axis specified with axis.

CAM moves an axis acc ording to values of a movement profile stored in the Table array.

CAMBOX mo ves an axis according to values of a movement profile stored in the Table array. The motion is linked to the measured motion of another axis to form a continuously variab le software gearbox.

CANCEL cancels the move on an axis. 95

CONNECT connects the demand position of an axis to the measured movements of the axis specified for driving_axis to produce an electronic gearbox.

to position an axis t o an absolute position or DATUM reset following errors.

DEFPOS defines the cur rent position as a new absolute position.

FORWARD m oves an axis continuously for ward at the speed set in the SPEED parameter.

MHELICAL performs an interpolate d helical mo ve by moving 2 orthogonal ax es in a circular arc with a simultaneous l inear move on a third ax is.

MOVE moves one or more axes at the demand speed, acceleration and deceleration to the position specified as increment from the current posit ion.

MOVEABS moves one or more axes at the demand speed, acceleration and deceleration to the position specified a s absol ute pos iti on, i.e ., in re fer enc e to t he origin.

MOVECIRC interpolates 2 orthogonal axes in a circular arc.

MOVELINK creates a linear move on the base axis linked via a software gearbox to the measured position of a link axis.

MOVEMODIFY chang es t he abs olute e nd posit ion of the current single-axis linear mov e (MOVE or MOVEABS).

100

101

108

117

119

120

121

122

125

Classifications and Outlines Section 5-2

Name Syntax Description Page

RAPIDSTOP RAPIDSTOP

REVERSE REVERSE REVERSE moves an axis continuously in reverse at

RAPIDSTOP cancels the current move on all axes. 137

142

the speed set in the SPEED parameter.

5-2-2 I/O Commands and Functions

The table below outlines the I/O commands and f unctions. Refer to the specified pages for details.

Name Syntax Description Page

GET GET#n, variable GET waits for the arrival of a singl e character and

IN IN(input_number

[,final_input_number])

INPUT INPUT#n, vari able{, .. .. .} INPUT waits for a string to be received and assigns

KEY KEY#n KEY returns TRUE/FALSE depending on character

LINPUT LINPUT#n, vr_variable LINPUT waits for a string and puts it in VR variables. 115 OP OP(output_number,value)

OP(binary_pattern) OP

PRINT PRINT[#n], expression{, .... }

?[#n], expression{, .... }

PSWITCH PSWITCH(switch,enable[,axis,

output_number,output_state, set_position,reset_position])

REGIST REGIST(mode) REGIST captures an axis position when a registra-

SETCOM SETCOM(baud_rate,data_bits,

stop_bits,parity[,port_number [,XON/XOFF_switch]])

assigns the ASCII code of the character to variable. IN returns the value of di gital inputs. 112

the nu m eric a l value to variable.

received.

OP sets one or more outputs or re turns t he state of the fi r st 24 output s.

PRINT outputs a series of characters to a serial port. 134

PSWITCH turns ON an output when a predefined position is reac hed, a nd t urns OFF t he output when a second position is reached.

tion input or the Z mark on the encoder is det ected. SETCOM sets the serial communi cations. 146

109

113

114

128

136

138

5-2-3 Loop and Conditional Structures

The table below outlines the loop and conditional structure comm ands. Refer to the specified pages for details.

Name Syntax Description Page

FOR TO STEP NEXT

GOSUB RETURN GOSUB label ... RETURN GOSUB jumps to a subroutine at the li ne just after

GOTO GOTO label GOT O jum ps to t he line containing the label. 110 IF THEN ELSE

ENDIF

ON GOSUB or GOTO

FOR variable= startTO end [STEP increment]

<commands> NEXT variable

IF condition THEN

[ELSE

<commands>]

ENDIF IF condition THEN <commands>

ON expression GOSUB label{, label} ON expression GOTO label{,label}

FOR ... NEXT loop allows a program segment to be repeated with increasing/decreasing variable.

label. The program execut ion returns to the next instruction after a RETURN is given.

IF controls the flo w of t he program base on the results of the condition.

ON GOSUB or ON GOTO enables a conditional jump to one of several labels.

107

110

111

127

Classifications and Outlines Section 5-2

Name Syntax Description Page

REPEAT UNTIL REPEAT

UNTIL condition

WHIL E WEND WHILE condition

WEND

The REPEAT ... UNTIL loop allo ws the program segment to be repeated until the condition becomes TRUE.

The WHILE ... WEND loop allows the program segment to be repeated until the condition becomes FALSE.

141

155

5-2-4 Program Commands and Functions

The table below outlines commands used for general programming purposes. Refer to the specified pages for details.

Name Syntax Description Page

Statement separator <statement>:<statement> The statement separator enables more stat em ents

Comment field ‘ [<Comment field>] The single quot e enables a line not to be executed. 87 AUTORUN AUTORUN A UTORUN starts all the programs that have been

COMPILE COMPILE COMPILE compiles the current program. 97 COPY COPY “program_name”

“new_program_name”

DEL DEL [“program_name”]

RM [“program_name”]

DIR DIR DIR displays a list of the programs held in memory,

EDIT EDIT[line_number]

ED[line_number]

EPROM EPROM EPROM stores the BASIC programs in the MC Unit

FREE FREE FREE returns the amount of avai lable memory. 109 HALT HALT HALT stops execution of all programs currently run-

LIST LIST LIST prints the lines of a program. 115 NEW NEW NEW deletes all the program lines i n MC Unit mem-

PROCESS PROCESS PROCESS returns the running status and task num-

RENAME RENAME “old_program_name“

“new_program_name“

RUN RUN [“program_name“

[,task_number]]

RUNTYPE RUNTYPE “program_name“,

auto_run[,step_number] SELECT SELECT “program_name“ SELECT specif ies the current program. 145 STEPLINE STEPLINE [“program_name”

[, task_number]] STOP STOP [“program_name”

[, task_number] TROFF TROFF [“program_name”] TROFF suspends a trace at the current line and

TRON TRON TRON creates a breakpoi nt in a program. 150

on one line.

set to run at start-up.

COPY copies an existing program in memory to a new program.

DEL deletes a program from memo ry. 102

their size and their RUNTYPE. EDIT allows a progr am to be modifi ed using a VT10 0

Terminal.

in the flash EPROM.

ning.

ory.

ber for each current task. RENAME changes the nam e of a program in the MC

Unit directory. RUN ex ecutes a program. 142

RUNTYPE determines if a pr ogram i s run at start-up, and which task it is to run on.

STEPLINE executes a single line in a program. 148

STOP halts program execution. 148

resumes normal program execution.

103

104

111

126

136

140

143

150

5-2-5 System Commands and Parameters

The table below outlines the system com ma nds and parameters. Refer to the specified pages for details.

Classifications and Outlines Section 5-2

Name Syntax Description Page

AXIS AXIS(axis_number) AXIS sets the axis for a command, axis parameter

read, or assignment to a particular axis.

BASICERROR BASICERROR Used to run a routine when an error occurs in a a

BASIC command. BATTERY_LOW BATTERY_LOW BATTERY_LOW returns the status of the battery. 93 CHECKSUM CHECKSUM CHECKSUM contains the checksum for the RAM. 96 CLEAR CLEAR CLEAR clears all global variables and the local vari-

CLEAR_BIT CLEAR_BIT(bit_number,

vr_number)

COMMSERROR COMMSERROR COMMSERROR contains all th e comm unications

CONTROL CONTROL CONTROL contains the type of MC Unit in the sys-

DISPLAY DISPLAY DISPLAY contains a code indicating the application

ERROR_AXIS ERROR_AXIS ERROR_AXIS contains t he n umber of the axi s whic h

INITIALISE INITIALISE INITIALISE set all axis paramet ers to their defaul t

LAST_AXIS LAST_AXIS LAST_AXIS contains the num ber of the last axis pro-

LOCK LOCK(code)

UNLOCK(code)

MOTION_ERROR MOTION_ERROR MOTION_ERROR contains an error fl ag for axis

NIO NIO NIO contains the number of inputs and outputs con-

PLC_TYPE PLC_TYPE PLC_TYPE contains the PC CPU Unit model that the

POWER_UP POWER_UP POWER_UP contains the locati on of programs to be

READ_BIT READ_BIT(bit_number,

vr_number)

RESET RESET RESET resets all local variables on a task. 141 SET_BIT SET_BIT(bit_number,

vr_number)

TABLE TABLE(address, value{, value})

TABLE(address)

TSIZE TSIZE TSIZE returns the size of the currently defined table. 151 VERSION VERSION VERSION returns the version number of the BASIC

VR VR(expression) VR calls the value of or assigns a value to a global

WA WA(time) WA holds program ex ecution for the num ber of milli-

WAIT IDLE WAIT IDLE WAI T IDLE suspends progr am execution until the

WAIT LOADED W AI T LO ADED WAIT LOADED suspends program execution until

ables on the current task.

CLEAR_BIT clears the specif ied bit of the specified

VR variable.

errors that have occurred since the last time that it

was initia lis e d .

tem.

of the bank of 8 indicator s on the front panel of the

MC Unit.

caused the enable WDOG relay to open when a fol-

lowing error exceeded its limit.

values

cessed by the system.

LOCK prev ents the programs fro m being vi ewed or

modified.

motion errors.

nected to the syste m.

MC402-E is connected to on t he backplane.

used at start-up.

READ_BIT returns the value of the specified bit in

the specified VR variable.

SET_BIT command sets the specifi ed bit in the s pec-

ified VR variable to one.

TABLE loads and reads data to the Table array. 148

language installed in the MC Unit.

numbered variable.

seconds specifi ed.

base axis has finished execut ing its current move

and any buffered move.

the base axis has no moves buffered ahead other

than the currently executing move.

103

104

113

114

116

118

126

132

134

138

146

152

153

154

Classifications and Outlines Section 5-2

WAIT UNTIL WAIT UN TI L condition WAIT UNTIL repeatedly evaluat es the condition unt il

TRUE.

WDOG WDOG WDOG contains a software switch use d to control

the enable relay contact used to enable all drivers.

154

155

5-2-6 Mathematical and Logical Fun ctions

The table below outlines the mathematical and logical functions. Refer to the specified pages for details.

Name Syntax Description Page

Multiply: * expression_1 * expression_2 * m ultiplies an y two valid expressions. 84 Power: ^ expression_1 ^ expression_2 ^ takes the power of an y two valid expressions 84 Add: + expression_1 + expression_2 + adds any two valid e xpressions. 84 Subtract: – expression_1 - expression_2 – subtracts any two vali d expressions. 85 Divide: / expression_1 / expression_2 / divides any two valid expres sions. 85 Is Less Than: < expression_1 < expression_2 < returns TRUE if expression_1 is less than

Is Less Than Or Equal To: <=

Is Not Equal To: <> expression_1 <> expression_2 <> returns TRUE if expression_1 is not equal to

Is Equal To: = expression_1 = expression_2 = returns TRUE if expression_1 is equal to

Is Greater Than: > expression_1 > expression_2 > returns TRUE if expression_1 is greater than

Is Greater Than or Equal To: >=

ABS ABS(expression) ABS returns the absolute value of expression.87 ACOS ACOS(expression) ACOS returns the arc-cosine of expression.87 AND expression_1 AND expression_2 AND performs an AND operation on corresponding

ASIN ASIN(expression) ASIN returns the arc-sine of expression.89 ATAN ATAN(expression) ATAN returns the arc-tangent of expression.89 ATAN2 ATAN2(expression_1,

COS COS(expression) COS returns the cosine of expression.98 EXP EXP(expression) EXP returns the exponential value of expression. 105 FRAC FRAC(expression) FRAC returns the fractional part of expression. 108 INT INT(expression) INT returns the integer part of expression. 113 LN LN(expression) LN returns the natural logarithm of expression. 116 MOD expression_1 MOD expression_2 MOD returns the expression_2 modulus of an

NOT NOT(expression) NOT performs an NOT operation on corres ponding

OR expression_1 OR expression_2 OR performs an OR operation between correspond-

SGN SGN(expression) SGN returns the sign of expression. 146 SIN SIN(expression) SIN returns the sine of expression. 147 SQR SQR(expression) SQR returns the square root of expression. 147 TAN TAN(expression) TAN returns the tangent of expression. 149 XOR expression_1 XOR expression_2 XOR performs an XOR function between corre-

expression_1 <= expression_2 <= returns TR UE if expression_1 is less than or

expression_1 >= expression_2 >= returns TR UE if expression_1 is greater than or

expression_2)

expression_2, otherwise FALSE.

equal to expression_2, otherwise FALSE.

expression_2, otherwise FALSE.

equal to expression_2, otherwise FALSE.

bits of the integer parts of two valid BASIC expres-

sions.

ATAN2 returns the arc-tangent of the ratio

expression_1/ expression_2.

expression_1.

bits of the integer part of the e xpression.

ing bits of the integer parts of two valid BASIC

expressions.

sponding bits of the integer parts of two valid BASIC

expressions.

118

126

129

156

Classifications and Outlines Section 5-2

5-2-7 Constants

The table below outlines the constants. Refer to the specified pages for details.

Name Description Page

FALSE FALSE returns the numerical value 0. 106 OFF OFF returns the numerical value 0. 127 ON ON returns the numerical value 1. 127 PI PI returns the numerical value 3.1416. 130 TRUE TRUE returns the num eri cal value -1. 151

5-2-8 Motion P erfect Commands, Functions and Parameters

The table below outlines the Motion Perfect commands, functions, and parameters. Refer to the specified pages for details.

Name Syntax Description Page

SCOPE SCOPE(ON/OFF_control, period,

table_start, table_stop, P0[, P1

[, P2[, P3]]])

SCOPE_POS SCOPE_POS SCOPE_POS contains the current Table position at

TRIGGER TRIGGER TRIGGER starts a previous ly set SCOPE command. 150

SCOPE programs the system to automatically store up to 4 parameters every sample period.

which the SCOPE command is currently storing i ts first parameter.

144

145

5-2-9 Axis Parameters

The table below outlines the axis parameters. Refer to the specified pages for details.

ACCEL ACCEL contains the axis acceler ation rate. The rat e

ATYPE ATYPE contains the axi s type. 90 AXISSTATUS AXISSTATUS contains the axis status. 91 CLOSE_WIN CLOSE_WIN defines the end of the window in which

CREEP CREEP contains the creep speed on the current

D_GAIN D_GAIN contains the derivative gain for the axis. 99 DAC DAC contains a voltage appl ied directly to a servo

DAC_OUT DAC_OUT contains the voltage being applied to the

DATUM_IN DATUM_IN contains the input number to be used as

DECEL DECEL contains the axis deceleration rate in

DEMAND_EDGES DEMAND_EDGES contains the current value of the

DPOS DPOS contains the demand position, in user units,

ENCODER ENCODER contains a raw copy of the encoder or

ENDMOVE ENDMOVE holds the position of the end of the cur-

Name Description Page

is in units/s

a registration mark is expected.

base axis.

axis.

servo.

the origin input. The numbe r can be between 0 and

15.

units/s

DPOS axis parameter in edge units.

generated by the move commands.

resolver har dware register.

rent mov e in user units.

100

101

102

103

104

Classifications and Outlines Section 5-2

Name Description Page

ERRORMASK ERRORMASK contains a mask value that is ANDed

bit by bit with the AXISSTA TUS axis parameter on

every servo cycle to determine if a runtime error

should turn OFF the enable (WDOG) relay.

F AST_JO G FAST_JOG contains the input num ber to be used as

the fast jog input . The numbe r can be between 0 and

15.

FE FE is the position error in use r uni ts, and is equal to

the demand position in the DPOS axis parameter

minus the measured position in the MPOS axis

parameter.

FE_LIMIT FE_LIMIT contai ns the maximum allowable following

error in user units.

FE_RANGE FE_RANGE contains the following error report

range.

FHOLD_IN FHOLD_IN contains the input number to be used as

the feedhold input. The number can be between 0

and 31.

FHSPEED FHSPEED contains the feedhold speed. 107 FS_LIMIT FS_LIMIT contains t he absolute position of the for-

ward software limit in user units.

FWD_IN FWD_IN contains the input number to be used as a

forward limit input. The number can be between 0

and 31.

FWD_JOG FW D_JOG contains the input number to be used as

a jog forwar d input. The number can be between 0

and 31.

I_GAIN I_GAIN contains the integral gain. 111 JOGSPEED JOGSPEED sets the slow jog speed in us er units for

an axis to run at when performing a slow jog.

MARK MARK contains TRUE when a registrati on event has

occurred to indicate that the value in the REG_POS

axis parameter is valid.

MERGE MERGE is a software switch that can be used to

enable or disable the merging of consecutive moves.

MPOS MPOS is the position of the axis in user units as

measured by the encoder or resolver.

MSPEED MSPEED represents the change in the measured

position in user units/s in the last servo period.

MTYPE MTYPE contains the type of move currently being

executed.

NTYPE NTYPE contains the type of the move in the Next

Move buffer.

OFFPOS OFFPOS contains an offset tha t wil l be ap plied to the

demand position without affecti ng the move in any

other way.

OPEN_WIN OPEN_WIN defines the positions fo r the REGIST

command.

OUTLIMIT OUTLIMIT contai ns an output limit that restric ts the

voltage outp ut f rom the MC Unit.

OV_GAIN OV_GAIN contains the output velocity gain. 130 P_GAIN P_GAIN contains the proportiona l gai n. 130 PP_STEP PP_STEP contains an integer value that scale s the

incoming raw encoder count.

REG_POS REG_POS stores the position in user units at which

a registration event occurred.

105

106

109

114

116

125

127

129

130

134

138

Classifications and Outlines Section 5-2

Name Description Page

REMAIN REMAIN is the distance remaining t o the end of the

current move.

REP_DIST REP_DIST contai ns the repeat dist ance , whi ch is the

allowable range of movement for an axis before the demand position and measured position are corrected.

REP_OPTION REP_OPTION controls the application of the

REP_DIST axis parameter.

REV_IN REV_IN contains the in put number to be used as a

reverse limit input. The number can be between 0 and 31.

REV_JOG REV_JOG contains t he inpu t number t o b e used a s a

jog reverse input. The input can be between 0 and

31.

RS_LIMIT RS_LIMIT contains the absolute posi ti on of the

reverse software limit in user units.

SERVO SERVO determines whether the axi s runs under

servo control or open loop. SPEED SPEED contains the demand speed in units/s. 147 SRAMP SRAMP contains the S-curve factor. 147 UNITS UNITS contains the unit con version factor. 151 VFF_GAIN VFF_GAIN contains the speed feed forward gain. 152 VP_SPEED VP_SPEED contains the speed profile speed in user

units/s.

139

140

142

145

152

5-2-10 Task Commands and Parameters

The table below outlines the task commands and parameters. Refer to the specified pages for details.

Name Description Page

ERROR_LINE ERROR_LINE contains the number of t he line which

caused the last BASIC progr am err or. PMOVE PMOVE will contain 1 if the task buff ers are occu-

pied, and 0 if they are empty. PROC PROC allows a process parameter from a particular

process to be read or set. PROCNUMBER PROCNUMBER contains the number of the task in

which the currently selected program is running. RUN_ERROR RUN_ERROR contains the number of the last

TICKS TICKS contains the current count of the tas k clock

BASIC error that occurr ed on the specified task.

pulses.

5-2-11 PC Data Exchange Commands

The table below outlines the PC Data Exchange Commands. Refer to the specified pages for details.

Name Syntax Description Page

PLC_READ PLC_READ(PC_area,offset,

length,vr_number)

PLC_WRITE PLC_WRITE(PC_Area,offset,

length,vr_number)

PLC_READ requests a data transfer from the CPU

Unit of the PC to the MC Unit at the end of the next

CPU Unit execution cycle.

PLC_WRITE requests a data transfer from the MC

Unit to the CPU Unit of the PC at the end of the next

CPU Unit execution cycle.

105

133

136

143

150

131

132

Command, function and parameter description Section 5-3

5-3 Command, function and parameter description

This section describes the comman ds, functions and parameters which are used in the BASIC programming language.

!WARNING

5-3-1 Multiply: *

Type: Arithmetic Operation

Syntax: expression_1 * expression_2

Description: The multiply operator “*” multiplies any two valid expressions.

Arguments:

Example: factor = 10*(2.1+9)

5-3-2 Power: ^

Type: Arithmetic Operation

Syntax: expression_1 ^ expression_2

Description: The power operator “^” raises expression_1 to the power of expression_2.

It is the responsibility of the programmer to ensure that the motion functions are invoked correctly, with the correct number of parameters and values. Failure to do so may result in unexpected behavior, loss or damage to the machinery.

expression_1

Any valid BASIC expression.

expression_2

Any valid BASIC expression.

The parentheses are evaluated first, and then the result, 11.1, is multiplied by

10. Therefore, factor would contain the value 111

!WARNING

Arguments: expression_1

Example: thirtytwo = 2^5

5-3-3 Add: +

Type: Arithmetic Operation

Syntax: expression_1 + expression_2

Description: The add operator “+” adds any two valid expressions.

Arguments: expression_1

Example: result = 10+(2.1*9)

This operation uses floating poin t algorithms and may give small deviations for integer calculations.

Any valid BASIC expression.

expression_2

Any valid BASIC expression.

This sets the variable thirtytwo to 32.

Any valid BASIC expression.

expression_2

Any valid BASIC expression.

The parentheses are evaluated first, and the result, 18.9, is added to 10. Therefore, result would contain the value 28.9.

Command, function and parameter description Section 5-3

5-3-4 Subtract: –

Type: Arithmetic Operation

Syntax: expression_1 - expre ssion_2

Description: The subtract operator “–” subtracts any two valid expressions.

Arguments: expression_1

Any valid BASIC expression.

expression_2

Any valid BASIC expression.

Example: VR(0) = 10-(2.1*9)

The parentheses are evaluated first, and the result, 18.9, is subtracted from

10. Therefore, VR(0) would contain the value –8.9.

5-3-5 Divide: /

Type: Arithmetic Operation

Syntax: expression_1 / expression_2

Description: The divide operator “/” divides any two valid expressions.

Arguments: expression_1

Any valid BASIC expression.

expression_2

Any valid BASIC expression.

Example: a = 10/(2.1+9)

The parentheses are evaluated first, and then 10 is divided by the result, 11.1. Therefore, a would contain the value 0.9009

5-3-6 Is Less Th an : <

Type: Logical Operation

Syntax: expression_1 < expression_2

Description: The less than operator “<“ returns TRUE if expression_1 is less than

expression_2, otherwise it returns FALSE.

Arguments: expression_1

Any valid BASIC expression.

expression_2

Any valid BASIC expression.

Example: IF VR(1) < 10 THEN GOSUB rollup

If the value returned from VR(1) is less than 10, then subroutine ”rollup” would be executed.

5-3-7 Is Less Than Or Equal To: <=

Type: Logical Operation

Syntax: expression_1 <= expression_2

Description: The less than or equal to operator “<=” returns TRUE if expression_1 is less

than or equal to expression_2, otherwise it return s FALSE.

Arguments: expression_1

Any valid BASIC expression.

expression_2

Any valid BASIC expression.

Example: maybe = 1 <= 0

Command, function and parameter description Section 5-3

In the above line, 1 is not less than or equal to 0 and, therefore, variable maybe would contain the value 0 (FALSE).

5-3-8 Is Not Equal To: <>

Type: Logical Operation

Syntax: expression_1 <> express ion_2

Description: The not equal to operator “<>” retur ns TRUE if expression_1 is not equal to

expression_2, otherwise it returns FALSE.

Arguments: expression_1

Any valid BASIC expression.

expression_2

Any valid BASIC expression.

Example: IF MTYPE <> 0 THEN GOTO 3000

If the base axis is not idle (MTYPE=0 indicates an axis idle), then a jump would be made to label 3000.

5-3-9 Is Equal To: =

Type: Logical Operation

Syntax: expression_1 = expression_2

Description: The equal to operator “=” returns TRUE if expression_1 is equal to

expression_2, otherwise it returns FALSE.

Arguments: expression_1

Any valid BASIC expression.

expression_2

Any valid BASIC expression.

Example: IF IN(7) = ON THEN GOTO label

If input 7 is ON, then program execution will continue at line starting “label:”.

5-3-10 Is Greater Than: >

Type: Logical Operation

Syntax: expression_1 > expression_2

Description: The greater than op erator “>” returns TRUE if expression_1 is g reate r than

expression_2, otherwise it returns FALSE.

Arguments: expression_1

Any valid BASIC expression.

expression_2

Any valid BASIC expression.

Examples: Exam ple 1

VR(0) = 1 > 0

In the above line, 1 is greater than 0 and, therefore, VR(0) would contain the value –1

Example 2

WAIT UNTIL MPOS > 200

Program execution w ill wai t un t il th e mea s ur e d p os it io n is greater th an 20 0.

5-3-11 Is Greater Than or Equal To: >=

Type: Logical Operation

Syntax: expression_1 >= express ion_2

Command, function and parameter description Section 5-3

Description: The greater than or equ al to operator “>=” returns TRUE if expression_1 is

greater than or equal to expression_2, otherwise it returns FALSE.

Arguments: expression_1

Any valid BASIC expression.

expression_2

Any valid BASIC expression.

Example: IF target >= 120 THEN MOVEABS(0)

If the variable target holds a value greater than or equal to 120, then the base axis will move to an absolute position of 0.

5-3-12 Statement separator: “:”

Type: Program comma n d

Syntax: <statement>:<statement>

Description: The statement separator, represented by the colon “:”, can be used to s epa-

rate BASIC statements on a multi-statement line. This separator can be used both on the command line as in programs.

Example: PRINT "THIS LINE": GET low : PRINT "DOES THREE THINGS"

5-3-13 Comment field: ‘

Type: Program comma n d

Syntax: ‘ [<Comment field >]

Description: The single quot e “ ‘ “ can be used in a program to m ark a line as b eing com-

Example: ‘ This line will not be printed.

5-3-14 ABS

Type: Ma thematical Fu nc tion

Syntax: ABS(expression)

Description: ABS converts a negative number into its positive equal. Positive numbers are

Arguments: expression

Example: IF ABS(VR(0)) > 100 THEN PRINT "VR(0) Outside ±100"

5-3-15 ACCEL

Type: Axis paramete r

Description: ACCEL contains the axis acceleration rate. The rate is in units/s

5-3-16 ACOS

Type: Ma thematical Fu nc tion

ACCEL = 100 ‘Set acceleration rate PRINT "Acceleration rate: ";ACCEL;" mm/s/s" ACCEL AXIS(2) = 100 ‘Sets acceleration rate for axis (2)

Command, function and parameter description Section 5-3

Syntax: ACOS(expression)

Description: ACOS returns th e arc-cosine of the expression. The expression valu e must

be between –1 and 1. The result in radians will be between 0 and PI. Input values outside the range will return zero.

Arguments: expression

Any valid BASIC expression.

Example: >> PRINT ACOS(-1)

3.1416

5-3-17 ADDAX

Type: Motion Control Command

Syntax: ADDAX(axis)

Description: The ADDAX command takes the demand position changes from the supe rim-

posed axis as specified by the axis argument and adds them to any movement running on the a xis to which the comman d is issued. After the ADDAX command has been issued the link between the two axes remains until broken. Use ADDAX(-1) to cancel the axis link.

ADDAX works on the default basis axis (set with BASE) unless AXIS is used to specify a temporary base axis.

ADDAX allows an axis to perform the moves specified for 2 axes added together. Combinations of more than two axes can be made by applying ADDAX to the superimposed axis as well.

!WARNING

Arguments: axis

5-3-18 AND

Beware that giving several ADDAX commands in a system can create a dangerous loop when for instance one axis is linked to another and vice versa. This may cause instability in the system.

The axis to be set as a super impos ed axis. Set the argument to –1 to cancel the link and return to normal operation.

are picked up. A detection system gives an indication as to whether a piece is in front of or behind its nominal position, and how far.

In the example below, axis 0 is assumed to be the base axis and it executes a continuous forward movement and a super impos ed move on axis 2 is used to apply offsets according to the offset calculated in a subroutine.

FORWARD ’Set continuous move ADDAX(4) ’Add axis 4 for correction REPEAT

GOSUB getoffset ’Get offset to apply MOVE(offset) AXIS(2)

UNTIL IN(2) = ON ’Until correction is done

Type: Logical Operator

Syntax:

Description: AND performs an AND operation on the corresponding bits of the integer

expression_1

parts of two valid BASIC expressions. The AND operation between two bits is defined as follows:

AND

expression_2

Command, function and parameter description Section 5-3

Bit 1 Bit 2 Result

000 010 100 111

Arguments: expression_1

Any valid BASIC expression.

expression_2

Any valid BASIC expression.

Examples: Exam ple 1

VR(0) = 10 AND (2.1*9)

The parentheses are evaluated first, but only the integer part of the result, 18, is used for the AND operation. Therefore, this expression is equivalent to the following:

VR(0) = 10 AND 18

The AND is a bit operator and so the binary action is as follows: Therefore, VR(0) will contain the value 2.

01010

AND 10010

00010

5-3-19 ASIN

Syntax: ASIN(expression)

Description: ASIN retur ns the arc-sine of the expression. The expression value must be

Arguments: expression

Example: >> PRINT ASIN(-1)

5-3-20 ATAN

Syntax: ATAN(expression)

Description: ATAN returns the arc-tangent of the expression. ATAN can have any value

Arguments: expression

Example 2

IF MPOS AXIS(0) > 0 AND MPOS AXIS(1) > 0 THEN GOTO cycle1

Type: Ma thematical Fu nc tion

between –1 and 1. The re sult in radians will be b etween –PI/ 2 and P I/2 . Input values outside the range will return zero.

Any valid BASIC expression.

-1.5708

Type: Ma thematical Fu nc tion

and the result will be in radians.

Any valid BASIC expression.

Example: >> PRINT ATAN(1)

5-3-21 ATAN2

Type: Ma thematical Fu nc tion

Syntax: ATAN2(expression_1,expression_2)

0.7854

Command, function and parameter description Section 5-3

Description: ATAN2 returns the arc-tangent of the nonzero complex number

(expression_2, expression_1), which is equivalent to the angle between a point with coordinate (expression_1, expression_2) and the x-axis. If expression_2 >= 0, the result is equal to the value of ATAN (expression_1 / expression_2). The re sult in radians w ill be be t we e n –PI and PI.

Arguments: expression_1

Any valid BASIC expression.

expression_2

Any valid BASIC expression.

Example: >> PRINT ATAN2(0,1)

0.0000

5-3-22 ATYPE

Type: Axis paramete r

Description: ATYPE contains the axis type. The following values can be set:

0 V irtual axis 2Servo axis 3 Encoder axis The ATYPE parameters are set by the system at star t-up to the default value

of the axis. The user is able to change the type of the axis at any time. The default for axes 0 to 3 are 2 (servo axis) and for ax es 4 t o 7 are 0 (virtual axis).

Refer to 1-3 Motion Control Concepts for more details on the different axis types.

Note Only the axes with t he supported hardware, which are axis 0 to 3 can be oper-

ating as servo axis or a encoder axis.

5-3-23 AUTORUN

Type: Program Comma n d

Syntax: AUTORUN

Description: AUTORUN starts all the programs that have been set to run at start-up.

5-3-24 AXIS

Type: System Command

Syntax: AXIS(

Description: The AXIS m odifier set s t he axis for a single motion command or a s ingle ax is

Arguments: axis_number

2.0000

The above command line and response show that axis 2 is operating as a servo axis.

axis_number

parameter read/write to a particular axis. AXIS is e ffective only for the command line in which it is programmed. Use the BASE command to change the base axis for all following command lines.

Any valid BASIC expression specifying the axis number.

)

Precautions: The AXIS com mand can be used to modify any axis parameter expression

and the following axis dependent commands: ADDAX, CAM, CAMBOX, CANCEL, CONNECT, DATUM, DEFPOS, FORWARD, MOVEABS, MOVECIRC,

Command, function and parameter description Section 5-3

MHELICAL, MOVELINK, MOVE, MOVEMODIFY and REVERSE. Other commands for which AXIS is used are: REGIST, WAIT IDLE and WAIT LOADED.

5-3-25 AXISSTATUS

Type: Axis Parameter

Description: AXISSTATUS contains the axis status. The meaning of each bit is as follows:

Bit Description Value 0 Unused 1 1 Following Error Exceeds Warning Range 2 2 Unused 4 3 Unused 8 4 In Forward Lim it 16 5 In Reverse Limi t 32 6 Origin Search (DATUM) in progress 64 7 Feedhold 128 8 Following Error Exceeds Limit 256 9 In Forward Software Limit 512 10 In Revers e Software Limit 1024 11 Cancelling Move 2048

5-3-26 BASE

Syntax: BASE(axis_1[,axis_2[, axis_3[, axis_4[, axis_5[, axis_6[, axis_7 [, axis_8 ]]]]]]])

Alternative: BA(axis_1[, axis_2 [, axis_3[, axis_4[, axis_5[, axis_6[, axis_7[, axis_8]]]]]]])

Description: BASE is used to set the default base axis or to set a specified axis sequence

Note This paramete r is read-only.

Type: Motion Control Command

BASE

group. All subsequent motion command s and axis parameters will apply to the base axis or the specified axis group unless the AXIS command is used to specify a temporary base axis. The base axis is effective until it is changed again with BASE.

Each BASIC process can have its own axis group and eac h program can set its own axis group independently. Use the PROC modifier to access the parameter for a cer tain task.

The BASE order grouping can be set by explicitly assigning the order of axes. This order is used for interpolation pur po ses in multi-axes linear, circular and helical moves. The default for the base axis group is (0,1,2,3,4,5,6,7) at startup or when a program starts running on a task.

Omron C200HW-MC402-E Operation Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

PRECAUTIONS

6-1 Applicable Directives

1-1 Features

1-1-1 Overview

1-1-2 Descr ip tio n of Feat ures

1-2 System Configuration

1-3 Motion Control Concepts

1-3-1 PTP-control

1-3-2 CP-control

1-3-3 EG-Control

1-3-4 Other Operations

1-4 Control System

1-4-1 Feedback Pulses

1-4-2 Servo System Principles

1-5 Specifications

1-6 Comparison with C200HW-MC402-UK

2-1 Com ponents and Unit Se t tings

2-2 Installation

2-2-1 Installation Method

2-2-2 Dimensions

2-3 Wiring

2-3-1 Connector Pin Assignments

2-3-2 I/O Specifications

2-3-3 Serial Port Connections

2-3-4 Terminal Block

2-3-5 Conn ec tio n E xamp l es

2-4 Servo System Precautions

2-5 W iring Precau ti ons

3-1 IR/CIO Area Allocation

3-1-1 Overview

3-1-2 Overview of IR/CIO Area Allocations

3-2 O vervi ew of Data Exchanges

3-2-1 Data Exchange Methods

3-2-2 Data formats

3-3 D etails of the Data Exchange Met hod s

3-3-1 Data Words in IR/CIO Area

3-3-2 Data Transfe r by CPU Unit

3-3-3 Data Transfe r by MC Unit

4-1 O verview

4-2 BASIC Programming

4-2-1 Axis, System and Task Statements

4-2-2 Data Structures and Variables

4-2-3 Mathematical Specifications

4-3 Moti on Control Application

4-4 Command Line Inter face

4-5 BASIC Programs

4-5-1 Managing Programs

4-5-2 Program C omp ila tio n

4-5-3 Progra m Execu tio n

4-6 Error Processing

5-1 Notation Used in this Section

5-2 Classifications and Outlines

5-2-1 Motion Control Commands

5-2-2 I/O Commands and Functions

5-2-3 Loop and Conditional Structures

5-2-4 Program Commands and Functions

5-2-5 System Commands and Parameters

5-2-6 Mathematical and Logical Fun ctions

5-2-7 Constants

5-2-8 Motion P erfect Commands, Functions and Parameters

5-2-9 Axis Parameters

5-2-10 Task Commands and Parameters

5-2-11 PC Data Exchange Commands

5-3 Command, function and parameter description

5-3-1 Multiply: *

5-3-2 Power: ^

5-3-3 Add: +

5-3-4 Subtract: –

5-3-5 Divide: /

5-3-6 Is Less Th an : <

5-3-7 Is Less Than Or Equal To: <=

5-3-8 Is Not Equal To: <>

5-3-9 Is Equal To: =

5-3-10 Is Greater Than: >

5-3-11 Is Greater Than or Equal To: >=

5-3-12 Statement separator: “:”