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
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