Omron CS1, C200HW-NC413, C200HS, C200HW-NC113, C200HW-NC213 DATASHEET

CS1 Series, C200HX/HG/HE, C200HS, C200H
C200HW-NC113, C200HW-NC213, and C200HW-NC413

Position Control Unit

Specification Sheets

Product Specifications

C200H Special I/O Unit

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

Position Control Unit

C200HW-NC113, C200HW-NC213, and C200HW-NC413

One-axis, Two-axis, and Four-axis
Postion Control Units Capable of
Memory Operation or Direct Operation

The C200HW-NC113, C200HW-NC213, and
C200HW-NC413 are one-axis, two-axis, and
four-axis Position Control Units for the CS1-Series,
C200HX/HG/HE, C200HS, and C200H PCs. These
Units receive instructions from the CPU Unit and
output pulses to various motor drivers for
positioning.

Memory operation

Position
Control
Unit
operations

control

Position

Speed control

Other operations

Direct operation
Interrupt feeding

Origin search
Jogging

Teaching
Override

Present position change
Backlash compensation

Zone setting
Deceleration stop

Independent

Automatic

Continuous

Input

C200HW­NC113/NC213/NC413

J System

Configuration
Example

Servo Relay Unit

Pulse Input
Servodriver

Features

Memory Operation and Direct Operation

Operation can be controlled through memory opera­tion, where data for positioning is transferred to the
Position Control Unit and then specified for position
control,

or through direct operation,
tions and speeds are set each time from the CPU Unit.
Combining

these methods is also possible, allowing a
Position Control Unit to perform flexible positioning
operations ranging from easy to complicated.

Memory Operation

Position data
Speed data

Direct Operation

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

Position Control Unit

Data transfer bits

Start sequence No.
specification

Position Control Unit

Data transfer bits
Position data

Speed data
Direct start
command

where target posi

CPU Unit

CPU Unit

-

Specification Sheets.

Servomotor

Various Basis Functions

The C200HW-NC113, C200HW-MC213, and C200HW-413 sup-

various basic functions, such

port
ing, speed controls, jogging, teaching, overrides (speed coeffi­cients), backlash compensation, present position changes, zone
settings,

and deceleration stops.

as origin searches, interrupt feed

Enhanced Functions

The C200HW-NC113, C200HW-MC213, and C200HW-413 sup­port the following functions that the previous models (C200H­NC211

and C200H-NC1

•

Direct operation is possible.

12) do not support.

• S-curve acceleration/declaration is possible in addition to

trapezoidal

•

Speed control is possible.

•

Backlash compensation speed can be specified.

acceleration/declaration.

• Forced intervention is possible (specified position data can be

forcibly

executed).

•

Flash memory operation is possible.

-

1

Position Control Unit

CS , C 00 / G/ ,

C00 Seca /OU

use a u d e o

PC

e

words

Product Specifications

Compact Size

The

single-axis, two-axis, and four-axis models are all one compact

size.

Special Support Software for CS1-Series and
C200HX/HG/HE PCs)

Special

Support

dows

95, allows the user to easily create

tion Control Unit. It can also be used for writing data to the PCU,

data from the PCU, saving data, and printing data.

reading

Software, the SYSMAC-NCT

various data for the Posi

, which runs on Win

Models

Applicable PCs

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

s

Support Software (Sold Separately)

Name System

SYSMAC-NCT

Connecting
Cable

Unit classification

C200H Special I/O Unit

Personal computer: IBM AT or
compatible

Operating system: Windows 95
Minimum memory: 16 MB
A

vailable disk space: 10 MB min.

For connecting the RS-232C port on
the CPU Unit

Number of control axes

1 axis
2 axes
4 axes C200HW-NC413

requirements

Easy Data Transfer

Position

data used for
Position Control Unit by using the NC Support Software (for
CS1-Series
the
structions (for CS1-Series and C200HX/HG/HE PCs only).

-

ROM Operation by Flash Memory

­ Position

memory in the Position Control Unit. It is retained even when the
power

and C200HX/HG/HE PCs only), data transfer bits, and

Intelligent I/O W

data used for memory operation can be stored in the flash

is turned OFF

Pulse-train input driver or
stepping motor driver

Applicable PCs

CS1-Series and
C200HX/HG/HE
PCs only
(Cannot be used
with C200H or
C200HS PCs.)

2.0 m, 5.0 m

memory operation can be transferred to the

rite (IOWR) and Intelligent I/O Read (IORD)

. So, there is no need

Controlled driver

Specifications Model

Creating
positioning data
and parameter
data, transferring
data to the Unit,
writing data to
the flash
memory
printing Unit
status monitor
data, positioning
data, and
parameter data

for battery maintenance.

Model number

C200HW-NC113
C200HW-NC213

WS01-NCTF1-E

, and

XW2Z-jjjj
(For details, refer

to
parts.)

j optional

in

-

Specifications

Item

C200HW-NC113 C200HW-NC213 C200HW-NC413

Applicable PCs CS1-Series, C200HX/HG/HE, C200HS, C200H
Unit classification
Mounting location
Maximum number of Units

that can be mounted

Unit numbers

Data
exchange
area with
CPU Unit

Controlled driver
Control

Control unit

Words
allocated in
the Special
I/O Unit Area

DM area
words
allocated to
Special I/O
Units

Control
system

Number of
control axes

C200H Special I/O Unit
CPU Rack, C200H Expansion I/O Rack, CS1 Expansion Rack, SYSMAC BUS Remote I/O Slave Unit
16 or 10 Units depending on the CPU Unit model (refer to

Connectable CPU Unit Models

0 to F or 0 to 9 depending on the CPU Unit model (refer to

Connectable CPU Unit Models

5 words/Unit
CPU Unit →
Position Control Unit → CPU Unit: Status (positioning completed, present position, etc.)
100 words/Unit

CPU Unit →
mode selection, start speed, origin search speed, acceleration/deceleration time, etc.)

Pulse-train input type Servodriver or stepping motor driver
Open-loop control by pulse train output (automatic trapezoidal or S-curve acceleration/deceleration)

1 axis 2 axes 4 axes

Pulse

Position Control Unit: Operating commands (sequence numbers, start, origin search, etc.)

Position Control Unit: Common parameters and axis parameters (I/O selection, operation

).

).

10 words/Unit 20 words/Unit

Specifications

8 or 5 Units depending on the
CPU Unit model (refer to

Connectable CPU Unit Models

0 to 8, or 0 to 8 and A to E
depending on the CPU Unit
model (refer to

CPU Unit Models

Connectable

).

).

2

Product Specifications

os o g o e a o s

os o s

S eeds

and

Item SpecificationsItem

Positioning

Positions

Speeds

Acceleration
and
deceleration
times

operations

Independent 1 axis
Linear

interpolation
Speed control
Interrupt

feeding
Range
Data items
Range
Data items
Range

Data items

T

wo types: Memory operation and direct operation

Memory operation: T
Control Unit beforehand, and executes positioning in ascending order of sequence numbers by
specifying the start sequence number from the CPU Unit.

Completion code of each sequence for memory operation: Independent, automatic, continuous, bank
end, speed control (continuous output), or interrupt feeding (continuos output with positioning) can be
specified.

Direct operation: W
executes positioning by outputting the data to the Position Control Unit through I/O refresh.

Speed control and interrupt feeding are also possible.

– 2 axes max. 4 axes max.

1 axis
1 axis

–9,999,999 to 9,999,999 pulses
100/axis
1 pps to 500 Kpps
100/axis
0 to 250 s, until maximum speed is reached.

9/axis for acceleration and deceleration each.

Position Control Unit

C200HW-NC413C200HW-NC213C200HW-NC113

ransfers sequence data such as position data and speed data to the Position

rites position data and speed data to the specified area in the CPU Unit and

2 independent axes 4 independent axes

2 independent axes 4 independent axes
2 independent axes 4 independent axes

3

Position Control Unit

Item SpecificationsItem

Functions

Origin search

Origin search
operation
mode

Jogging
Dwell times
Acceleration/

deceleration
curves

Zones

Software limit
Backlash

compensation
Teaching
Forced

intervention
Deceleration

stop
Present

position
change

Override

Pulse output
prohibited

Data transfer
(data
read/write)

Data saving

Product Specifications

C200HW-NC413C200HW-NC213C200HW-NC113

Origin proximity input signal: selectable (absent, N.O. or N.C. contact).
Origin input signal: selectable (N.O. or N.C. contact)
Origin compensation: –9,999,999 to 9,999,999 pulses
Origin search speed: High-speed or proximity-speed can be set.
Origin search method: May be set to stop upon origin input signal after proximity input signal has turned

ON, to stop upon origin input signal after proximity input signal has turned OFF
signal without using proximity input signal, or to stop upon origin input signal after limit input signal has
turned OFF

0
(Mode 0)

1
(Mode 1)

2
(Mode 2)

3
(Mode 3)

Jogging can be executed at a specified speed.
19/axis can be set from 0 to 9.99 s (unit: 0.01 s).
T

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

Zone Flag turns ON when present position is within a specified zone. Three zones can be set for each
axis.

Can be set within a range of –9,999,999 to 9,999,999 pulses.
0 to 9,999 pulses. Compensation speed can also be set.

With a command from the CPU Unit, the present position can be taken as the position data.
Stops the active sequence and executes the specified sequence No. (V

only)
The ST

time.
The PRESENT POSITION CHANGE command can be used to change the present position to a

specified value.

When the override enabling command is executed during positioning, the target speed is changed by
applying the override coef

Prohibits pulse output when emergency stop, CW limit, CCW limit, or CW/CCW software limit input
turns ON.

V

arious data can be transferred to the memory in the Position Control Unit, using either of the following

methods:

1) Data transfer bits

2) Intelligent I/O W
C200HX/HG/HE PCs only)

3) SYSMAC-NCT Support Software (for CS1 Series and C200HX/HG/HE PCs only)
V

arious data can be saved in the internal flash memory
If data is saved, the Position Control Unit can be operated using the saved data when it is turned ON or
restarted. There is no need to transfer data to the Unit each time.
Note: Flash memory life expectancy: 100,000 times (reads/writes)

.
N.O. = Normally open
N.C. = Normally closed

Stepping motors are used and external sensor signals are used as origin input signals. In
this case, error counter reset output and origin-adjustment command output can be used
as general-purpose outputs.

Servodrivers are used and encoder phase-Z signals are used as origin input signals. The
Servodriver’

Servodrivers are used and encoder phase-Z signals are used as origin input signals. The
Servodriver’

Servodrivers such as OMRON H-Series and M-Series are used. The Servodriver’s
origin-adjustment command is used to complete origin search. The Servodriver
positioning completed signals are used.

OP command causes positioning to decelerate to a stop according to the specified deceleration

s positioning completed signals are not used.

s positioning completed signals are used.

ficient.

rite (IOWR) and Intelligent I/O Read (IORD) instructions (for CS1-Series and

.

, to stop upon origin input

’s

alid during memory operation

4

Product Specifications

( rovided as
C

Item SpecificationsItem

External I/O Inputs

Outputs

Pulse output distribution
period

Self-diagnostic function
Error detection function
Unit number setting switch

LED indicators

Connections on the front
panel

Internal current consumption
(provided from Power Supply
Unit)

Dimensions

W

eight (excluding

connectors)
Standard accessories
Cat. No. W334 (W324 for SYSMAC-NCT Support Software)

Prepare the following inputs for each axis:
CW and CCW limit input signals, origin proximity input signal, origin input signal (see note), emergency
stop input signal, positioning completed signal, interrupt input signal

V

oltage: 24 VDC
Current: 4.3 mA (at 24 V) typ.
ON voltage: 17.4 VDC min.
OFF voltage: 5.0 VDC max.
ON response time: 1 ms max. (0.1 ms max.: Interrupt input)
OFF response time: 1 ms. max.
The following information applies to origin input only
External signal is open-collector signal: Same as above, except for response time (N.O. contact: 0.1 ms

max.; N.C. contact: 1 ms max.)
External signal is line-driver signal: Corresponds to line driver signals equivalent to Am26LS31, except

for response time (N.O. contact: 0.1 ms max.; N.C. contact: 1 ms max.)
Prepare the following outputs for each axis:

Pulse outputs (open collector outputs)
CW/CCW pulses, pulse outputs and direction outputs can be switched.
Either error counter reset or origin-adjustment command outputs can be selected depending on the
mode.

Maximum switching capacity: 30 mA at 4.75 to 26.4 VDC (NPN open collector)
(16 mA: T

Minimum switching capacity: 7 mA at 4.75 to 26.4 VDC (NPN open collector)
Leakage current: 0.1 mA max.
Residual voltage: 0.6 V max.
External power supply:

4 ms

Flash memory check, memory loss check, I/O bus check
Overtravel, CPU error
Rotary switch: Unit number (0 to F) (Dif

CPU Unit Models

Number of indicators: 5 (NC113), 6 (NC213), 8 (NC413)
Show the PCU’

state.
X-axis connector X/Y-axis connector X/Y-axis connector

Use the FCN-361J048-AU Connector (soldered) and the FCN-360C048-D Connector Cover provided.
Also, use OMRON’

300 mA max. at 5 VDC 300 mA max. at 5 VDC 500 mA max. at 5 VDC

130 x 34.5 x 100.5 mm (H x W x D)
The height including the Backplane is 230 mm when the attached connector or OMRON’

Cable is used.
250 g max. 300 g max. 350 g max.

Fujitsu FCN-361J048-AU Connector (soldered) and FCN-360C048-D Connector Cover: 1 set

±10%

erminals with 1.6-kΩ limit resistance)

24 VDC ±10%
C200HW-NC1
C200HW
C200HW

, software limit over

.)

s status such as running state, error state, input signal state, data state, and each axis

s Servodriver Connecting Cables.

13: 30 mA max.

-NC213: 50 mA max.

-NC413: 90 mA max.

, emergency stop

fers depending on the CPU Unit model. Refer to

Position Control Unit

C200HW-NC413C200HW-NC213C200HW-NC113

.

Connectable

,

Z/U-axis connector

s Servodriver

Options (Sold Separately)

Item Specifications Model

Connectors for each axis Soldered

(provided as
standard on this
Unit)

Crimp

number

Soldered connector

Connector cover FCN-360C048-D

Crimp-type housing
Contact FCN-363J-AU/S
Connector cover FCN-360C048-D

FCN-361J048-AU

FCN-363J048

5

Position Control Unit

C

USeesoy

C

d

(T

q

USees

oy

Software Connecting

RS 232C ort on the

Product Specifications

Item Model

The following cables and Servo Relay Units can be used
to connect OMRON’s Servodrivers.

1 axis Connecting

2 axes Connecting

Item Connection port

SYSMAC-NCT Support
Software Connecting
Cable

Connects to the
RS-232C port on the
CPU Unit (in Host Link
Mode).

able H-Series,

Servo Relay Unit

able

Servo Relay Unit

Applicable CPU Units

PC CPU

Position Control Unit C200HW-NC113/NC213 C200HW-NC413

CS1 Series CS1H-CPUjjj

CS1G-CPUjjj

C200HX/HG/HE

C200HS C200HS-CPU01(-j)/21

C200H C200H-CPU01/02/03/11/21/2

C200HE-CPU1
C200HG-CPU33/43 (-ZE)
C200HX-CPU34/44 (-ZE)

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

(-j)/31/03/23/33

2/23/31

Unit model

1/32/42 (-ZE)

CPU Racks, Expansion Racks, and SYSMAC BUS

16 (Unit No.: 0 to F) 8 (Unit No.: 0 to 8, A to E)

10 (Unit No.: 0 to 9) 5 (Unit No.: 0 to 8)

16 (Unit No.: 0 to F) 8 (Unit No.: 0 to 8, A to E)

10 (Unit No.: 0 to 9) 5 (Unit No.: 0 to 8)

10 (Unit No.: 0 to 9) 5 (Unit No.: 0 to 8)

Specifications

Applicable
Position Control
Unit

C200HW-NC113 U-Series,

Connects to the above cable.

C200HW-NC213
an
C200HW-NC413

wo

cables are
required for
C200HW-NC413.)

Connects to the above cable. (T
for C200HW

Personal computer Cable length

IBM A

T or compatible

T

otal number of PCUs that can be mounted on

Remote I/O Slave Units (see note).

-NC413.)

Applicable
OMRON
Servodriver

M-Series
UEP-Series only

U-Series,
H-Series,
M-Series

UEP-Series

only

wo Units are required

2.0 m

5.0 m

Cable length

50 cm
100 cm
50 cm

100 cm

50 cm XW2Z-050J-A7
100 cm XW2Z-100J-A7
50 cm

100 cm

number

---

XW2Z-050J-A6
XW2Z-100J-A6
XW2Z-050J-A8

XW2Z-100J-A8
XW2B-20J6-1B

XW2Z-050J-A9
XW2Z-100J-A9
XW2B-40J6-2B

Model

XW2Z-200S-V

XW2Z-500S-V

Unit mounting

restrictions

None

None

None

None

Cannot be mounted in
the two rightmost slots
on the CPU Rack.

Note: Restrictions in Using SYSMAC BUS Remote I/O Slave Units

The

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

the

Units as shown below

Units

that can be mounted.

Group A B C D

Units

Maximum number of
Units that can be
mounted in each group
under one Master Unit

Maximum number of
Units that can be
mounted in all groups

. C200H Special I/O Units can be divided into the following four groups according to the maximum number of

ASCII Unit,
High-speed Counter
Unit, Position Control
Unit
(NC111/112/113/213),
Analog I/O Unit, ID
Sensor Unit, Fuzzy
Logic Unit

4 Units 8 Units 6 Units 2 Units

3A + B + 2C + 6D x 12, AND A + B + C + D

High-density I/O Unit,
T

emperature Control
Unit, PID Control Unit,
Heating/Cooling
Control Unit, Cam
Positioner Unit

on a SYSMAC BUS Remote I/O Slave Unit dif

T

emperature Sensor

Unit, Voice Unit

x 8

Position Control Unit
(NC21

1/413), Motion

Control Unit

fers according to

6

Product Specifications

System Configuration

Control System: Open-loop System

Position

Position Control Unit

Control Unit

Connection Configuration

Position Control
Unit

Tachogenerator
Rotary encoder

CPU Unit

Power Supply
Unit

SYSMAC-NCT

Note: The

Position Control Unit does not in

position feedback signals.

put

Pulse output

Servodriver or stepping driver

Servomotor or stepping motor

Item 1-axis 2/4-axis

Connecting
on PCU end

Servo Relay Unit

cable

-

XW2Z-jjjJ-Aj XW2Z-jjjJ-Aj

XW2B-20J6-1B XW2B-40J6-2B

CCW limit input, CW
limit input, origin
proximity input,
emergency stop input,
etc.

Connecting cable on PCU end

Servo Relay Unit

Connecting cable on Servodriver
end

Pulse output

Servodriver

Servomotor

or

Host link

Stepping driver

Stepping motor

+

Item Connection

Connecting cable on
Servodriver end

to U-Series

XW2Z-jjj
J-B1

Connection
to M-Series

XW2Z-jjj
J-B2

Connection

to H-Series

XW2Z-jjj
J-B3

+

Servodriver U-Series M-Series H-Series

R88D-UPjjj R88D-MTjjj R88D-Hjjj

7

Position Control Unit

Exchanging Data

CPU Unit

Ladder program

MOV

I/O memory

IR/CIO area (operating memory area)

n+7
n+8

n+19

DM area (parameter area)

m+3
m+4

m+99

, LD, etc.

Operation
commands

Status inputs

Common
parameters

Axis
parameters

I/O refresh

At power-up or restart

At power-up or restart

Product Specifications

Position Control Unit (C200HW-NC413)

Command
interpretation

Status

such as
positioning completed
or present position

Common
parameters

DM or EM area

I+25
I+26

I+33

Operating data area

Data

transfer data,

operation data, etc.

Status inputs

Data transfer area

Data for memory
operation

SYSMAC-NCT

I/O refresh

When data transfer
commands are executed

When IOWR or IORD
is executed

When data transfer
commands are executed

Settings analysis
and execution

Status such as
I/O signals and
error codes

Internal memory

Address

Saving data Startup restart

Data area

Axis parameters

Sequence data
Speed data

Position data

Acceleration time data

Deceleration time data

Dwell time data

Zone data

Flash memory

Data for
X axis

Data for Y
to U axes

8

Product Specifications

Components

C200HW-NC413

LED indicators

Show the PCU’s
operating status.

Position Control Unit

C200HW-NC213 C200HW-NC113

X/Y axis connector

(see note)
Connects stepping
motor driver or
Servodriver. (2-axis
control)

LED Indicators

Name Color Status Explanation

RUN Green

ERR Red

SENS Red

DATA Red

X Orange

Y Orange

Z Orange

U Orange

Unit number
setting switch

Set the unit number
for the PCU (0 to F).

Z/U axis connector

(see note)
Connects stepping
motor driver or
Servodriver. (2-axis
control)

Lit
Not

lit

Lit

/ flashing

Not

lit

Lit

Flashing

Not

lit

Flashing

Lit

Not

lit

Lit

Flashing

Not

lit

Lit

Flashing

Not

lit

Lit

Flashing

Not

lit

Lit

Flashing

Not

lit

X-,
Y-axis
connect
or

Lit

during normal operation.

X-axis connector (see note)

Note: The Unit is provided with a Fujitsu

FCN-361J048-AU Connector (soldered) and

FCN-360C048-D Connector Cover.

Hardware error, or PC notified of PCU error.
An error has occurred.
No error has occurred.
Either a CW/CCW limit signal or an emergency stop

input signal is being input. At this time the LED indicator
for the relevant axis (X to U) will flash.

Either a parameter loss, a data loss, or an operating
data area designation error has occurred.

None of the above has occurred.
The check of all data (parameters, positions, etc.)

following power up shows that data is lost or corrupted.
Data is incorrect (e.g., the parameters or positions

transferred are out of the permissible range). At this time
the LED indicator for the relevant axis (X to U) will flash.

None of the above has occurred.
Pulses are being output to the X axis (either forward or

reverse).
An error has occurred, such as incorrect cable type for

the X axis or faulty data.
None of the above has occurred.
Pulses are being output to the Y axis (either forward or

reverse).
An error has occurred, such as incorrect cable type for

the Y axis or faulty data.
None of the above has occurred.
Pulses are being output to the Z axis (either forward or

reverse).
An error has occurred, such as incorrect cable type for

the Z axis or faulty data.
None of the above has occurred.
Pulses are being output to the U axis (either forward or

reverse).
An error has occurred, such as incorrect cable type for

the U axis or faulty data.
None of the above has occurred.

9

Position Control Unit

External I/O Connectors

Connector Pin Numbers

Outline of connector (rear
side)

Product Specifications

X/Y axis Z/U axis X/Y axis X axis

C200HW-NC413 C200HW-NC213 C200HW-NC113

Connector

Pin

No.

A1 IN
A2 IN
A3 -­A4 -­A5 OUT
A6 OUT
A7 OUT
A8 OUT
A9 -­A10 OUT

A11 OUT

A12 IN
A13 -­A14 IN
A15 IN
A16 IN
A17 -­A18 -­A19 IN
A20 IN
A21 IN
A22 IN
A23 IN
A24 IN

Pin number marks

(Viewed from soldered side)

Pin Arrangement for X and Z Axes

I/O Name

Output power supply
Output GND, 24 VDC
Not used
Not used
CW pulse output
CW pulse/pulse output with 1.6 KΩ resistance
CCW pulse/direction output
CCW pulse/direction output with 1.6 KΩ resistance
Not used
Error counter reset output Origin-adjustment

command output
Error counter reset output with 1.6 KΩ resistance

Origin-adjustment command output with 1.6 K
resistance

Positioning completed input signal
Not used
Origin common
Origin input signal (24 V)
Origin input signal (5 V)
Not used
Not used
Interrupt input signal
Emergency stop input signal
Origin proximity input signal
CW limit input signal
CCW limit input signal
Input common

, 24 VDC

Connector

Pin

B1 IN
B2 IN
B3 -­B4 -­B5 OUT
B6 OUT
B7 OUT
B8 OUT
B9 -­B10 OUT

Ω

B11 OUT

B12 IN
B13 -­B14 IN
B15 IN
B16 IN
B17 -­B18 -­B19 IN
B20 IN
B21 IN
B22 IN
B23 IN
B24 IN

Pin Arrangement for Y and U Axes

No.

I/O Name

Output power supply
Output GND, 24 VDC
Not used.
Not used.
CW pulse output
CW pulse/pulse output with 1.6 KΩ resistance
CCW pulse/direction output
CCW pulse/direction output with 1.6 KΩ resistance
Not used.
Error counter reset output Origin-adjustment

command output
Error counter reset output with 1.6 KΩ resistance

Origin-adjustment command output with 1.6 K
resistance

Positioning completed input signal
Not used.
Origin common
Origin input signal (24 V)
Origin input signal (5 V)
Not used.
Not used.
Interrupt input signal
Emergency stop input signal
Origin proximity input signal
CW limit input signal
CCW limit input signal
Input common

, 24 VDC

Ω

10

Product Specifications

External Connection Diagram

This

example shows the use of a Servodriver

as

origin input signals.

with encoder phase-Z

OMRON R88D-UPjjj
Servodriver

Position Control Unit

R88M-U Servomotor

–

+

24 VDC

Note: N.O.

Emergency stop input

Origin proximity input (see note)

CW limit input (see note)

CCW limit input (see note)

Input common

Error counter reset output,
origin-adjustment command output

or N.C. contact can be selected

using axis parameters.

CW pulse output

CCW pulse output/
direction output with

1.6 KΩ resistance
24-V power supply

for output

24 V GND for output

Origin input signal (5 V)

Origin common

24 VDC

–

–

+

–

N.C.
contact

–

–

11

Position Control Unit

Product Specifications

Combinations of Servo Relay Units, Servodrivers, and Position Control Units

Connecting cable on
Servodriver end

(See note 2)

Servodriver

Position Control Unit

Single-axis Position
Control Unit for C200HS

C200HW-NC113

2/4-axis Position Control
Unit for C200HS

C200HW-NC213/413

Connecting cable on
PCU end

Connecting cable
for C200H-NC113

XW2Z-jjjJ-Aj

Connecting cable for
C200H-NC213/413
(see note 1)

XW2Z-jjjJ-Aj

Note: 1. Two

4-axis PCUs.

Servo Relay Unit

Servo Relay Unit
for C200H-NC113

XW2B-20J6-1B

Servo Relay Unit for
C200H-NC213/413
(see note 1)

XW2B-40J6-2B

cables or Units are requIred for

Connecting cable
for U-Series

XW2Z-jjjJ-B1

(See note 2)

Connecting cable
for M-Series

XW2Z-jjjJ-B2

(See note 2)

U-Series Servodriver

R88D-UPjjj

M-Series Servodriver

R88D-MTjjj

Connecting cable
for H-Series

XW2Z-jjjJ-B3

2. When

the Servodriver is combined with the C200HW

connecting

cables are required on the Servodriver end. When the Servo
driver is combined with the C200HW-NC413 (4-axis), four connecting
cables are required on the Servodriver end.

H-Series Servodriver

R88D-Hjjj

-NC213 (2-axis), two

-

12

Product Specifications

Connection Diagram for Position Control Unit
and Servo Relay Unit

XW2Z-jjjJ-A6/A8
Connecting

For C200HW-NC113

Power supply for output

Error
origin-adjustment command output

Positioning completed input

Emergency stop input

Origin input (24 V)

XW2Z-jjjJ-A7/A9
Connecting

For C200HW-NC213/NC413

Cable:

24-V GND for output

CCW

pulse output/direction

output with 1.6 KΩ resistance

CW pulse output with

1.6 KΩ resistance

counter reset output,

Origin input (5 V)

Origin common

Input common

Origin proximity input

CCW limit input

CW limit input

Interrupt input

F.G. (crimp terminal)
(Lead: 500 mm)

Cable:

1 axis, U/H/M-Series Servodriver 1 axis, UEP-Series Servodriver

Position Control
Unit NC113

Connecting cable
XW2Z-jjjJ-A6

Servo Relay Unit
XW2B

24 V
GND
+ CCW
– CCW
+ CW
– CW
+ ECRST
– ECRST
+ Z
– Z
24 V
INP

Origin proximity
CCW limit

CW limit
External interrupt
Emergency stop input

FG
Origin input (24 V)

Origin common

F.G. (crimp terminal)
(Lead: 500 mm)

Position Control
Unit NC113

Position Control Unit

Connecting cable
XW2Z-jjjJ-A8

Servo Relay Unit
XW2B

24 V

GND
+ CCW

– CCW
+ CW
– CW

+ ECRST
– ECRST

HRET

+ Z

– Z
24 V
INP

Origin proximity

CCW limit

CW limit

External interrupt

Emergency stop input
Origin input (24 V)

Origin common
FG

24-V power supply for output

24-V GND for output

CCW pulse output/direction
output with 1.6 KΩ resistance

CW pulse output with

1.6 KΩ resistance

Error counter reset output,
origin-adjustment command
output

X-axis emergency stop input
CCW pulse output/direction

output with 1.6 KΩ resistance

Positioning completed input

Y-axis emergency stop input

Origin input (5 V)

Origin common

Input common
Interrupt input

Origin proximity input

Positioning completed input

CCW limit input

CW limit input

CW limit input

CW pulse output with

1.6 KΩ resistance
Error counter reset
output, origin-adjustment
command output

Origin input (5 V)

Origin common

CCW limit input

CW limit input

Origin proximity input

Interrupt input

F.G. (crimp terminal)
(Lead: 500 mm)

2 axes, U/H/M-Series Servodriver

Position Control Unit
NC213/NC413

Connecting cable
XW2Z-jjjJ-A7

Servo Relay Unit
XW2B

24 V
GND
+ CCW
– CCW
+ CW
– CW
+ ECRST
– ECRST
HRET

+ Z
– Z
24 V
External interrupt
Origin proximity
INP
CCW limit
CW limit
Emergency stop input
+ CCW
– CCW
+ CW
– CW
+ ECRST
– ECRST
HRET
+ Z
– Z
CCW limit
CW limit
Origin proximity
External interrupt
INP
FG
Origin input (24 V)

F.G. (crimp terminal)
(Lead: 500 mm)

2 axes, UEP-Series Servodriver

Position Control Unit
NC213/NC413

Connecting cable
XW2Z-jjjJ-A9

Servo Relay Unit
XW2B

24 V

GND

+ CCW

– CCW

+ CW

– CW
+ ECRST

– ECRST

HRET

+ Z

– Z

24 V

External interrupt
Origin proximity

INP
CCW limit

CW limit
Emergency stop input

+ CCW

– CCW

+ CW
– CW

+ ECRST

– ECRST

HRET

+ Z
– Z

CCW limit
CW limit
Origin proximity

External interrupt
INP
Origin input (24 V)

FG

13

Position Control Unit

Dimensions (Unit: mm)

Product Specifications

Connection
cable

Mounted

Approx. 230

Dimensions

Backplane

14

ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.

To

convert millimeters into inches, multiply by 0.03937. T

o convert grams into ounces, multiply by 0.03527.

OMRON Corporation

Systems Components Division
66 Matsumoto
Mishima-city

, Shizuoka 41

1-851
Japan
T

el: (81)559-77-9633

Fax: [phone]

Regional Headquarters
OMRON EUROPE B.V.

W

egalaan 67-69, NL-2132 JD Hoofddorp

1

The Netherlands
T

el: (31)2356-81-300/Fax: [phone]

OMRON ELECTRONICS, INC.

1 East Commerce Drive, Schaumburg, IL 60173
U.S.A.
T

el: (1)847-843-7900/Fax: [phone]

OMRON ASIA PACIFIC PTE. LTD.

83 Clemenceau Avenue,
#1

1-01, UE Square,
Singapore 239920
T

el: (65)835-301

1/Fax: [phone]

1

Authorized Distributor:

Note:

Specifications subject to change without notice.

Cat.

No. R060-E1-1

Printed in Japan
0100-0.7M