Omron C200H, C200HS, C200HW-NC113, C200HW-NC213, C200HW-NC413 Specification

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

Position Control Unit

Specification Sheets

1

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

Specification Sheets.

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

Position Control Unit

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

C200H Special I/O Unit

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.

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 posi

­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 Control Unit

Position data
Speed data

CPU Unit

Data transfer bits

Start sequence No.
specification

Direct Operation

Data transfer bits
Position data

Speed data
Direct start
command

CPU Unit

Position Control Unit

Various Basis Functions

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

various basic functions, such

as origin searches, interrupt feed

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

and deceleration stops.

Enhanced Functions

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

and C200H-NC1

12) 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.

Product Specifications

C200HW­NC113/NC213/NC413

Servo Relay Unit

Input

Pulse Input
Servodriver

Servomotor

J System

Configuration
Example

Position
Control
Unit
operations

Position

control

Speed control

Other operations

Memory operation
Direct operation

Interrupt feeding

Jogging
Teaching
Override
Present position change
Backlash compensation
Zone setting
Deceleration stop

Origin search

Independent

Automatic

Continuous

Position Control Unit

Product Specifications

2

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 Win

-

dows

95, allows the user to easily create

various data for the Posi

­tion 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 W

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

in

-

structions (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

CS , C 00 / G/ ,

C200HS, and C200H

C00 Seca /OU

2 axes

use a u d e o

stepping motor driver

C200HW-NC213

PC

s

4 axes C200HW-NC413

Support Software (Sold Separately)

Name System

requirements

Applicable PCs

Specifications Model

SYSMAC-NCT

Personal computer: IBM AT or
compatible

Operating system: Windows 95
Minimum memory: 16 MB
A

vailable disk space: 10 MB min.

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

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

, and
printing Unit
status monitor
data, positioning
data, and
parameter data

WS01-NCTF1-E

Connecting
Cable

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

2.0 m, 5.0 m

XW2Z-jjjj
(For details, refer

to

j optional

parts.)

Specifications

Item

Specifications

e

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
that can be mounted

16 or 10 Units depending on the CPU Unit model (refer to

Connectable CPU Unit Models

).

8 or 5 Units depending on the
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

Connectable CPU Unit Models

).

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

Connectable

CPU Unit Models

).

Data

Words

5 words/Unit

10 words/Unit 20 words/Unit
exchange
area with
CPU Unit

allocated in
the Special
I/O Unit Area

CPU Unit →

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

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

DM area
words

100 words/Unit

words

allocated to
Special I/O
Units

CPU Unit →

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

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

Controlled driver

Pulse-train input type Servodriver or stepping motor driver

Control

Control
system

Open-loop control by pulse train output (automatic trapezoidal or S-curve acceleration/deceleration)

Number of
control axes

1 axis 2 axes 4 axes

Control unit

Pulse

Product Specifications

Position Control Unit

3

Item SpecificationsItem

C200HW-NC413C200HW-NC213C200HW-NC113

Positioning

operations

T

wo types: Memory operation and direct operation

os o g o e a o s

Memory operation: T

ransfers 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: W

rites 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
interpolation

– 2 axes max. 4 axes max.

Speed control

1 axis

2 independent axes 4 independent axes

Interrupt
feeding

1 axis

2 independent axes 4 independent axes

Positions

Range

–9,999,999 to 9,999,999 pulses

os o s

Data items

100/axis

Speeds

Range

1 pps to 500 Kpps

S eeds

Data items

100/axis

Acceleration
and

Range

0 to 250 s, until maximum speed is reached.

and

deceleration
times

Data items

9/axis for acceleration and deceleration each.

Position Control Unit

Product Specifications

4

Item SpecificationsItem

C200HW-NC413C200HW-NC213C200HW-NC113

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
operation
mode

0
(Mode 0)

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.

1
(Mode 1)

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

s positioning completed signals are not used.

2
(Mode 2)

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

s positioning completed signals are used.

3
(Mode 3)

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

’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/
deceleration
curves

T

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

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
compensation

0 to 9,999 pulses. Compensation speed can also be set.

Teaching

With a command from the CPU Unit, the present position can be taken as the position data.

Forced
intervention

Stops the active sequence and executes the specified sequence No. (V

alid during memory operation

only)

Deceleration
stop

The ST

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

time.

Present
position
change

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

Override

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

ficient.

Pulse output
prohibited

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

Data transfer
(data
read/write)

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

rite (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 savingVarious 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)

Product Specifications

Position Control Unit

5

Item SpecificationsItem

C200HW-NC413C200HW-NC213C200HW-NC113

External I/O Inputs

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

±10%
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.)

Outputs

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

erminals with 1.6-kΩ limit resistance)
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:

24 VDC ±10%
C200HW-NC1

13: 30 mA max.

C200HW

-NC213: 50 mA max.

C200HW

-NC413: 90 mA max.

Pulse output distribution
period

4 ms

Self-diagnostic function

Flash memory check, memory loss check, I/O bus check

Error detection function

Overtravel, CPU error

, software limit over

, emergency stop

Unit number setting switch

Rotary switch: Unit number (0 to F) (Dif

fers depending on the CPU Unit model. Refer to

Connectable

CPU Unit Models

.)

LED indicators

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

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

state.

Connections on the front
panel

X-axis connector X/Y-axis connector X/Y-axis connector

,

Z/U-axis connector

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

s Servodriver Connecting Cables.

Internal current consumption
(provided from Power Supply
Unit)

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

Dimensions

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’

s Servodriver

Cable is used.

W

eight (excluding

connectors)

250 g max. 300 g max. 350 g max.

Standard accessories

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

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

Options (Sold Separately)

Item Specifications Model

number

Connectors for each axis Soldered

(provided as

Soldered connector

FCN-361J048-AU

( rovided as

standard on this
Unit)

Connector cover FCN-360C048-D

Crimp

Crimp-type housing

FCN-363J048

C

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

Position Control Unit

Product Specifications

6

Item Model

number

Specifications

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

Applicable
Position Control
Unit

Applicable
OMRON
Servodriver

Cable length

---

1 axis Connecting

C200HW-NC113 U-Series,

50 cm

XW2Z-050J-A6

C

able H-Series,

M-Series

100 cm

XW2Z-100J-A6

UEP-Series only

50 cm

XW2Z-050J-A8

USeesoy

100 cm

XW2Z-100J-A8

Servo Relay Unit

Connects to the above cable.

XW2B-20J6-1B

2 axes Connecting

C200HW-NC213

U-Series,

50 cm XW2Z-050J-A7

C

able

an

d

C200HW-NC413

H-Series,
M-Series

100 cm XW2Z-100J-A7

(T

wo

cables are

required for

UEP-Series

only

50 cm

XW2Z-050J-A9

q

C200HW-NC413.)

USees

oy

100 cm

XW2Z-100J-A9

Servo Relay Unit

Connects to the above cable. (T

wo Units are required

for C200HW

-NC413.)

XW2B-40J6-2B

Item Connection port

Personal computer Cable length

Model

SYSMAC-NCT Support
Software Connecting

Connects to the
RS-232C port on the

IBM A

T or compatible

2.0 m

XW2Z-200S-V

Software Connecting

Cable

RS 232C ort on the

CPU Unit (in Host Link
Mode).

5.0 m

XW2Z-500S-V

Applicable CPU Units

PC CPU

Unit model

T

otal number of PCUs that can be mounted on

CPU Racks, Expansion Racks, and SYSMAC BUS

Remote I/O Slave Units (see note).

Unit mounting

restrictions

Position Control Unit C200HW-NC113/NC213 C200HW-NC413

CS1 Series CS1H-CPUjjj

CS1G-CPUjjj

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

None

C200HX/HG/HE

C200HE-CPU1

1/32/42 (-ZE)
C200HG-CPU33/43 (-ZE)
C200HX-CPU34/44 (-ZE)

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

None

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

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

None

C200HS C200HS-CPU01(-j)/21

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

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

None

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

2/23/31

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

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

on a SYSMAC BUS Remote I/O Slave Unit dif

fers according to

the

Units as shown below

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

Units

that can be mounted.

Group A B C D

Units

ASCII Unit,

High-speed Counter

Unit, Position Control

Unit

(NC111/112/113/213),

Analog I/O Unit, ID

Sensor Unit, Fuzzy

Logic Unit

High-density I/O Unit,
T

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

T

emperature Sensor

Unit, Voice Unit

Position Control Unit
(NC21

1/413), Motion

Control Unit

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

4 Units 8 Units 6 Units 2 Units

Maximum number of
Units that can be
mounted in all groups

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

x 8

Product Specifications

Position Control Unit

7

System Configuration

Control System: Open-loop System

Position

Control Unit

Note: The

Position Control Unit does not in

-

put

position feedback signals.

Pulse output

Servodriver or stepping driver

Servomotor or stepping motor

Tachogenerator
Rotary encoder

Connection Configuration

Item 1-axis 2/4-axis

Connecting

cable

on PCU end

XW2Z-jjjJ-Aj XW2Z-jjjJ-Aj

Servo Relay Unit

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

Item Connection

to U-Series

Connection
to M-Series

Connection

to H-Series

Connecting cable on
Servodriver end

XW2Z-jjj
J-B1

XW2Z-jjj
J-B2

XW2Z-jjj
J-B3

Servodriver U-Series M-Series H-Series

R88D-UPjjj R88D-MTjjj R88D-Hjjj

+

+

Position Control
Unit

CPU Unit

Power Supply
Unit

Host link

Connecting cable on PCU end

Servo Relay Unit

Connecting cable on Servodriver
end

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

Servodriver

Servomotor

Stepping driver

Stepping motor

or

SYSMAC-NCT

Position Control Unit

Product Specifications

8

Exchanging Data

CPU Unit

Ladder program

I/O memory

IR/CIO area (operating memory area)

Operation
commands

Status inputs

Position Control Unit (C200HW-NC413)

Command
interpretation

Status

such as
positioning completed
or present position

I/O refresh

DM area (parameter area)

Common
parameters

Axis
parameters

At power-up or restart

At power-up or restart

Common
parameters

DM or EM area

Operating data area

Data

transfer data,

operation data, etc.

Status inputs

I/O refresh

Settings analysis
and execution

Status such as
I/O signals and
error codes

Internal memory

Data transfer area

Data for memory
operation

Address

Data area

Axis parameters

Sequence data
Speed data

Position data

Acceleration time data

Deceleration time data

Dwell time data

Zone data

Data for
X axis

Data for Y
to U axes

Saving data Startup restart

Flash memory

When data transfer
commands are executed

When IOWR or IORD
is executed

When data transfer
commands are executed

MOV

, LD, etc.

SYSMAC-NCT

n+7
n+8

n+19

m+3
m+4

m+99

I+25
I+26

I+33

Product Specifications

Position Control Unit

9

Components

C200HW-NC413

LED indicators

Show the PCU’s
operating status.

Unit number
setting switch

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

X/Y axis connector

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

Z/U axis connector

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

X-,
Y-axis
connect
or

X-axis connector (see note)

Note: The Unit is provided with a Fujitsu
FCN-361J048-AU Connector (soldered) and
FCN-360C048-D Connector Cover.

C200HW-NC213 C200HW-NC113

LED Indicators

Name Color Status Explanation

RUN Green

Lit

Lit

during normal operation.

Not

lit

Hardware error, or PC notified of PCU error.

ERR Red

Lit

/ flashing

An error has occurred.

Not

lit

No error has occurred.

SENS Red

Lit

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.

Flashing

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

Not

lit

None of the above has occurred.

DATA Red

Flashing

The check of all data (parameters, positions, etc.)
following power up shows that data is lost or corrupted.

Lit

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.

Not

lit

None of the above has occurred.

X Orange

Lit

Pulses are being output to the X axis (either forward or
reverse).

Flashing

An error has occurred, such as incorrect cable type for
the X axis or faulty data.

Not

lit

None of the above has occurred.

Y Orange

Lit

Pulses are being output to the Y axis (either forward or
reverse).

Flashing

An error has occurred, such as incorrect cable type for
the Y axis or faulty data.

Not

lit

None of the above has occurred.

Z Orange

Lit

Pulses are being output to the Z axis (either forward or
reverse).

Flashing

An error has occurred, such as incorrect cable type for
the Z axis or faulty data.

Not

lit

None of the above has occurred.

U Orange

Lit

Pulses are being output to the U axis (either forward or
reverse).

Flashing

An error has occurred, such as incorrect cable type for
the U axis or faulty data.

Not

lit

None of the above has occurred.

Position Control Unit

Product Specifications

10

External I/O Connectors

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

C200HW-NC413 C200HW-NC213 C200HW-NC113

Connector Pin Numbers

Outline of connector (rear
side)

Pin number marks

(Viewed from soldered side)

Connector

Pin Arrangement for X and Z Axes

Pin

No.

I/O Name

A1 IN

Output power supply

, 24 VDC

A2 IN

Output GND, 24 VDC

A3 --

Not used

A4 --

Not used

A5 OUT

CW pulse output

A6 OUT

CW pulse/pulse output with 1.6 KΩ resistance

A7 OUT

CCW pulse/direction output

A8 OUT

CCW pulse/direction output with 1.6 KΩ resistance

A9 --

Not used

A10 OUT

Error counter reset output Origin-adjustment
command output

A11 OUT

Error counter reset output with 1.6 KΩ resistance
Origin-adjustment command output with 1.6 K

Ω

resistance

A12 IN

Positioning completed input signal

A13 --

Not used

A14 IN

Origin common

A15 IN

Origin input signal (24 V)

A16 IN

Origin input signal (5 V)

A17 --

Not used

A18 --

Not used

A19 IN

Interrupt input signal

A20 IN

Emergency stop input signal

A21 IN

Origin proximity input signal

A22 IN

CW limit input signal

A23 IN

CCW limit input signal

A24 IN

Input common

Connector

Pin Arrangement for Y and U Axes

Pin

No.

I/O Name

B1 IN

Output power supply

, 24 VDC

B2 IN

Output GND, 24 VDC

B3 --

Not used.

B4 --

Not used.

B5 OUT

CW pulse output

B6 OUT

CW pulse/pulse output with 1.6 KΩ resistance

B7 OUT

CCW pulse/direction output

B8 OUT

CCW pulse/direction output with 1.6 KΩ resistance

B9 --

Not used.

B10 OUT

Error counter reset output Origin-adjustment

command output

B11 OUT

Error counter reset output with 1.6 KΩ resistance

Origin-adjustment command output with 1.6 K

Ω

resistance

B12 IN

Positioning completed input signal

B13 --

Not used.

B14 IN

Origin common

B15 IN

Origin input signal (24 V)

B16 IN

Origin input signal (5 V)

B17 --

Not used.

B18 --

Not used.

B19 IN

Interrupt input signal

B20 IN

Emergency stop input signal

B21 IN

Origin proximity input signal

B22 IN

CW limit input signal

B23 IN

CCW limit input signal

B24 IN

Input common

Product Specifications

Position Control Unit

11

External Connection Diagram

This

example shows the use of a Servodriver

with encoder phase-Z

as

origin input signals.

Emergency stop input

Origin proximity input (see note)

CW limit input (see note)

CCW limit input (see note)

Input common

CW pulse output

CCW pulse output/
direction output with

1.6 KΩ resistance
24-V power supply

for output

24 V GND for output

Error counter reset output,
origin-adjustment command output

Origin input signal (5 V)

Origin common

N.C.
contact

OMRON R88D-UPjjj
Servodriver

R88M-U Servomotor

Note: N.O.

or N.C. contact can be selected

using axis parameters.

24 VDC

24 VDC

+

–

+

–

–

–

–

–

Position Control Unit

Product Specifications

12

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

Position Control Unit

Connecting cable on
PCU end

Servo Relay Unit

Single-axis Position
Control Unit for C200HS

Connecting cable
for C200H-NC113

Servo Relay Unit
for C200H-NC113

2/4-axis Position Control
Unit for C200HS

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

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

Note: 1. Two

cables or Units are requIred for

4-axis PCUs.

Connecting cable on
Servodriver end

Servodriver

Connecting cable
for U-Series

U-Series Servodriver

Connecting cable
for M-Series

M-Series Servodriver

H-Series Servodriver

Connecting cable
for H-Series

2. When

the Servodriver is combined with the C200HW

-NC213 (2-axis), two

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.

(See note 2)

(See note 2)

(See note 2)

C200HW-NC113

XW2Z-jjjJ-Aj

XW2B-20J6-1B

C200HW-NC213/413

XW2Z-jjjJ-Aj

XW2B-40J6-2B

XW2Z-jjjJ-B1

R88D-UPjjj

XW2Z-jjjJ-B2

R88D-MTjjj

XW2Z-jjjJ-B3

R88D-Hjjj

Product Specifications

Position Control Unit

13

Connection Diagram for Position Control Unit
and Servo Relay Unit

XW2Z-jjjJ-A6/A8
Connecting

Cable:

For C200HW-NC113

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

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

Origin input (5 V)

Origin common

Input common

Positioning completed input

Origin proximity input

CCW limit input

CW limit input

Interrupt input

Emergency stop input

Origin input (24 V)

Origin proximity
CCW limit

CW limit
External interrupt

FG
Origin input (24 V)

Origin common

Emergency stop input

– ECRST

+ ECRST

– CW

+ CW

– CCW

+ CCW

GND

24 V

+ Z
– Z

24 V
INP

Origin proximity

CCW limit
CW limit
External interrupt

Origin input (24 V)
Origin common

Emergency stop input

– ECRST

+ ECRST

– CW

+ CW

– CCW

+ CCW

GND

24 V

+ Z

– Z
24 V
INP

Position Control
Unit NC113

Connecting cable
XW2Z-jjjJ-A8

Servo Relay Unit
XW2B

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

FG

XW2Z-jjjJ-A7/A9
Connecting

Cable:

For C200HW-NC213/NC413

2 axes, U/H/M-Series Servodriver

2 axes, UEP-Series Servodriver

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

Origin input (5 V)

Origin common

Input common

Positioning completed input

CCW limit input

CW limit input

Interrupt input

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

Origin proximity
CCW limit

CW limit

External interrupt

FG
Origin input (24 V)

Emergency stop input

– ECRST

+ ECRST

– CW

+ CW

– CCW

+ CCW

GND

+ Z
– Z
24 V

INP

Position Control Unit
NC213/NC413

Connecting cable
XW2Z-jjjJ-A7

Servo Relay Unit
XW2B

Origin proximity input

X-axis emergency stop input

CW limit input
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

Origin input (5 V)

Origin common

CCW limit input

CW limit input

Origin proximity input

Interrupt input

Positioning completed input

Y-axis emergency stop input

– CW

+ CW

– CCW

+ CCW

– ECRST

+ ECRST
HRET

+ Z
– Z

HRET

CCW limit
CW limit
Origin proximity
External interrupt

INP

Position Control Unit
NC213/NC413

Connecting cable
XW2Z-jjjJ-A9

Servo Relay Unit
XW2B

Origin proximity

CCW limit

CW limit

External interrupt

FG

Origin input (24 V)

Emergency stop input

– ECRST

+ ECRST

– CW

+ CW

– CCW

+ CCW

GND

24 V

+ Z
– Z

24 V

INP

– CW

+ CW

– CCW

+ CCW

– ECRST

+ ECRST

HRET
+ Z

– Z

HRET

CCW limit
CW limit
Origin proximity

External interrupt
INP

HRET

24 V

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

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

Position Control Unit

Product Specifications

14

Dimensions (Unit: mm)

Mounted

Dimensions

Backplane

Connection
cable

Approx. 230

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]

Authorized Distributor:

Note:

Specifications subject to change without notice.

Cat.

No. R060-E1-1

1

Printed in Japan
0100-0.7M