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						Direct operation
Position									Interrupt feeding
Control
Unit			Speed control
operations									Origin search
			Other operations						Jogging
									Teaching
									Override
									Present position change
									Backlash compensation
									Zone setting
									Deceleration stop

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, where target positions 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.

C200HW-

NC113/NC213/NC413

Independent

System

Automatic Configuration

Example

Continuous

Servo Relay Unit

Input

Pulse Input

Servodriver

Servomotor

Various Basis Functions

The C200HW-NC113, C200HW-MC213, and C200HW-413 support various basic functions, such as origin searches, interrupt feeding, speed controls, jogging, teaching, overrides (speed coefficients), backlash compensation, present position changes, zone settings, and deceleration stops.

Memory Operation Position Control Unit

CPU Unit

Data transfer bits

Position data

Speed data Start sequence No. specification

Direct Operation

Position Control Unit

CPU Unit

Data transfer bits

Position data Speed data Direct start command

Enhanced Functions

The C200HW-NC113, C200HW-MC213, and C200HW-413 support the following functions that the previous models (C200HNC211 and C200H-NC112) do not support.

•Direct operation is possible.

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

•Speed control is possible.

•Backlash compensation speed can be specified.

•Forced intervention is possible (specified position data can be forcibly executed).

•Flash memory operation is possible.

ªProgrammable Controllerº is abbreviated as ªPCº in theseSpecification Sheets.

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Position Control Unit	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 Software, the SYSMAC-NCT, which runs on Windows 95, allows the user to easily create various data for the Position Control Unit. It can also be used for writing data to the PCU, reading data from the PCU, saving data, and printing data.

Easy Data Transfer

Position data used for memory operation can be transferred to the Position Control Unit by using the NC Support Software (for CS1-Series and C200HX/HG/HE PCs only), data transfer bits, and the Intelligent I/O Write (IOWR) and Intelligent I/O Read (IORD) instructions (for CS1-Series and C200HX/HG/HE PCs only).

ROM Operation by Flash Memory

Position data used for memory operation can be stored in the flash memory in the Position Control Unit. It is retained even when the power is turned OFF. So, there is no need for battery maintenance.

Models

Applicable PCs	Unit classification	Number of control axes	Controlled driver	Model number
CS1, C200HX/HG/HE,	C200H Special I/O Unit	1 axis	Pulse-train input driver or	C200HW-NC113
C200HS, and C200H			stepping motor driver
		2 axes		C200HW-NC213
PCs
		4 axes		C200HW-NC413

Support Software (Sold Separately)

Name		System requirements	Applicable PCs	Specifications	Model
SYSMAC-NCT		Personal computer: IBM AT or	CS1-Series and	Creating	WS01-NCTF1-E
		compatible	C200HX/HG/HE	positioning data
		Operating system: Windows 95	PCs only	and parameter
			(Cannot be used	data, transferring
		Minimum memory: 16 MB
			with C200H or	data to the Unit,
		Available disk space: 10 MB min.	C200HS PCs.)	writing data to
				the flash
				memory, and
				printing Unit
				status monitor
				data, positioning
				data, and
				parameter data
	Connecting	For connecting the RS-232C port on	2.0 m, 5.0 m		XW2Z-
	Cable	the CPU Unit			(For details, refer
					to optional
					parts.)

Specifications

Item				Specifications
			C200HW-NC113	C200HW-NC213	C200HW-NC413
Applicable PCs			CS1-Series, C200HX/HG/HE, C200HS, C200H
Unit classification			C200H Special I/O Unit
Mounting location			CPU Rack, C200H Expansion I/O Rack, CS1 Expansion Rack, SYSMAC BUS Remote I/O Slave Unit
Maximum number of Units			16 or 10 Units depending on the CPU Unit model (refer to		8 or 5 Units depending on the
that can be mounted			Connectable CPU Unit Models).		CPU Unit model (refer to
					Connectable CPU Unit Models).
Unit numbers			0 to F or 0 to 9 depending on the CPU Unit model (refer to		0 to 8, or 0 to 8 and A to E
			Connectable CPU Unit Models).		depending on the CPU Unit
					model (refer to Connectable
					CPU Unit Models).
Data		Words	5 words/Unit	10 words/Unit	20 words/Unit
exchange		allocated in
			CPU Unit → Position Control Unit: Operating commands (sequence numbers, start, origin search, etc.)
area with		the Special
			Position Control Unit → CPU Unit: Status (positioning completed, present position, etc.)
CPU Unit		I/O Unit Area
		DM area	100 words/Unit
		words
		allocated to	CPU Unit → Position Control Unit: Common parameters and axis parameters (I/O selection, operation
		Special I/O	mode selection, start speed, origin search speed, acceleration/deceleration time, etc.)
		Units
Controlled driver			Pulse-train input type Servodriver or stepping motor driver
Control		Control	Open-loop control by pulse train output (automatic trapezoidal or S-curve acceleration/deceleration)
		system
		Number of	1 axis	2 axes	4 axes
		control axes
Control unit			Pulse

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	Product Specifications			Position Control Unit
	Item		Specifications
		C200HW-NC113	C200HW-NC213	C200HW-NC413
	Positioning operations	Two types: Memory operation and direct operation
		Memory operation: Transfers sequence data such as position data and speed data to the Position
		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: Writes position data and speed data to the specified area in the CPU Unit and
		executes positioning by outputting the data to the Position Control Unit through I/O refresh.

Speed control and interrupt feeding are also possible.

	Independent	1 axis	2 independent axes	4 independent axes
	Linear	±	2 axes max.	4 axes max.
	interpolation
	Speed control	1 axis	2 independent axes	4 independent axes
	Interrupt	1 axis	2 independent axes	4 independent axes
	feeding
Positions	Range	±9,999,999 to 9,999,999 pulses
	Data items	100/axis
Speeds	Range	1 pps to 500 Kpps
	Data items	100/axis
Acceleration	Range	0 to 250 s, until maximum speed is reached.
and
deceleration	Data items	9/axis for acceleration and deceleration each.
times

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	Position Control Unit							Product Specifications
		Item						Specifications
				C200HW-NC113				C200HW-NC213		C200HW-NC413
	Functions		Origin search	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, to stop upon origin input
				signal without using proximity input signal, or to stop upon origin input signal after limit input signal has
				turned OFF.
					N.O. = Normally open
					N.C. = Normally closed
			Origin search	0		Stepping motors are used and external sensor signals are used as origin input signals. In
			operation	(Mode 0)		this case, error counter reset output and origin-adjustment command output can be used
			mode			as general-purpose outputs.
				1		Servodrivers are used and encoder phase-Z signals are used as origin input signals. The
				(Mode 1)		Servodriver's positioning completed signals are not used.
				2		Servodrivers are used and encoder phase-Z signals are used as origin input signals. The
				(Mode 2)		Servodriver's positioning completed signals are used.
				3		Servodrivers such as OMRON H-Series and M-Series are used. The Servodriver's
				(Mode 3)		origin-adjustment command is used to complete origin search. The Servodriver's
						positioning completed signals are used.
			Jogging	Jogging can be executed at a specified speed.
			Dwell times	19/axis can be set from 0 to 9.99 s (unit: 0.01 s).
			Acceleration/	Trapezoidal or S-curve (Can be set separately for each axis.)
			deceleration
			curves
			Zones	Zone Flag turns ON when present position is within a specified zone. Three zones can be set for each
				axis.
			Software limit	Can be set within a range of ±9,999,999 to 9,999,999 pulses.
			Backlash	0 to 9,999 pulses. Compensation speed can also be set.
			compensation
			Teaching	With a command from the CPU Unit, the present position can be taken as the position data.
			Forced	Stops the active sequence and executes the specified sequence No. (Valid during memory operation
			intervention	only)
			Deceleration	The STOP command causes positioning to decelerate to a stop according to the specified deceleration
			stop	time.
			Present	The PRESENT POSITION CHANGE command can be used to change the present position to a
			position	specified value.
			change
			Override	When the override enabling command is executed during positioning, the target speed is changed by
				applying the override coefficient.
			Pulse output	Prohibits pulse output when emergency stop, CW limit, CCW limit, or CW/CCW software limit input
			prohibited	turns ON.
			Data transfer	Various data can be transferred to the memory in the Position Control Unit, using either of the following
			(data	methods:
			read/write)	1) Data transfer bits
				2) Intelligent I/O Write (IOWR) and Intelligent I/O Read (IORD) instructions (for CS1-Series and
				C200HX/HG/HE PCs only)
				3) SYSMAC-NCT Support Software (for CS1 Series and C200HX/HG/HE PCs only)
			Data saving	Various 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)

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