Omron CS1W-213, CS1W-233, CS1W-413, CS1W-NC113, CS1W-433 OPERATION MANUAL

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Cat. No. W376-E1-06

SYSMAC CS1W-NC113/213/413/133/233/433

Position Control Units

OPERATION MANUAL

CS1W-NC113/213/413/133/233/433 Position Control Units

Operation Manual

Revised February 2008

Notice:

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OMRON products are manufactured for use according to proper procedures 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 injury to people or damage to property.

!DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or

serious injury. Additionally, there may be severe property damage.

!WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or

serious injury. Additionally, there may be severe property damage.

!Caution 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 “PLC” means Programmable Controller. “PC” is used, however, in some Programming Device displays to mean Programmable Controller.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of information.

 OMRON, 2000

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, o by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission o 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 contained in this publication.

Note Indicates information of particular interest for efficient and convenient opera-

tion of the product.

1,2,3... 1. Indicates lists of one sort or another, such as procedures, checklists, etc.

Unit Versions of CS-series Position Control Units

Unit Versions A “Unit version” has been introduced to manage Position Control Units in the

CS Series according to differences in functionality accompanying Unit upgrades.

Notation of Unit Versions on Products

CS-series Position Control Unit

NC113

MACH No.

Confirming Unit Versions with Support Software

1,2,3... 1. In the IO Table Window, right-click the Position Control Unit and select Unit

The Unit version is given to the right of the lot number on the nameplate of the applicable Position Control Units, as shown below.

Product nameplate

CS1W-NC113

NC UNIT

Unit version Example for Unit version 2.3

Lot No. 031001 0000 Ver.2.3

OMRON Corporation MADE IN JAPAN

The Unit version of the Position Control Units begins at version 2.0.

The Unit version can be confirmed in Unit Manufacturing Information of CXProgrammer version 4.0 or higher using the following procedure.

Manufacturing information.

2. The following Unit Manufacturing information Dialog Box will be displayed.

Unit version

2.3

Example: Unit version 2.3 will be displayed in the Unit Manufacturing information Dialog Box.

Use the above display to confirm the Unit version of the Position Control Unit.

Using the Unit Version Label

The following Unit version label is provided with the Position Control Unit.

This label can be attached to the front of the Position Control Unit to differentiate between Position Control Units of different Unit versions.

Unit Version Notation

In this manual, the Unit version of a Position Control Unit is given as shown in the following table.

Product nameplate Notation used in this manual Special remarks

Ver. 2.0 or later number shown to the right of the lot number

Blank to the right of lot number

CS-series Position Control Unit Ver. 2.0 or later Information without refer-

ence to specific Unit versions applies to all versions

Pre-Ver. 2.0 CS-series Position Control Unit

of the Unit.

Functions Supported by Each Unit Version of Position Control Unit

Unit Version Pre-Ver. 2.0 Ver. 2.0 Ver. 2.1 Ver. 2.2 Ver. 2.3

Internal system software version

CS-series Position Control Units CS1W-NC113/133/213/233/413/433

Functions

Support Software CX-Position Ver.

Changing the acceleration for a multiple start during relative movement or absolute movement in direct operation

Changing acceleration/deceleration time during jog operation

Setting acceleration/deceleration time for axis parameters until the target speed is reached

Easy backup function Not supported Supported Supported Supported Supported

Setting number of unused axes

Setting CW/CCW pulse output direction

Setting origin search pattern

Position data setting when origin signal stops

Setting jog operation Not supported Not supported Not supported Not supported Supported

Setting deviation counter reset output signal

Checking parameters and data at startup

1.0 2.0 2.1 2.2 2.3

Not supported Supported Supported Supported Supported

Not supported Not supported Supported Supported Supported

Not supported Not supported Not supported Supported Supported

Not supported Not supported Not supported Not supported Supported

1.0 or later

CX-Position Ver.

1.0 (See note 2.) CX-Position Ver.

2.0 or later

CX-Position Ver.

1.0 (See note 2.) CX-Position Ver.

2.0 or later

CX-Position Ver.

1.0 (See note 2.) CX-Position Ver.

2.0 (See note 2.) CX-Position Ver.

2.1 or later

CX-Position Ver.

1.0 (See note 2.) CX-Position Ver.

2.0 (See note 2.) CX-Position Ver.

2.1 (See note 2.) CX-Position Ver.

2.2 or later

Note 1. The Position Control Unit must be installed with CS1-H CPU Unit to use

the above functions supported for Position Control Unit Ver. 2.0. These functions cannot be used if the Position Control Unit is installed with a CS1 CPU Unit (with -V1 suffix).

vii

2. With CX-Position Ver. 1.0, new functions added to Position Control Units Ver. 2.0 or higher cannot be used.

Checking Position Control Unit Version and Internal System Software Version

Position Control Units have an internal system software version in addition to the Unit version used by CS/CJ-series Units to distinguish functions. The following table shows the relationship between the Position Control Unit’s Unit version and internal system software version.

Version type Unit version Internal system software version

Details Version code for distinguishing functions sup-

ported for CS/CJ-series Units.

Checking method The Unit version code is displayed to the right

of the lot number on the nameplate attached to the Position Control Unit.

The Unit version code can also be checked from CX-Programmer Ver. 4.0 in Unit Manu- facturing information of the I/O Table Window.

Correlation Pre-Ver. 2.0 1.0

Ver. 2.0 2.0

Ver. 2.1 2.1

Ver. 2.2 2.2

Ver. 2.3 2.3

Version code for internal system software.

Press the Ctrl + V Keys while the CX-Position NC Monitor Screen is displayed.

viii

Version Upgrade Information

The following tables outline changes made for the most recent version upgrade for SYSMAC CSSeries Position Control Units.

■ Enhanced Functions for Unit Version 2.0

Changing Multiple-start Acceleration for Relative and Absolute Movement during Direct Operation

Previous version Present version (Ver. 2.0 or later)

When executing multiple starts during direct operation, the acceleration/deceleration times set for the first start were used.

Changing Accelerations/Decelerations and Changing Deceleration Following Interrupt Inputs for Interrupt Feeding during Direct Operation

Previous version Present version (Ver. 2.0 or later)

The speed command could be changed as long as it was done before the interrupt signal was input. If an acceleration/deceleration time was changed, the change would not be effective until the next interrupt feed command. The acceleration/deceleration times set for the first start were used for speed changes. The deceleration time set for the first start was used after interrupt signal input.

Allowing Changes to Acceleration/Deceleration Time during Jogging

Previous version Present version (Ver. 2.0 or later)

The only speed changes allowed during jogging were those made with the speed command. If acceleration/deceleration times changed, the changes were not effective until the next JOG command. The deceleration time set when the JOG operation was started was used for accelerations/decelerations for speed changes as well as for JOG stops or deceleration stops.

When executing multiple starts during direct operation, the acceleration time set for each of the multiple starts is used and the deceleration time set for the first start is used.

The acceleration/deceleration times can be changed and changes can be made with the speed command as long as the changes are made before the interrupt signal is input. The acceleration/deceleration times can also be changed during acceleration and deceleration. The deceleration time set for when the interrupt input occurs is used following interrupt signal input.

In addition to changes made during JOG operation with the speed command, speed changes can also be made during JOG operation by changing the acceleration/deceleration times. Accelerations/decelerations can also be changed during acceleration/deceleration. Accelerations/decelerations can also be changed during acceleration/deceleration to a fixed speed. The deceleration time set when the stopping the JOG operation is executed is used for JOG stops or deceleration stops.

Setting Acceleration/Deceleration Time in Axis Parameters as Time Required to Reach Target Speed

Previous version Present version

Acceleration/deceleration times could be set only as the time required for each axis to go from the initial speed to the maximum speed.

The acceleration/deceleration time can be set in one of the following ways.

• Set as the time required for each axis to go from the initial speed to the maximum speed (previous setting method).

• Set as the time required for each axis to go from the present speed to the target speed. (This simplifies calculating acceleration/deceleration times.)

Addition of Easy Backup Function

Previous version Present version

There was no easy backup function. The easy backup function of the CPU Unit can be used to automat-

ically back up and restore the following data from/to flash memory in the PCU along with all data from the CPU Unit using a Memory Card in the CPU Unit. It can also compare the data. This makes it easier to back up all PLC data or to prepare backup data in case Units are replaced.

• Axis parameters

• Sequence data

• Speed data

• Acceleration/deceleration time data

• Dwell time data

• Zone data

Note Data for all Unit axes is stored at the same time.

■ Enhanced Functions in the Upgrade from Unit Version 2.0 to Unit Version 2.1

Setting the Number of Unused Axes

Previous version Present version (Ver. 2.1 or later)

Emergency stop input wiring was also required for unused axes.

Setting the number of unused axes in the common parameters eliminates the need for emergency stop input wiring for unused axes.

■ Enhanced Functions in the Upgrade from Unit Version 2.1 to Unit Version 2.2

Setting the CW/CCW Pulse Output Direction

Previous version Present version (Ver. 2.2 or later)

The pulse output direction could not be changed.

Addition of Origin Search Pattern Setting

Previous version Present version (Ver. 2.2 or later)

Operation was uneven if a return was performed at the origin proximity and operation immediately stopped at the origin input signal.

Setting the Position Data When the Origin Signal Stops

Previous version Present version (Ver. 2.2 or later)

The stopping point was always 0. The value of the stopping point can be set. Applications in which

Bits for reversing the output direction have been added to the axis parameter areas. Specifying reversal reverses the output section and is effective for applications using the same wiring but reversed coordinates.

Reverse mode 3 has been added to enable stopping at the origin signal at the proximity speed when a return is performed at the origin proximity.

the stopping point is not 0 do not require presetting the present position.

■ Enhanced Functions in the Upgrade from Unit Version 2.2 to Unit Version 2.3

Jog Operation Setting

Previous version Present version (Ver. 2.3 or later)

Axes could not be controlled from the CX-Position.

Deviation Counter Reset Output Signal Setting

Previous version Present version (Ver. 2.3 or later)

The deviation counter reset output could not be turned ON and OFF from the CX-Position.

Checking Parameters and Data at Startup

Previous version Present version (Ver. 2.3 or later)

Parameters and data were not checked at startup.

The following operations are possible in combination with CX-Position version 2.2 (included with CX-One version 1.1).

• Setting parameters for jog operations (acceleration/deceleration time and RUN signal allocation)

• Resetting errors

• Turning the RUN signal ON/OFF

• Jogging forward and backward (+jog/

• Monitoring the present position, limit sensor, and other functions while jog operations are being performed

The following operations are possible in combination with CX-Position version 2.2 (included with CX-One version 1.1).

• Turning ON and OFF the deviation counter reset output

Parameters and data for up to four axes can be checked and up to four errors (i.e., one per axis) can be detected and output.

−jog)

TABLE OF CONTENTS

PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii

5 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi

SECTION 1

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1-4 List of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1-5 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1-6 Comparison with Existing Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1-7 Control System Principles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

SECTION 2

Basic Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2-1 Basic Operational Flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

SECTION 3

Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3-1 Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3-2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

3-3 External I/O Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-5 Connection Examples for Different Types of Motor Driver . . . . . . . . . . . . . . . . . . 45

3-6 Connection of Unused Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

3-7 Servo Relay Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

SECTION 4

Data Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

4-1 Overall Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

4-2 Common Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4-3 Axis Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

4-4 Operating Memory Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4-5 Operating Data Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

4-6 Memory Operation Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

4-7 Zone Data Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

4-8 Examples of Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

SECTION 5

Transferring and Saving Data . . . . . . . . . . . . . . . . . . . . . 111

5-1 Transferring and Saving Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

5-2 Writing Data with the WRITE DATA Bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

5-3 Reading Data with the READ DATA Bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

5-4 Writing Data with IOWR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

5-5 Reading Data with IORD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

5-6 Saving Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

5-7 Transferring Data with CX-Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

TABLE OF CONTENTS

SECTION 6

Defining the Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

6-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

6-2 Origin Search Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

6-3 Data Settings Required for Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

6-4 Origin Search Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

6-5 Origin Search Timing Charts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

6-6 Present Position Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

6-7 Origin Return. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

6-8 Z-phase Margin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

SECTION 7

Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

7-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

7-2 Direct Operation Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

7-3 Setting Data for Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

7-4 Operations With Direct Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

7-5 Direct Operation Timing Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

7-6 Acceleration/Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

7-7 Sample Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

SECTION 8

Memory Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

8-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

8-2 Memory Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

8-3 Setting Data for Memory Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

8-4 Positioning Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

8-5 Completion Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

8-6 Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

8-7 Transferring Positioning Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215

8-8 Timing Chart for Memory Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

8-9 Acceleration/Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

8-10 Sample Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

SECTION 9

Other Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

9-1 Jogging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

9-2 Teaching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

9-3 Interrupt Feeding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

9-4 Forced Interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236

9-5 Deceleration Stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

9-6 Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243

9-7 Error Counter Reset Output and Origin Adjustment Command Output . . . . . . . . 247

9-8 Backlash Compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

9-9 Software Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252

9-10 Stop Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

9-11 Easy Backup Function (Ver. 2.0 or later). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

xii

TABLE OF CONTENTS

SECTION 10

Program Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

10-1 Operating Procedures for Program Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262

10-2 Memory Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

10-3 Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279

10-4 Linear Interpolation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

10-5 Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

10-6 Override. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294

10-7 Transferring and Saving Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

SECTION 11

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303

11-1 Troubleshooting Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304

11-2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311

11-3 LED Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312

11-4 Reading Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315

11-5 Error Code Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

11-6 Releasing Pulse Output Prohibition and Resetting After Errors. . . . . . . . . . . . . . . 333

11-7 Error Display at the CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336

11-8 Reading Error Information with CX-Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336

SECTION 12

Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . 337

12-1 Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338

12-2 Routine Inspections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338

12-3 Handling Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

12-4 Procedure for Replacing a PCU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

Appendices

A Performance Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

B Estimating Times and Pulses for Acceleration/Deceleration . . . . . . . . . . . . . . . . . 347

C Common Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

D Replacing the C200HW-NC@13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

E Error Code Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357

F Parameter Coding Sheets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

xiii

xiv

About this Manual:

This manual describes the operation of the CS1W-NC113/NC133/NC213/NC233/NC413/NC433 Position Control Units and includes the sections described below.

Please read this manual carefully and be sure you understand the information provided before attempting to install and operate the CS1W-NC113/NC133/NC213/NC233/NC413/NC433 Position Control Units.

Section 1 introduces the features of the Position Control Unit and explains the system configuration in which it is used.

Section 2 gives an overview of the procedures required to use the Position Control Unit.

Section 3 provides information on nomenclature and the function of each part, describes the proce-

dures required for wiring and installation, and gives connection examples. Information on using Servo Relay Units is also provided.

Section 4 provides an overview of the parameter and data settings used in Position Control Unit operation and provides information on memory allocation.

Section 5 explains how to transfer and save parameters and data using the data transfer bits, the IOWR and IORD instructions, and CX-Position.

Section 6 explains the origin search and origin return operations.

Section 7 provides an overview of direct operation, describes the parameter and data settings

required to perform direct operation, and gives sample programs.

Section 8 provides an overview of memory operation, describes the parameter and data settings required to perform memory operation, and gives sample programs.

Section 9 describes the following operations: jogging, teaching, interrupt feeding, forced interrupt, deceleration stop, override, error counter reset output/origin-adjustment command output, backlash compensation, and software limits.

Section 10 provides examples of programs for using the Position Control Unit.

Section 11 describes how to diagnose and correct errors that can occur during operation.

Section 12 describes methods for maintaining the Position Control Unit.

The Appendices provide information on estimating times and pulses for acceleration and deceleration, a memory map for the common parameter area, error code lists, information on replacing the C200HW-NC@13, and parameter coding sheets.

!WARNING Failure to read and understand the information provided in this manual may result in per-

sonal injury or death, damage to the product, or product failure. Please read each section 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.

xvi

Read and Understand this Manual

Please read and understand this manual before using the product. Please consult your OMRON representative if you have any questions or comments.

Warranty and Limitations of Liability

WARRANTY

OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

LIMITATIONS OF LIABILITY

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.

In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

xvii

Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products.

At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products:

• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this manual.

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate industry or government regulations.

• Systems, machines, and equipment that could present a risk to life or property.

Please know and observe all prohibitions of use applicable to the products.

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.

xviii

Disclaimers

CHANGE IN SPECIFICATIONS

Product specifications and accessories may be changed at any time based on improvements and other reasons.

It is our practice to change model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.

PERFORMANCE DATA

Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

xix

PRECAUTIONS

This section provides general precautions for using the Position Control Units and related devices.

The information contained in this section is important for the safe and reliable application of the Position Control Unit. You must read this section and understand the information contained before attempting to set up or operate a Position Control Unit.

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii

5 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi

6-1 Applicable Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi

6-1-1 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi

6-1-2 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . xxvi

6-1-3 Installation Within Control Panel . . . . . . . . . . . . . . . . . . . . . xxvi

xxi

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 product 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 using the Position Control Unit. Be sure to read this manual before attempting to use the Unit and keep this manual close at hand for reference during operation.

!WARNING It is extreme important that Position Control Units and related devices be used

for the specified purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying Position 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. Doing

so may result in serious electric shock.

!WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do

so may result in malfunction, fire, or electric shock.

!WARNING Never touch any of the terminals while power is being supplied. Doing so may

result in serious electric shock.

!WARNING Provide safety measures in external circuits (i.e., not in the Programmable

Controller or Position Control Unit) to ensure safety in the system if an abnormality occurs due to malfunction of the PLC, malfunction of the PCU (Position Control Unit), or external factors affecting the operation of the PLC or PCU. Not providing sufficient safety measures may result in serious accidents.

xxii

• Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures must be provided in external control circuits.

Operating Environment Precautions 4

• The PLC will turn OFF all outputs when its self-diagnosis function detects any error or when a severe failure alarm (FALS) instruction is executed. As a countermeasure for such errors, external safety measures must be provided to ensure safety in the system.

• The PLC or PCU outputs may remain ON or OFF due to deposits on or burning of the output relays, or destruction of the output transistors. As a countermeasure 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 PLC) is overloaded or short-circuited, the voltage may drop and result in the outputs being turned OFF. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system. External safety measures must also be taken to ensure safety in the event of unexpected operation when connecting or disconnecting the PCU’s connectors.

!Caution When positioning to a position determined using the teaching function, set the

position designation setting in the positioning sequence to absolute positioning. If it is set to relative positioning, positioning will be performed to a position other than the one obtained with the teaching function.

!Caution Execute online edit only after confirming that no adverse effects will be

caused by extending the cycle time. Otherwise, the input signals may not be readable.

!Caution Confirm the safety of the destination node before transferring a program to the

node or changing the contents of I/O memory. Doing either of these without confirming safety may result in injury.

!Caution Do not save data into the flash memory during memory operation or while the

motor is running. Otherwise, unexpected operation may be caused.

!Caution Do not reverse the polarity of the 24-V power supply. The polarity must be cor-

rect. Otherwise, the motor may start running unexpectedly and may not stop.

!Caution Make sure the unit version of the Position Control Unit is 2.2 or later before

using the CW/CCW Pulse Output Selection Function. Otherwise, the pulse output may be in the opposite direction from what was intended and the machine may be damaged.

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 as the result of severe changes in temperature.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust (especially iron dust) or salts.

xxiii

Application Precautions 5

• Locations subject to exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

!Caution Take appropriate and sufficient countermeasures when installing systems in

the following locations:

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

!Caution The operating environment of the PLC System can 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 PLC System. Be sure that the operating environment is within the specified conditions at installation and remains within the specified conditions during the life of the system.

5 Application Precautions

Observe the following precautions when using the PCU or the PLC.

!WARNING Failure to abide by the following precautions could lead to serious or possibly

fatal injury. Always heed these precautions.

• Always connect to a ground of 100 Ω or less when installing the Units. Not

connecting to a ground of 100

• Always turn OFF the power supply to the PLC before attempting any of the following. Not turning OFF the power supply may result in malfunction or electric shock.

• Mounting or dismounting Power Supply Units, I/O Units, CPU Units, Memory Cassettes, or any other Units.

• Assembling the Units.

• Setting DIP switches or rotary switches.

• Connecting cables or wiring the system.

• Connecting or disconnecting the connectors.

!Caution Failure to abide by the following precautions may lead to faulty operation of

the PLC, the PCU. or the system, or could damage the PLC or PCU. Always heed these precautions.

• Fail-safe measures must be taken by the customer to ensure safety in the event of incorrect, missing, or abnormal signals caused by broken signal lines, momentary power interruptions, or other causes.

• Interlock circuits, limit circuits, and similar safety measures in external circuits (i.e., not in the Programmable Controller) must be provided by the customer.

• Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning.

Ω or less may result in electric shock.

xxiv

Application Precautions 5

• Install the PCU as far as possible from devices that generate strong highfrequency noise.

• Be sure that all the mounting screws, terminal screws, and cable connector screws are tightened to the torque specified in the relevant manuals. Incorrect tightening torque may result in malfunction.

• Always use the power supply voltages specified in the operation manuals. 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 in places where the power supply is unstable. An incorrect power supply may result in malfunction.

• Use crimp terminals for wiring. Do not connect bare stranded wires directly to terminals. Connection of bare stranded wires may result in burning.

• 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 Output Units in excess of the maximum switching capacity. Excess voltage or loads may result in burning.

• Check the user program for proper execution before actually running it on the Unit. Not checking the program may result in an unexpected operation.

• Be sure that the terminal blocks, Memory Units, expansion cables, and other items with locking devices are properly locked into place. Improper locking may result in malfunction.

• Double-check all wiring and switch settings before turning ON the power supply. Incorrect wiring may result in burning.

• Disconnect the Power Supply Unit’s LG terminal from the GR terminal when testing insulation resistance and dielectric strength. Not disconnecting the LG and GR terminals may result in burning.

• Confirm that no adverse effect will occur in the system before attempting any of the following. Not doing so may result in an unexpected operation.

• Changing the operating mode of the PLC (including the setting of the startup operating mode).

• Force-setting/force-resetting any bit in memory.

• Changing the present value of any word or any set value in memory.

• 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.

• 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 top of the cables or other wiring lines. Doing so may break the cables.

• Resume operation only after transferring the system parameter data to the PCU and saving the data to flash memory. Not doing so may result in an unexpected operation.

• Confirm that set parameters and data operate properly.

xxv

Conformance to EC Directives 6

• Check the pin numbers before wiring the connectors.

• Perform wiring according to specified procedures.

• Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any static build-up. Not doing so may result in malfunction or damage.

• Do not drop the product or subject it to excessive vibration or shock.

6 Conformance to EC Directives

6-1 Applicable Directives

•EMC Directives

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 configuration, 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 overall machine conform to EMC standards.

Note Applicable EMC (Electromagnetic Compatibility) standards are as follows:

EMS (Electromagnetic Susceptibility): EN61000-6-2 EMI (Electromagnetic Interference): EN61000-6-4

6-1-2 Conformance to EC Directives

The PCUs comply with EC Directives. To ensure that the machine or device in which an PCU is used complies with EC directives, the PCU must be installed as follows:

1,2,3...

1. The PCU 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. PCUs complying with EC Directives also conform to the Common Emission Standard (EN regulations), countermeasures will vary depending on the devices connected to the control panel, wiring, the configuration of the system, and other conditions. The customer must, therefore, perform final checks to confirm that devices and the overall machine conform to EC Directives.

61000-6-4). With regard to the radiated emission (10-m

6-1-3 Installation Within Control Panel

Unnecessary clearance in cable inlet or outlet ports, operation panel mounting holes, or in the control panel door may cause electromagnetic wave leakage or interference. In this case, the product may fail to meet EC Directives. In order to prevent such interference, fill clearances in the control panel with conductive packing. (In places where conductive packing comes in contact with the control panel, ensure electrical conductivity by removing the paint coating or masking these parts when painting.)

(Radiated emission: 10-m regulations)

xxvi

SECTION 1

Introduction

This section introduces the features of the Position Control Unit and explains the system configuration in which it is used.

1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1-1-1 Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1-2-1 CS1W-NC413 System Configuration Example . . . . . . . . . . . . . . . . 4

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1-3-1 Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1-3-2 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1-3-3 Other Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1-4 List of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1-5 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1-5-1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1-5-2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1-6 Comparison with Existing Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1-7 Control System Principles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1-7-1 Data Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1-7-2 Control System Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1-7-3 Basic Positioning System Design . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Fe at ur e s Section 1-1

1-1 Features

Position Control Unit

CS1W-NC4(3 (4-axis control)

These Position Control Units are CS-series Special I/O Units. The Units receive instructions from the Programming Controller’s Work Area and output pulse trains to various motor drivers for positioning.

CS1W-NC2(3 (2-axis control)

CS1W-NC1(3 (1-axis control)

1-1-1 Functions

High-speed Response The Position Control Unit (PCU) responds to instructions from the CPU Unit

within 2 ms. (For more details on the conditions required, refer to

Performance Characteristics

Appendix A

Memory Operation and Direct Operation

Number of Control Axes and Output Type

Motor Driver Selectable by Axis

Interrupt Feeding When an interrupt is input during pulse output, positioning is continued for

Position and Speed Control Ranges

There are two different control methods. The first is memory operation, in which the data required for positioning is transferred to the PCU and then specified for position control, and the second is direct operation, in which the target position and target speed are set each time from the CPU Unit.

The PCU is available with 1, 2, or 4 control axes. With 2-axis and 4-axis models, linear interpolation is possible for all axes. Either open collector output or line driver output is available for any number of control axes. Choose the most appropriate model according to the number of controlled axes and the desired output type.

A stepping motor driver and a pulse train input type Servo Drive can be connected to the PCU. It is possible to set different operating modes for different axes allowing the combined use of different types of motor driver.

only a specified amount and then stopped.

Positioning can be performed for positions in the range –1,073,741,823 to 1,073,741,823 pulses and speeds in the range 1 to 500,000 pps in 1-pulse units. This means that positioning is possible over a wide range with speed precision.

System Configuration Section 1-2

Data Capacity and Backup The amounts of data that can be set for memory operation are shown in the

following table:

Type of data Number of data items per axis

Positioning sequences, speeds, positions 100

Acceleration times, deceleration times 9

Dwell times 19

Zones 3

These data items are transferred to the PCU for use. Once they have been transferred to the PCU they can be saved to the PCU’s flash memory, so there is no need for battery maintenance.

Note There is a limit to the service life of the flash memory. A total of up to 100,000

data saving operations can be performed.

CX-Position The PCU is compatible with the Windows-based NC Support Tool (CX-Posi-

tion) that enables setting of the PCUs in a Windows environment. Using the CS-series single-port multi-access function, creation and transfer of parameters and data for PCUs as well as operation monitoring are possible from the same environment as the software used for CPU Unit ladder programming (CX-Programmer).

Simple Programming Using Function Blocks (See note.)

Note Refer to the following documents for details on function blocks.

Function blocks can be used to simplify operation of the PCU in programming complicated diagrams. There are function blocks for origin searches, ABSOLUTE MOVEMENT commands, and RELATIVE MOVEMENT commands.

• Using Function Blocks for the First Time

Function Block Introduction Guide (R133)

• Using Function Blocks for Specific Devices

OMRON FB Library Start-up Guide (R123)

OMRON FB Library Reference Manual (W442)

1-2 System Configuration

The PCU receives control signals (CW limit, CCW limit, origin, origin proximity, emergency stop, and external interrupt input signals) from devices and a control panel, and outputs pulse trains to stepping motor drivers and Servo Drives.

System Configuration Section 1-2

1-2-1 CS1W-NC413 System Configuration Example

Backplane

Dedicated terminal block (See note 1.)

CS1W-NC413 Position Control Unit

External input signals

CCW limit CW limit Origin (See note 2.) Origin proximity Emergency stop External interrupt

CS1G/CS1H CPU Unit

Dedicated terminal block

Use for setting data and monitoring.

Power Supply Unit

Connection to peripheral port

Connection to RS-232C port

External input signals

CCW limit CW limit Origin (See note 2.) Origin proximity Emergency stop External interrupt

Editing parameters and data.

Monitoring status.

File management.

Computer: CX-Position CX-Programmer

Pulse output

Stepping motor drivers

Stepping motors

24-VDC power supply for I/F

See note 2.

Servo Drives

Servomotors

Pulse output

Stepping motors

24-VDC power supply for I/F

Stepping motor drivers

See note 2.

Servo Drives

Servomotors

Note (1) A dedicated cable is available for connecting the PCU to the dedicated

terminal block.

(2) Origin input signals cannot be used as external connection terminals with

dedicated terminal blocks. Connect the Z-phase signal to the Servo Drive using the dedicated cable. The connecting cable required between the PCU or dedicated terminal block and stepping motor driver is not provided.

Basic Operations Section 1-3

1-3 Basic Operations

The PCU’s operations are as follows:

Position Control Unit functions

Position control Memory

operation

Direct operation

Interrupt feeding

Speed control

Other operations Origin search

Independent

Automatic

Continuous

Jogging

Teaching

Override

Present position preset

Backlash compensation

Zone setting

Deceleration stop

1-3-1 Position Control

Positioning can be executed with either an absolute value (i.e., to an absolute position from the origin) or with an incremental value (i.e., to a relative position from the present position).

There are two methods for positioning: memory operation and direct operation. Interrupt feeding, in which operation proceeds for a specified amount after an interrupt input, is also possible.

Direct Operation With direct operation, positions and speeds are set directly from the CPU Unit

(ladder program), and positioning is executed according to operating commands. It is also possible to change the speed and send commands to move

Basic Operations Section 1-3

to different positions while positioning is being performed. Linear interpolation, however, is not possible during direct operation.

New target position

Speed

Position changed

Target position before position changed

Start

Time

Speed changed

Memory Operation With memory operation, positioning sequences (i.e., individual positioning

operations, which include data such as positions and speeds) are transferred to the PCU in advance, and then positioning is executed from the CPU Unit by specifying those positioning sequences by number. Depending on the completion code that is set, positioning sequences can be executed using independent positioning, automatic positioning, or continuous positioning. In the following illustrations, “#0” “#1” “#2” and “#3” indicate positioning sequence numbers.

P ecuted in Order

ositioning Sequences Ex

Speed

Independent Positioning

Automatic Positioning

Continuous Positioning

"#0" "#1" "#2" "#3"

Time

Start

Stop

Start

Pauses for length of dwell time that is set.

Does not stop.

Interrupt Feeding When an interrupt input signal is received, positioning is continued for the

specified amount of pulses and then stopped.

Interrupt input signal

Speed

Specified amount of pulses

Time

Basic Operations Section 1-3

1-3-2 Speed Control

When a start is executed once, pulses are continuously output at a constant rate. The pattern depends on the completion code that is set for “memory operation” positioning sequences. To stop the sequence, use the STOP command.

Speed

Start

STOP

Time

1-3-3 Other Operations

Origin Search The origin search operation finds the origin for the designated axis.

Jogging The jogging operation moves a specified axis at a designated speed and then

stops it.

Teaching The teaching operation takes the present position for the specified positioning

sequence.

Origin

Present position

Specified positioning sequence number

Override When the override is enabled during positioning, the target speed is changed

to the override speed.

Changing the Present Position

Speed A x 1.5

Override enable

The PRESENT POSITION PRESET command changes the present position to a specified position.

Override setting: 150%

Time

Backlash Compensation This operation compensates for the amount of mechanical play, or “loose-

ness,” present in gears.

List of Functions Section 1-4

Zones A zone is a range of positions which can be defined so that flags are turned

ON whenever the present position is within the range.

CCW CW

Zone setting

Zone Flag

OFF

Deceleration Stop The STOP command decelerates positioning to a stop.

STOP

Speed

Time

1-4 List of Functions

Group Name Function Page

Origin determination Origin search Starts the motor and establishes the origin. 145

Present position preset Sets the position at which the motor is stopped to a spec-

Origin return Returns the axis to the origin. 170

Direct operation Absolute/relative move-

ment

Interrupt feeding Designates position, speed, and acceleration/decelera-

Memory operation Absolute/relative move-

ment

Linear interpolation Continuously performs positioning by linear interpolation

Interrupt feeding Performs interrupt feeding according to positioning

Speed control Outputs pulses at a fixed speed according to positioning

Forced interrupt Stops the positioning operation currently being performed

Data saving/transfer High-speed transfer Transfers data between the CPU Unit and the PCU in a

Batch transfer Transfers a large amount of data in one operation

Saving Saves parameters, position data, and speed data to non-

ified value, and establishes the origin.

Designates position, speed, and acceleration/deceleration times, and carries out absolute or relative positioning.

tion times, and after the interrupt signal turns ON, moves a specified amount before stopping.

Continuously performs absolute or relative positioning according to positioning sequences previously set in the PCU.

according to positioning sequences previously set in the PCU.

sequences previously set in the PCU.

sequences set in the PCU.

and performs another positioning operation.

short time using the IOWR and IORD instructions in the ladder program.

between the CPU Unit and the PCU.

volatile memory (flash memory) in the PCU.

169

176

233

194

211

233

210

236

129, 136

119, 124

140

Specifications Section 1-5

Group Name Function Page

Common to direct operation and memory operation

Jogging Outputs pulses at a fixed speed in the CW or CCW direc-

Teaching Reads the currently stopped position as position data. 231

Deceleration stop Decelerates axes to a stop during positioning. Axes can-

Override Changes the axis speed during positioning. 243

Error counter reset Clears the error counter of the Servo Drive to 0. 247

Backlash compensation Increases positioning accuracy by compensating for play

Software limit In order to prevent damage to external devices due to

Zones Notifies the CPU whether or not the position is within a

Acceleration/deceleration curve, acceleration/ deceleration time designations

Initial pulse Starts pulse output in a short time in response to an oper-

Stop function Detects an error either at the CPU Unit or the PCU and

Release prohibit/error reset

tion.

not be moved while the STOP Bit is ON.

in the mechanical system.

unexpected positioning caused by malfunction, in addition to CW and CCW limit input signals, positioning is also monitored using the software.

set region. This function is used when interlocking or performing simultaneous control with peripheral devices.

Performs acceleration/deceleration according to the basic trapezoidal curve, or an S-curve that greatly helps to reduce mechanical vibration. Specifies the method for setting the acceleration/deceleration times.

ating command from the CPU Unit.

stops pulse output either with or without a deceleration curve.

Releases the pulse output prohibit status and at the same time clears the error code to 0.

229

238

250

252

103

255

333

1-5 Specifications

1-5-1 Basic Specifications

Item Model

CS1W-NC113/133 CS1W-NC213/233 CS1W-NC413/433

Power supply voltage 5 VDC (for the PCU itself)

24 VDC (external power supply)

5 VDC (external power supply; line driver output only)

Allowable power supply voltage range

Internal current consumption 250 mA max. at 5 VDC 250 mA max. at 5 VDC 360 mA max. at 5 VDC

Current consumption of external power supply

External dimensions 130 (H) × 35 (W) × 101 (D) (all models)

Weight 250 g max. 250 g max. 300 g max.

Safety standards UL, CSA, EC (EMC Directive)

4.75 to 5.25 VDC (for the PCU itself)

21.6 to 26.4 VDC (external power supply)

4.75 to 5.25 VDC (external power supply; line driver output only)

NC113: 30 mA max. at 24 VDC NC133: 10 mA max. at 24 VDC

NC133: 60 mA max. at 5VDC

NC213: 50 mA max. at 24 VDC NC233: 20 mA max. at 24 VDC

NC233: 120 mA max. at 5VDC

NC413: 90 mA max. at 24 VDC NC433: 30 mA max. at 24 VDC

NC433: 220 mA max. at 5VDC

Note Specifications not listed above conform to CS Series general specifications.

Specifications Section 1-5

1-5-2 Performance Specifications

Item Model

CS1W-NC113/133 CS1W-NC213/233 CS1W-NC413/433

Applicable PLC models CS-series PLCs

I/O requirements Words 5 words 10 words 20 words

Slots 1 slot

Controlled driver Pulse-train input-type Servo Drive or stepping motor driver

NC113/213/413 models have open collector output. NC133/233/433 models have line driver output.

Control Control system Open-loop control by pulse train output

Number of control axes

Control unit Pulse

Positioning operations Two types: memory operation and direct operation

Independent 1 axis 2 independent axes 4 independent axes

Linear interpolation None 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 –1,073,741,823 to 1,073,741,823 pulses (See note.)

Data items 100/axis

Speeds Range 1 pps to 500 Kpps

Data items 100/axis

Acceleration and deceleration times

Functions and settings Origin search Origin proximity input signal: selectable (absent, N.O. or N.C. contact).

Range 0 to 250 s, until maximum speed is reached.

Data items 9/axis for acceleration and deceleration each

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

Zones Zone Flag turns ON when present position is within a specified zone.

Software limits Can be set within a range of –1,073,741,823 to 1,073,741,823 pulses.

Backlash compensation

Teaching With a command from the PLC, the present position can be taken as the

Deceleration stop The STOP command causes positioning to decelerate to a stop accord-

Emergency stop Pulse outputs are stopped by an external emergency stop command.

1 axis 2 axes 4 axes

Origin input signal: selectable (N.O. or N.C. contact) Origin compensation: –1,073,741,823 to 1,073,741,823 pulses Origin search speed: High-speed or proximity-speed can be set. Origin detection 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

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

Three zones can be set for each axis.

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

position data.

ing to the specified deceleration time.

Comparison with Existing Models Section 1-6

Item Model

CS1W-NC113/133 CS1W-NC213/233 CS1W-NC413/433

Functions and settings Present position pre-

set

Override When the override enabling command is executed during positioning,

Data saving 1) Saving to flash memory. (Can be written 100,000 times.)

External I/O Inputs Prepare the following inputs for each axis:

Outputs Prepare the following outputs for each axis:

Pulse output distribution period 1-axis operation: 4 ms

Response time Refer to Appendix A Performance Characteristics.

Self-diagnostic function Flash memory check, memory loss check, CPU bus check

Error detection function Overtravel, CPU error, software limit over, emergency stop

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

the target speed is changed by applying the override coefficient. Possible to set to a value from 1 to 999% (by an increment of 1%)

2) Reading from PLC area by data reading instruction.

3) Reading by Support Tool and saving to personal computer hard disk or floppy disk.

CW and CCW limit input signals, origin proximity input signal, origin input signal, emergency stop input signal, positioning completed signal, interrupt input signal

Pulse 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.

Linear interpolation: 8 ms

Note (1) The additional functions supported by Unit version 2.0 can be used only

when the PCU is installed with a CS1-H CPU Unit (either CPU Unit Ver.

2.0 or Pre-Ver. 2.0 CPU Unit). These functions cannot be used if the PCU is installed with a CS1 CPU Unit (with -V1 suffix). For details on Unit versions, refer to Unit Versions of CS-series Position Control Units on page vi. For details on additional functions supported for unit version 2.0, refer to Unit Versions of CS-series Position Control Units on page vi.

(2) When performing linear interpolation, the distances that can be moved

will vary. For details, refer to 8-6 Linear Interpolation.

1-6 Comparison with Existing Models

The differences between CS1W-NC113/133/213/233/413/433 and OMRON’s C200HW-NC413/213/113 are given in the following table. When replacing the C200HW-NC413/213/113 with this model, refer to Appendix D Replacing the

C200HW-NC

13.

Comparison with Existing Models Section 1-6

Item CS1W-NC4@3/2@3/1@3 C200HW-NC413/213/113

Unit number allocation Allocate unit numbers in the range 0 to

Pulse output type 2 types: open collector output and line

Format of data exchanged between PLC and PCU

Position designation range –1,073,741,823 to 1,073,741,823

Present position range –2,147,483,647 to 2,147,483,647

Zone range –1,073,741,823 to 1,073,741,823

Speed designation range 1 to 500,000 pps, set in pps units 1 to 500,000 pps, set in units of the

CPU Unit scan timeover for END refresh

CPU Unit scan timeover due to IOWR/ IORD instruction

Time between startup instruction from the ladder program and pulse output

Operating data area The following 3 areas can be specified:

Corresponding EM banks Banks 0 to C Bank 0 only

Clearing error codes Possible Not possible (only cleared to 0 when

Parameter setting Settings only required for the axes

Mounting on C200H Slave Rack (remote I/O)

Support Software CX-Position

95. 1-axis and 2-axis PCUs: One unit num-

ber allocated 4-axis PCUs: 2 unit numbers allocated

driver output

Binary format (hexadecimal) Example: Present position is output to

the PLC in 32-bit signed binary format.

pulses

0.5 ms max. per PCU 2.6 to 4.5 ms per PCU

1 ms max. per instruction 2.4 to 62 ms per instruction

2 ms max. (at optimum conditions) 7.51 ms max. (at optimum conditions)

DM Area words allocated to Special I/O Units, user-specified DM Area words, and user-specified EM Area words.

being used.

Not possible Possible

(Conversion of parameters and data created using the SYSMAC-NCT possible.)

Allocate unit numbers in the range 0 to

15. 1-axis and 2-axis PCUs: One unit num-

ber allocated 4-axis PCUs: 2 unit numbers allocated

Open collector output only

BCD format Example: Present position is output to

the PLC in BCD format.

–9,999,999 to 9,999,999 pulses

smallest multiplication factor specified

The following 2 areas can be specified: User-specified DM Area words and user-specified EM Area words.

(The DM Area words allocated to Special I/O Units cannot be specified.)

startup instruction is made)

Settings required for all axes.

SYSMAC-NCT

Control System Principles Section 1-7

1-7 Control System Principles

1-7-1 Data Flow

Position Control Unit

Stepping motor driver

Pulse train

Stepping motor

CPU Unit

PC BUS

MPU

I/F

Memory

Pulse generator

I/O interface

Pulse generator

I/O connector

Magnetizing distribution circuit

Power amplifier

External input

I/O interface

I/O connector

Pulse train

Servo Drive

Error counter Power amplifier

Servomotor

(Positioning output)

Tachogenerator

Rotary encoder

Control System Principles Section 1-7

1-7-2 Control System Principles

Open-Loop System In an open-loop system, positioning is controlled according to the number of

input pulses that the motor receives, and no position feedback is provided. The PCUs all employ pulse-output-type open-loop systems, and the most commonly used motor for this type of control system is a stepping motor. The angle of rotation of a stepping motor can be controlled through the number of pulse signals supplied to the motor driver. The number of rotations of the stepping motor is proportional to the number of pulses supplied by the PCU, and the rotational speed of the stepping motor is proportional to the frequency of the pulse train.

Position controller (e.g., PCU)

Stepping motor or pulse-train input-type servomotor

Pulse train

Reduction gear

Turntable

Ball screw

1-7-3 Basic Positioning System Design

The following diagram and parameters illustrate a simplified positioning system. M: Reduction ratio P: Feed screw pitch (mm/revolution) V: Feed velocity of object being positioned (mm/s)

: Stepping angle per pulse (degree/pulse)

Stepping motor

Reduction gear

Object being positioned

Feed screw pitch

The travel distance per pulse sent to the motor driver is called the “pulse rate” and is calculated according to the following equation:

Pulse rate = P/(pulses per revolution x M)

= P/((360/ = (P x

) x M))

)/(360 x M)

Using the pulse rate, the number of pulses required to move the object a distance L is given by the following calculation:

No. of pulses = Travel distance

÷ Pulse rate

= L

÷ (P x θ

= L = (360

× M × L)/(P x θ

÷ Pulse rate

)/(360 x M)

)

The pulse speed required to move the object with a feed speed of V mm/s is given by the following calculation:

Pulse speed = Feed speed

÷ Pulse rate

= V

÷ (P x θ

= V = (360

× M × V)/(P x θ

÷ Pulse rate

)/(360 x M)

)

The PCU performs positioning control by providing the number of pulses and the pulse speed in the form of position instructions and speed instructions.

Basic Procedures

This section gives an overview of the procedures required to use the Position Control Unit.

2-1 Basic Operational Flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

SECTION 2

Basic Operational Flow Section 2-1

2-1 Basic Operational Flow

The following table shows the basic flow of operation for the PCU.

Flow of operation Reference

Installation SECTION 3 Installation and Wir-

Mount the PCU.

Set the unit number of the PCU.

START

ing

3-2 Installation 3-3 External I/O Circuitry

Wiring 3-4 Wiring

--- ---

Setting the PCU

Connect the PCU to the external input device(s).

Connect the motor and the motor driver.

Connect the motor driver and the PCU.

Turn ON power to the CPU Unit.

Create I/O tables for the PC.

Set the common parameters for the PCU in the DM Area of the CPU Unit.

(See note 3.)

When operating according to the axis parameters saved in the PCU.

Set the axis parameters saved in the PCU.

Read the axis parameters saved in the PCU.

Write the axis parameters to the PCU.

Save the written axis parameters in the PCU.

Enable the set parameters by either turning the power OFF and ON, or by restarting the PCU.

When operating according to the axis parameters in the CPU Unit's DM Area.

Set the axis parameters for the PCU in the CPU Unit's DM Area.

(See note 1.)

(See note 2.)

SECTION 4 Data Areas

4-2 Common Parameter Area

4-3 Axis Parameter Area

SECTION 5 Transferring and Saving Data

5-3 Reading Data with the READ DATA Bit

5-5 Reading Data with IORD 5-2 Writing Data with the

WRITE DATA Bit 5-4 Writing Data with IOWR 5-6 Saving Data 5-7 Transferring Data with

CX-Position

(Continued on next page.)

Basic Operational Flow Section 2-1

Flow of operation Reference

Programming and test operation

(Continued from previous page.)

Establish the origin of the motor axis for operation.

SECTION 6 Defining the Origin

Directly set the target position and speed from the CPU Unit and start the motor.

Record a positioning sequence (including positions and speeds) and operate the motor in accordance with this sequence.

Read the sequence data saved in the PCU.

Write the sequence data to the PCU.

Save the written sequence data in the PCU.

Execute other PCU functions, such as jogging or teaching.

Debugging SECTION 11 Troubleshooting

Is there an error?

Check the LED indicators on the front of the PCU.

Ye s

SECTION 7 Direct Operation

SECTION 8 Memory Operation

SECTION 9 Other Operations

Read the PCU's error code.

Remove the cause of the error and clear the error status.

Operation SECTION 10 Program Exam-

Start PC (and PCU) operation.

Maintenance SECTION 12 Maintenance and

Perform regular inspections.

END

ples

Inspection

Note 1. Perform wiring according to instructions given in the motor and motor driv-

er’s operation manuals.

2. Refer to the operation manual for the CPU Unit.

3. Use the axis parameter designation setting in the common parameter area to specify whether for operation is performed according to axis parameters saved in the PCU or the axis parameters set in the CPU Unit’s DM Area.

Basic Operational Flow Section 2-1

SECTION 3

Installation and Wiring

This section provides information on nomenclature and the function of each part, describes the procedures required for wiring and installation, and gives connection examples. Information on using Servo Relay Units is also provided.

3-1 Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3-1-1 Area Allocation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

3-2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

3-2-1 System Configuration Considerations . . . . . . . . . . . . . . . . . . . . . . . 22

3-2-2 Mounting the Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

3-2-3 Precautions When Handling the PCU. . . . . . . . . . . . . . . . . . . . . . . . 24

3-2-4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3-3 External I/O Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

3-3-1 Connector Pin Arrangement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

3-3-2 External I/O Connector Arrangement. . . . . . . . . . . . . . . . . . . . . . . . 29

3-3-3 I/O Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3-3-4 I/O Electrical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-4-1 Output Connection Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-4-2 Connecting Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

3-4-3 Connecting Origin and Positioning Completed Input Signals . . . . . 42

3-4-4 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

3-5 Connection Examples for Different Types of Motor Driver . . . . . . . . . . . . . . 45

3-6 Connection of Unused Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

3-6-1 Using Only the X Axis and Not the Y Axis on the CS1W-NC213/

NC233 (with Unit Version 2.1 or Later). . . . . . . . . . . . . . . . . . . . . . 58

3-6-2 CS1W-NC213/NC233 – X Axis Only (Unit Versions Earlier Than 2.1) 59

3-7 Servo Relay Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Nomenclature and Functions Section 3-1

3-1 Nomenclature and Functions

CS1W-NC4 3 CS1W-NC2 3 CS1W-NC1 3

LED indicators

Show the PCU's operating status.

Unit number setting switch

Sets the unit number for the PCU.

X axis

X/Y axis connector

connector

X/Y axis connector

Connect to stepping motor driver or Servo Drive. (Controls 2 axes).

Z/U axis connector

Connect to stepping motor driver or Servo Drive. (Controls 2 axes).

Note The orientation of connectors for 2-axis and 4-axis PCUs is the opposite to

that of the C200HW-NC213/413 connectors.

Nomenclature and Functions Section 3-1

LED Indicators

Name Color Status Explanation

RUN Green Lit Lit during normal operation.

Not lit Hardware error, or PLC notified of PCU error.

ERC Red Lit An error has occurred.

Not lit No error has occurred.

ERH Red Lit An error has occurred IN the CPU Unit.

Not lit No error has occurred at the CPU Unit.

SENS Yellow Lit Either a CW/CCW limit signal or an emergency stop input signal is being input. At

Flashing Either a parameter loss, a data loss, or an operating data area designation error

Not lit None of the above has occurred.

DATA Yellow Lit Data is incorrect (e.g., the parameters or positions transferred are out of the per-

Flashing The check of all data (parameters, positions, etc.) following power up shows that

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.

Note For details regarding errors, refer to SECTION 11 Troubleshooting.

this time the LED indicator for the relevant axis (X to U) will flash.

has occurred.

missible range). At this time the LED indicator for the relevant axis (X to U) will flash.

data is lost or corrupted.

Unit Number Setting Switch

• For the CS1W-NC113/NC133, this applies only to the X axis; for the CS1W-NC213/NC233, it applies only to the X and Y axes.

• When not all of the axes are used for the CS1W-NC213/NC233/ NC413/ NC433, either connect the CW/CCW limit inputs for the unused axes to the input power supply and turn them ON or set the contact logic to N.O. Connect the emergency stop to the input common and turn it ON. If it is not connected, the ERC indicator will light. Operation will be normal, however, for all axes that are used.

This switch sets the unit number (i.e., the machine number) for the PCU as a Special I/O Unit.

Memory is allocated to the PCU from the CPU Unit’s Special I/O Unit Area according to the unit number setting.

CS1W-NC113/NC133/NC213/NC233 models are allocated 10 words and CS1W-NC413/NC433 models are allocated 20 words. The following unit number settings are possible:

Installation Section 3-2

• CS1W-NC113/NC133/NC213/NC233: 0 to 95

• CS1W-NC413/NC433: 0 to 94

As long as the unit number settings do not overlap with those of other Special I/O Units, any unit numbers in the ranges given above can be set.

!Caution Be sure to turn OFF the power supply before making the settings.

3-1-1 Area Allocation

DM Area for Special I/O Units

CS1W-NC113/NC133/NC213/NC233 PCUs occupy 100 words each and CS1W-NC413/NC433 PCUs occupy 200 words each from D20000 to D29599 in the DM Area as shown below.

CS1W-NC113/NC133/NC213/NC233 CS1W-NC413/NC433

D20000 to D20099 Unit #0 D20100 to D20199 Unit #1 D20200 to D20299 Unit #2 D20300 to D20399 Unit #3

: : D29300 to D29399 Unit #93 D29400 to D29499 Unit #94 D29500 to D29599Unit #95

Unit #0 D20000 to D20199 Unit #1 D20100 to D20299 Unit #2 D20300 to D20399 Unit #3 D20400 to D20499

: : Unit #93 D29300 to D29499 Unit #94 D29400 to D29599 Unit #95 Setting not possible.

Word address m to m+3 m+4 to m+31 m+32 to m+59 m+60 to m+87 m+88 to m+115

m: D20000+100 x unit number

Contents

Common parameters

Axis parameters

For X axis For Y axis For Z axis For U axis

Special I/O Unit Area CS1W-NC113/NC133/NC213/NC233 PCUs occupy 10 words, and CS1W-

NC413/NC433 PCUs occupy 20 words in the Special I/O Unit Area.

CS1W-NC113/NC133/NC213/NC233 CS1W-NC113/NC133 Unit #0

Unit #1 Unit #2 Unit #3

Unit #93 Unit #94 Unit #95

CS1W-NC413/NC433 CS1W-NC413/NC433

CIO 2000 to CIO 2009 CIO 2010 to CIO 2019 CIO 2020 to CIO 2029 CIO 2030 to CIO 2039

CIO 2930 to CIO 2939 CIO 2940 to CIO 2949 CIO 2950 to CIO 2959

CIO 2000 to CIO 2019 Unit #0 CIO 2010 to CIO 2029 Unit #1 CIO 2020 to CIO 2039 Unit #2 CIO 2030 to CIO 2049Unit #3

CIO 2930 to CIO 2949 Unit #93 CIO 2940 to CIO 2959Unit #94 Setting not possible.Unit #95

I/O

Output

I/O

Output

Input

Word address Axis

n to n+1 n+2 to n+4 Input X axis

Word address Axis n to n+1 X axis n+2 to n+3 Y axis n+4 to n+5 Z axis

n+8 to n+10 X axis n+11 to n+13 Y axis n+14 to n+16 Z axis n+17 to n+19 U axis

X axis

CS1W-NC213/NC233

I/O

Output

Input

n: CIO 2000+10 x unit number

U axisn+6 to n+7

Word address Axis n to n+1 X axis n+2 to n+3 Y axis n+4 to n+6 X axis

Y axisn+7 to n+9

Note 1. The CS1W-NC413/NC433 occupies the space for two unit numbers, i.e.,

the unit number that is set and also the following number.

2. Be sure to set the unit numbers so that they do not overlap with the unit numbers of other Special I/O Units.

3. Since the CS1W-NC413/433 occupies the space for two unit numbers, unit number 95 cannot be set.

3-2 Installation

3-2-1 System Configuration Considerations

• The additional functions supported by Unit version 2.0 can be used only when the PCU is installed with a CS1-H CPU Unit (either CPU Unit Ver.

2.0 or Pre-Ver. 2.0 CPU Unit). These functions cannot be used if the PCU is installed with a CS1 CPU Unit (with -V1 suffix). For details on Unit versions, refer to Unit Versions of CS-series Position

Installation Section 3-2

Control Units on page vi. For details on additional functions supported for unit version 2.0, refer to Unit Versions of CS-series Position Control Units on page vi.

• The I/O bits allocated to a particular Special I/O Unit are determined by the unit number that is set by the switch on the front panel of the Unit, and not by the slot in which the Unit is mounted.

• The PCU can be mounted to CS1W-BC@@3 CPU Backplanes or CS1WBI@@3 Expansion Backplanes.

3-2-2 Mounting the Unit

Follow the procedure outlined below to mount the Position Control Unit.

1,2,3... 1. Hook the top of the PCU into the slot in the Backplane.

Hook

Duct

PCU

Duct

Phillips-head screwdriver

Backplane

2. Carefully insert the PCU into the connector on the Backplane.

3. Tighten the screw on the bottom with a Phillips-head screwdriver. Provide enough space around the PCU to enable easy mounting and dismounting, and to ensure good ventilation as shown below.

20 mm min.

Backplane

20 mm min.

Note Tighten the screw at the bottom of the PCU to a torque of 0.4 N

4. To remove the PCU, use a Phillips-head screwdriver to loosen the screw at the bottom of the PCU, and rotate the PCU upwards before dismounting.

•m.

Installation Section 3-2

3-2-3 Precautions When Handling the PCU

• Before installing or disconnecting the PCU or connecting cable, be sure to first turn off both the Programmable Controller and the power supply.

• To minimize any influence from noise, place I/O wiring, high-voltage lines, and power lines in separate ducts.

• Wire clippings tend to get scattered around during wiring, so leave the label in place on top of the PCU to prevent any clippings from getting inside the PCU. Once the wiring has been completed, be sure to remove the label to provide ventilation.

Remove the label after completing the wiring.

Installation Section 3-2

3-2-4 Dimensions

CS1W-NC113/NC133/NC213/NC233/NC413/NC433

Note The above diagram is for the CS1W-NC413.

Mounted Dimensions

Connecting cable

Backplane

117

Approx. 230

External I/O Circuitry Section 3-3

3-3 External I/O Circuitry

3-3-1 Connector Pin Arrangement

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

CS1W-NC413/433 CS1W-NC213/233 CS1W-NC113/133

External I/O Circuitry Section 3-3

CS1W-NC113/213/413 (Pulse Open Collector Output)

Connector pin arrangement for X and Z axes Connector pin arrangement for Y and U axes

I/O Designation Pin

No.

A1 IN Output power supply, 24 VDC B1 IN Output power supply, 24 VDC

A2 IN Output GND, 24 VDC B2 IN Output GND, 24 VDC

A3 --- Not used B3 --- Not used

A4 --- Not used B4 --- Not used

A5 OUT CW pulse output B5 OUT CW pulse output A6 OUT CW pulse output with 1.6-kΩ resistance B6 OUT CW pulse output with 1.6-kΩ resistance

A7 OUT CCW pulse/direction output B7 OUT CCW pulse/direction output A8 OUT CCW pulse/direction output with 1.6-kΩ

resistance

A9 --- Not used B9 --- Not used

A10 OUT Error counter reset output/origin-adjustment

command output

A11 OUT Error counter reset output with 1.6-kΩ resis-

tance Origin-adjustment command output with 1.6kΩ resistance

A12 IN Positioning completed input signal B12 IN Positioning completed input signal

A13 --- Not used B13 --- Not used

A14 IN Origin common B14 IN Origin common

A15 IN Origin input signal (24 V) B15 IN Origin input signal (24 V)

A16 IN Origin input signal (5 V) B16 IN Origin input signal (5 V)

A17 --- Not used B17 --- Not used

A18 --- Not used B18 --- Not used

A19 IN Interrupt input signal B19 IN Interrupt input signal

A20 IN Emergency stop input signal B20 IN Emergency stop input signal

A21 IN Origin proximity input signal B21 IN Origin proximity input signal

A22 IN CW limit input signal B22 IN CW limit input signal

A23 IN CCW limit input signal B23 IN CCW limit input signal

A24 IN Input common B24 IN Input common

No.

B8 OUT CCW pulse/direction output with 1.6-kΩ

B10 OUT Error counter reset output/origin-adjustment

B11 OUT Error counter reset output with 1.6-kΩ resis-

I/O Designation

resistance

command output

tance Origin-adjustment command output with 1.6kΩ resistance

External I/O Circuitry Section 3-3

CS1W-NC133/233/433 (Line Driver Output)

Connector pin arrangement for X and Z axes Connector pin arrangement for Y and U axes

Pin No.

A1 IN Output power supply, 24 VDC B1 IN Output power supply, 24 VDC A2 IN Output GND, 24 VDC B2 IN Output GND, 24 VDC A3 IN Pulse output GND, 5 VDC* B3 IN Pulse output GND, 5 VDC* A4 IN Pulse output power supply, 5 VDC* B4 IN Pulse output power supply, 5 VDC* A5 OUT CW pulse output (+) B5 OUT CW pulse output (+) A6 OUT CW pulse output (–) B6 OUT CW pulse output (–) A7 OUT CCW pulse/direction output (+) B7 OUT CCW pulse/direction output (+) A8 OUT CCW pulse/direction output (–) B8 OUT CCW pulse/direction output (–) A9 --- Not used B9 --- Not used A10 OUT Error counter reset output/origin-adjustment

A11 OUT Error counter reset output with 1.6-kΩ resis-

A12 IN Positioning completed input signal B12 IN Positioning completed input signal A13 --- Not used B13 --- Not used A14 IN Origin common B14 IN Origin common A15 IN Origin input signal (24 V) B15 IN Origin input signal (24 V) A16 IN Origin input signal (5 V) B16 IN Origin input signal (5 V) A17 --- Not used B17 --- Not used A18 --- Not used B18 --- Not used A19 IN Interrupt input signal B19 IN Interrupt input signal A20 IN Emergency stop input signal B20 IN Emergency stop input signal A21 IN Origin proximity input signal B21 IN Origin proximity input signal A22 IN CW limit input signal B22 IN CW limit input signal A23 IN CCW limit input signal B23 IN CCW limit input signal A24 IN Input common B24 IN Input common

I/O Designation Pin

No.

B10 OUT Error counter reset output/origin-adjustment

command output

B11 OUT Error counter reset output with 1.6-kΩ resis-

tance Origin-adjustment command output with

1.6-kΩ resistance

* Be sure to wire the 5-VDC pulse output power supply with the correct polar-

ity.

I/O Designation

command output

tance Origin-adjustment command output with 1.6kΩ resistance

Note 1. Use either the 24-V origin input signal or the 5-V origin input signal, but not

both.

2. Use 24

3. Use 5

±10% VDC as the output power supply.

±5% VDC as the output power supply.

4. Do not use the 24-VDC output power supply or the 5-VDC pulse output power supply together with the power supply for another input or output.

5. Be sure to wire the 5-VDC pulse output power supply with the correct polarity. Wiring with the polarity reversed will result in damage to internal elements.

6. The leakage current must be less than 1.0 mA when two-wire-type sensors are used.

7. Be sure to connect a load to the output terminals. If the load is short-circuited, it will damage the PCU’s internal components.

8. The 24-V output power supply (A1 and B1) and the 24-V output ground (A2 and B2) for all axes are connected in the PCU, and are shared by all axes.

9. The 5-V pulse output power supply (A4 and B4) and the 5-V pulse output ground (A3 and B3) for all axes are connected in the PCU, and are shared by all axes.

External I/O Circuitry Section 3-3

10. When installing connectors to the PCU, tighten the connector screws to a torque of 0.34 N·m.

• The commons for all outputs are connected to the 24-V output ground.

• The commons for all inputs except for the 24-V and 5-V origin input signals and positioning completed input signals are connected to the input common.

• The common for the positioning completed input signal is connected to the 24-V output power supply via a diode.

• Use the origin common as a pair with the 24-V origin input signal or the 5V origin input signal.

3-3-2 External I/O Connector Arrangement

• The connectors that are included with this PCU are solder-type connectors.

• Use wires with cross-sectional areas of 0.2 mm

• Be careful not to short-circuit neighboring terminals when soldering.

• Cover the soldered part of the wire with insulation tubing.

Wiring Power Lines

or less.

Connector Pin Numbers

Pin number marks

A1 A2 A3 A4 A5 A6

A23 A24

Outline of connector (rear panel)

(Connector viewed from unit side.)

5 1

Insulator

Lead

Connector

B1 B2 B3 B4 B5 B6

B23 B24

External I/O Circuitry Section 3-3

Assembling Connectors Supplied with the PCU

M2x8 pan-head screws (two)

Connector

The following connectors (Fujitsu 360 Jack) can be used:

1,2,3... 1. FCN-361J048-AU (solder-type)

FCN-360C048-D (connector cover)

2. FCN-363J048 (crimp-type housing) FCN-363J-AU/S (contact) FCN-360C048-D (connector cover)

3. FCN-367J048-AU (crimp type)

Cover Dimensions

Cable holder

M2 nut (four)

M2x6 pan-head screws (two)

Cable holder (two)

Case

Screw (two)

External I/O Circuitry Section 3-3

3-3-3 I/O Circuitry

Outputs (Open Collector Output)

Constant voltage circuit

1.6k Ω (1/2W)

1.6 kΩ (1/2W)

Output power supply, 24 VDC

Output GND, 24 VDC

CW pulse/pulse output (with 1.6 kΩ resistance)

CW pulse output

CCW pulse/direction output (with 1.6 kΩ resistance)

CCW pulse/direction output

See note.

Note Output switching depends on the

axis parameter settings.

(Refer to 4-3 Axis Parameter Area)

1.6 kΩ (1/2W)

Error counter reset output (with 1.6 kΩ resistance)

Origin-adjustment command output (with

1.6 kΩ resistance)

Error counter reset output Origin-adjustment command output

Note Output Circuits:

The pulse output and error counter reset circuitry of the PCU are provided with two types of terminals: terminals with 1.6 k

Ω (1/2 W) limit resistance and

terminals with no resistance. Select the terminals in accordance with the power requirements and the specifications of the motor driver to be used.

!Caution Connect a load of 7 to 30 mA (or 7 to 16 mA for terminals with 1.6-k

resistance) to the output section. If a current greater than this is used, it will cause damage to the PCU’s internal components. Also, be sure to use the CW/CCW output method when using pulse output terminals with limit resistance.

Ω limit

External I/O Circuitry Section 3-3

Open collector output Open collector output with 1.6 kΩ series resistance

7 to 30 mA

Output transistor

(Circuit example)

PCU

Output

7 to 16 mA

Add bypass resistance for loads less than 7 mA.

24 VDC power supply

7 mA

1 mA

Bypass resistance

6 mA

Driver

Outputs (Line Driver Output)

Note Error counter reset output is open collector output.

!Caution Connect a load of 20 mA max. to the output section. If a current greater than

!Caution Be sure to wire the 5-VDC pulse output power supply with the correct polarity.

Pulse output power supply, 5 VDC

A4/B4

Pulse output GND, 24 VDC

A3/B3

CW pulse output (+)

A5/B5

CW pulse output (–)

A6/B6

CCW pulse/direction output (+)

A7/B7

CCW pulse/direction output (–)

A8/B8

this is used, it will cause damage to the PCU’s internal components.

Wiring with the polarity reversed will result in damage to internal elements.

External I/O Circuitry Section 3-3

Inputs

Output power supply, 24 VDC

680 Ω

680 Ω 4.7 kΩ (1/2W)

4.7 kΩ (1/2W)

Positioning completed input signal

Input common

External interrupt input (N.O. contact)

Emergency stop (N.C. contact) (see note)

Origin proximity input (N.O./N.C. contact) (see note)

680 Ω 4.7 kΩ (1/2W)

CW limit input (N.O./N.C. contact) (see note)

680 Ω

4.7 kΩ (1/2W)

150 Ω

CCW limit input (N.O./N.C. contact) (see note)

Origin input signal (24 V) (N.O./N.C. contact) (see note)

Origin input signal (N.O./N.C. contact) (see

note) Origin common

Line driver output

For details on connecting origin input signals, refer to 42.

!Caution Use either the 24-VDC origin input signal or the 5-VDC origin input signal, but

not both. If both are connected it will damage the internal circuitry. Do not connect the 5-VDC origin input signal input to any output circuit except the line driver.

External I/O Circuitry Section 3-3

3-3-4 I/O Electrical Specifications

Input Specifications

Item Specification

Voltage 24 VDC ±10%

Current 4.66 to 5.15 mA (at 24 V) typ.

ON voltage 17 VDC min.

OFF voltage 5.0 VDC max.

Origin-signal Input Specifications

ON response time 1 ms max. (0.1 ms max.: Interrupt input

OFF response time 1 ms max.

Item Connection

External signal is open collector signal

External signal is line driver signal

Ter m inal

X/Z Axis A15

A14

Y/U Axis B15

B14

X/Z Axis A16

A14

Y/U Axis B16

B14

and origin input)

Specification Response

Conform to above input specifications

Signal is a line driver output signal corresponding to Am26LS31

Time

N.O. contact:

0.1 ms max. N.C. contact: 1 ms max.

N.O. contact:

0.1 ms max. N.C. contact: 1 ms max.

Output Specifications

CW/CCW Pulse Output Specifications (Open Collector Output)

Item Specification

Open collector output

Line driver output Corresponds to Am26LS31.

External power supply 24 VDC ±10% NC413: 90 mA max.

Maximum switching capacity

Minimum switching capacity

Leakage current 0.1 mA max.

Residual voltage 0.6 V max. (pulse output)

30 mA at 4.75 to 26.4 VDC (NPN open collector) (16 mA: Terminals with 1.6-kΩ limit resistance)

7 mA at 4.75 to 26.4 VDC (NPN open collector)

1.0 V max. (error counter reset output)

Maximum output current: 20 mA

NC213: 50 mA max. NC113: 30 mA max. NC433: 30 mA max. NC233: 20 mA max. NC133: 10 mA max.

5 VDC±5% NC433: 220 mA max.

NC233: 120 mA max. NC133: 60 mA max.

The minimum CW/CCW pulse widths are shown below. The OFF and ON refer to the output transistor. The output transistor is ON at level “L.”

OFF

90%

10%

Wiring Section 3-4

Pulse

frequency

50 Kpps 9.7 µs min. 9.7 µs min. 9.8 µs min. 9.8 µs min. 9.7 µs min. 9.7 µs min. 9.7 µs min. 9.7 µs min. 100 Kpps 4.7 µs min. 4.7 µs min. 4.8 µs min. 4.8 µs min. 4.7 µs min. 4.7 µs min. 4.8 µs min. 4.8 µs min. 200 Kpps 2.3 µs min. 2.3 µs min. 2.3 µs min. 2.3 µs min. 2.2 µs min. 2.2 µs min. 2.3 µs min. 2.3 µs min. 500 Kpps 0.76 µs

7 mA/5 VDC±5% 30 mA/5 VDC±5% 7 mA/24 VDC±10%

ABABABAB

min.

0.82 µs min.

Open or close current / Loaded power-source voltage

(1.6-kΩ resistance)

0.77 µs min.

0.88 µs min.

0.74 µs min.

0.72 µs min.

16 mA/24 VDC±10%

(1.6-kΩ resistance)

0.76 µs min.

0.85 µs min.

Note 1. The load in the above table is the net resistance load, and the connecting

cable impedance with the load is not considered.

2. Due to distortions in pulse waveforms as a result of connecting cable impedance, pulse widths during actual usage may be smaller than those shown in the above table.

3-4 Wiring

This section provides motor driver connection examples. When actually connecting a motor driver, be sure to first check the specifications of the motor driver to be used.

The maximum length of the wiring between the PCU and the motor driver is 2 m for open collector output models and 5 m for line driver output models.

3-4-1 Output Connection Examples

Pulses are not output when the output transistor in the pulse output section is OFF. (For direction output, OFF indicates CCW.)

Do not use a 24-VDC/5-VDC power supply for pulse output in common with the power supply for other I/O.

Output transistor

OFF

CW/CCW Pulse Outputs

CCW

Pulse and Direction Outputs

During pulse output

CW CCW

Pulses

Direction

Output ON

Output OFF

Wiring Section 3-4

Outputting CW and CCW Pulses, Example 1

Position Control Unit (open collector output)

24-VDC input

CW pulse output

CCW pulse output

1.6 kΩ

In this example, a 5-VDC photocoupler input motor driver is used for outputting CW and CCW pulses.

24-VDC power supply

+–

A1/B1

A6/B6

Approx. 12 mA

A8/B8

Approx. 12 mA

A2/B2

Motor driver (for 5-VDC input)

(For example R=220 Ω)

–

Note In this example, the 1.6 k

power supply to be used with a motor driver rated at 5 VDC. When wiring your system, carefully note the current required by the motor driver in order to avoid damaging the input circuitry of the motor driver.

Ω resistors of the PCU are used to allow a 24-VDC

Wiring Section 3-4

Outputting CW and CCW Pulses, Example2

Position Control Unit (open collector output)

24-VDC input

CW pulse output

CCW pulse output

1.6 kΩ

In this example, a 5-VDC photocoupler input motor driver is used for outputting CW and CCW pulses.

24-VDC power supply

+–

A1/B1

A5/B5

A7/B7

A2/B2

5-VDC power supply

+–

Motor driver (for 5-VDC input)

–

Position Control Unit (line driver output)

5-VDC input

CW pulse or pulse (CW+CCW) output

CCW pulse or direction output

5-VDC power supply

Motor driver (for 5-VDC input)

Wiring Section 3-4

Outputting Pulse and Direction Signals

Position Control Unit (open collector output)

24-VDC input

Pulse (CW+CCW) output

Direction output

1.6 kΩ

In this example, a 5-VDC input motor driver is used for outputting pulse and direction signals.

24-VDC power supply

Motor driver (for 5-VDC input)

Direction input

Pulse input

A1/B1

A5/B5

A7/B7

A2/B2

7 to 30 mA

–

When voltage-level output is used, the level is L for output ON, and H for output OFF.

Wiring Section 3-4

Outputting CW and CCW Pulses or Pulse and Direction Signals

Position Control Unit (line driver output)

5-VDC input

CW pulse or pulse (CW+CCW) output

CCW pulse or direction output

In this example, a motor driver with a line receiver input is used and either CW and CCW pulses or pulse and direction signals are output.

5-VDC power supply

Motor driver (line receiver input specifications)

(See note.)

Note: When connecting a line receiver,

connect the signal ground (SG) of the motor driver's line receiver input to the ground (GND) of the 5-VDC power supply.

!Caution Be sure to wire the 5-VDC pulse output power supply with the correct polarity.

Wiring with the polarity reversed will result in damage to internal elements.

Wiring Section 3-4

Error Counter Reset Output

There is approximately 20 ms of output when origin search is completed in modes 1 or 2.

Position Control Unit

24-VDC

24-VDC power supply for output

Position Control Unit

24-VDC power supply for output

1.6 kΩ

A1/B1

A10/B10

A2/B2

A1/B1

A11/B11

A2/B2

power supply

−

5-VDC power supply

24-VDC power supply

+–

OMRON R88D-WT Servo Drive

+−

+ECRST

−ECRST

OMRON R88D-WT Servo Drive

+ECRST

−ECRST

Position Control Unit

24-VDC power supply for output

1.6 kΩ

Position Control Unit

24-VDC power supply for output

1.6 kΩ

A1/B1

A10/B10

A2/B2

A1/B1

A10/B10

A2/B2

OMRON R88D-GT Servo Drive

24-VDC power supply

−+

+24VIN

ECRST

OMRON R7D-BP Servo Drive

24-VDC power supply

−+

+24VIN

ECRST

Wiring Section 3-4

3-4-2 Connecting Input Signals

!Caution If the switching capacity is too low it may cause damage to the switch. Con-

nect a switch with a switching capacity of at least 5 mA for each input.

With N.C. inputs, be sure to connect a power supply for unused terminals and turn them on.

This section shows examples of connecting interrupt, emergency stop, and CW/CCW limit input signals.

The input section has both N.O. and N.C. inputs. Either can be used depending on the axis parameter settings. For details regarding axis parameters, refer to 4-3 Axis Parameter Area.

Depending on the setting of the origin search operation pattern, the point at which the origin proximity signal or the CW/CCW limit signal changes from ON to OFF is used as the timing for origin signal detection. In this case, use a sensor with no chattering, such as a photoelectric sensor, for the input. Using a switch with contacts may cause the position of the origin to be displaced due to chattering. For details on setting operation patterns for origin searches, refer to 149.

Name Connection type

External interrupt input signal N.O.

Emergency stop input signal N.C.

Origin proximity input signal N.C. or N.O.

CW limit input signal N.C. or N.O.

CCW limit input signal N.C. or N.O.

Wiring Section 3-4

24-VDC

Position Control Unit

power supply

External interrupt input signal

Emergency stop input signal

Origin proximity input signal

CW limit input signal

CCW limit input signal

680 Ω

4.7 kΩ (1/2W)

Switch (N.O. contact)

Switch (N.C. contact)

Switch (N.O./N.C. contact)

3-4-3 Connecting Origin and Positioning Completed Input Signals

The examples below show input connections when open collector sensor output and the encoder’s Z-phase line driver output are used.

Use a sensor with no chattering, such as a photoelectric sensor, for the origin input signal.

!Caution Connect a switch with a switching capacity of at least 5 mA to the 24-V origin

input signal terminal.

!Caution Do not connect the 5-VDC origin input signal input to any output circuit except

the line driver.

!Caution Use either the 24-V origin input signal or the 5-V origin input signal, but not

both. Also, be sure not to connect them to the wrong terminal. Using both signals or connecting them to the wrong terminal will result in damage to internal circuitry.

Wiring Section 3-4

Origin Input Signal (24 V)

Position Control Unit

150 Ω

4.7 kΩ A15/B15

24-VDC power supply

+ –

Example: OMRON E2R-A01 Proximity Sensor (NPN output type)

A14/B14

680 Ω

Origin Input Signal (5 V) (Line Driver Input)

Position Control Unit

4.7 kΩ

680 Ω

Positioning Completed Input Signal

150 Ω

The positioning completed input signal is also used as an origin search completed signal in modes 2 and 3. Adjust the setting of the Servo Drive so that

A16/B16

A14/B14

this signal always turns off while the servomotor is operating, and on when the motor is stopped.

An origin search operation cannot be completed unless the positioning completed input signal turns ON after positioning has been completed.

Signal

0 V

OMRON R88D-GT Servo Drive

–z

Switch circuitry

Position Control Unit

680 Ω

4.7 kΩ (1/2W)

3-4-4 Wiring Precautions

Operational errors such as dislocation can occur in most electronic control devices if they are subjected to electronic noise from nearby power lines or loads. Recovery from such errors is usually very difficult and time consuming.

A1/B1

A12/B12

24-VDC power supply

–

INPCOM

OMRON R88D-GT Servo Drive

INP

Wiring Section 3-4

To avoid such noise-generated operational errors and improve system reliability, always observe the following precautions in wiring the system.

Be sure to use the sizes and materials indicated in the specifications when connecting power lines and cables.

Power lines (e.g., AC power supply, motor power line) and control lines (e.g., pulse output lines, external I/O signal lines) must be wired separately. Never put these lines into the same duct or make them into a single bundle.

• Attach a multi-layer ceramic capacitor of a thickness of less than 1 the pulse output power supply to improve noise resistance.

• Do not use a 24-VDC or 5-VDC power supply for pulse output in common with the power supply for other I/O.

• Use shielded cable for control lines.

• Connect the shielded cable to the frame ground at both the PCU and the driver.

• Attach a surge absorber to all inductive loads, such as relays, solenoids, and solenoid valves.

DC relays AC relays

µF to

–

Solenoids, etc.

Solenoid Surge absorber

Diode for surge absorption

AC Surge

RYRY

absorber

Note Connect the diode and surge absorber as close as possible to the relay. Use a

diode capable of withstanding a voltage five times higher than the circuit voltage.

• Insert a noise filter into the power supply inlet if noise enters the power line (e.g., when it is connected to the same power supply as an electric welder or an electric spark machine or when there is any supply generating high frequency noise).

• Connect to a ground of 100

greater than 1.25 mm

Ω or less and use the thickest possible wire,

• Twisted-pair cable is recommended for power lines.

Connection Examples for Different Types of Motor Driver Section 3-5

3-5 Connection Examples for Different Types of Motor Driver

This section provides examples of wiring the X and Y axes. If the Y and U axes are also to be used, check the connector pin numbers in 3-3 External I/O Circuitry and wire them in the same way.

Note 1. Be sure to connect a power supply for unused N.C. input terminals and turn

them on.

2. Use shielded wire for connecting to stepping motor drivers and Servo Drives. Connect the shielded cable to an FG at both the PCU and the driver.

Example 1: Mode 0 Connection

This example shows the use of a stepping motor with an external sensor signal connected to the origin input signal.

Position Control Unit (open collector outputs on the CS1W-NC@13)

CW output (with 1.6-k resistance)

CCW output (with 1.6-k resistance)

24-V power supply for output

24-V GND for output

Origin proximity input signal

Origin Input signal

Input common

CCW limit input signal

CW limit input signal

Emergency stop input signal

A21

A15

A14

A24

A23

A22

A20

+ 24 VDC

24 VDC

Shield

N.O. contact

0 V

24 V

Signal

N.C. contact

Example: DFU1514W stepping motor driver, made by Oriental Motor Co.

+CW

– CW

+CCW

– CCW

N.C. contact

PK564AW stepping motor

OMRON E2R-A01 Proximity Sensor (NPN-output model).

Connection Examples for Different Types of Motor Driver Section 3-5

Parameter Setting Example

15 0

0 0 6 0

m+4

0 1 0 0

m+5

Word Bits Setting Contents

m+4 00 0 CW/CCW output

01 to 03 0 ---

04 0 Limit input: N.C. contact

05 1 Origin proximity input signal: N.O.

06 1 Origin input signal: N.O. contact

07 0 Pulse output stopped with emergency

08 to 15 0 ---

m+5 00 to 03 0 Mode 0

04 to 07 0 Reverse mode 1

08 to 11 1 Takes origin input signal after origin

12 to 15 0 Search direction: CW

contact

stop input signal.

proximity input signal is received.

Note “m” is the beginning DM word allocated when the unit number is set.

Origin Search Operation

The origin search operation is completed with the rising edge of the origin input signal after the rising edge of the origin proximity input signal.

ORIGIN SEARCH

Origin proximity input signal

Origin input signal

Pulse output

Busy Flag

Time

Connection Examples for Different Types of Motor Driver Section 3-5

Example 2: Mode 1 Connection

In this example, a Servo Drive is employed and the Z-phase of the encoder is connected to the origin line driver input terminal and used as the origin input signal. An OMRON G-Series Servo Drive is used.

Open Collector Output (CS1W-NC113/NC213/NC413)

Position Control Unit (open collector outputs on the CS1W-NC@13)

CW output (with 1.6-kΩ resistance)

CCW output (with 1.6-k Ω resistance)

Shield

OMRON R88D-GT@@@ Servo Drive

R88M-G@

+CW

−CW

+CCW

−CCW

Servomotor

24-V power supply for output

24-V GND f or output

Error counter reset output

Origin input signal

Input common

Origin pro ximity input signal

A10

A16

A14

A24

A21

24 VDC

N.O. contact

Shell

+24VIN

RUN

ECRST

−Z

CCW limit input signal

CW limit input signal

Emergency stop input signal

A23

A22

A20

N.C. contact

Connection Examples for Different Types of Motor Driver Section 3-5

Parameter Setting Example

This example is explained in terms of the X axis. For more details, refer to 4-3 Axis Parameter Area.

15 0

0 0 E 0

m+4

0 0 0 1

m+5

Word Bits Setting Contents

m+4 00 0 CW/CCW output

01 to 03 0 ---

04 0 Limit input: N.C. contact

05 1 Origin proximity: N.O. contact

06 1 Origin input signal: N.O. contact

07 1 Pulse output stopped by emergency

08 to 15 0 ---

m+5 00 to 03 1 Mode 1

04 to 07 0 Reverse mode 1

08 to 11 0 Takes origin input signal after rising

12 to 15 0 Motor direction: CW

stop input signal; error counter reset signal output.

and falling edge of origin proximity signal.

Note “m” is the beginning DM word allocated when the unit number is set.

Origin Search Operation

The origin search operation stops on the rising edge of the first Z-phase signal after the origin proximity signal has turned from ON to OFF, and after deceleration has ended.

ORIGIN SEARCH

Origin proximity signal

Z-phase signal

Pulse output

Error counter reset output

Approx. 20ms

Busy Flag

Time

Connection Examples for Different Types of Motor Driver Section 3-5

Line Driver Output (CS1W-NC133/NC233/NC433)

Position Control Unit (line driver outputs on the CS1W-NC@33)

5-V GND for pulse output

5-V power supply for pulse output

CW (+) output

CW (–) output

CCW (+) output

CCW (–) output

24-V power supply for output

24-V GND for output

5 VDC

24 VDC

Shield

N.O. contact

Example: OMRON R88DServo Drive

+CW

−CW

+CCW

−CCW

+24VIN

RUN

GT@@@

Error counter reset output

Origin input signal

A10

A16

A14

Shell

ECRST

−Z

Connection Examples for Different Types of Motor Driver Section 3-5

Example 3: Mode 2 Connection

In this example, as in example 2, a Servo Drive is employed and the Z-phase of the encoder is connected to the origin line driver input terminal and used as the origin input signal. OMRON Servo Drive are used.

In contrast to mode 1, the positioning completed signal (INP) of the Servo Drive serves as both the origin search completed and the positioning completed signals.

Set the Servo Drive so that the positioning completed signal turns OFF during motor operation and ON while the motor is stopped.

An origin search operation cannot be completed if the positioning completed input signal from the Servo Drive is not properly connected or set.

W-series Servo Drive (CS1W-NC113/NC213/NC413)

Position Control Unit (open collector outputs on the CS1W-NC@13)

CW output

(with 1.6-kΩ resistance)

CCW output (with 1.6-kΩ resistance)

24-V power supply for output

24-V GND for output

24 VDC

Shield

N.O. contact

OMRON R88D-WT@@@@ Servo Drive

R88M-W Servomotor

11 12

7 8

+CW –CW

+CCW –CCW

+24 VIN

RUN

Error counter reset output

Origin input signal

Positioning completed input signal

Input common

Origin proximity input signal

CCW limit input signal

CW limit input signal

Emergency stop input signal

A11

A16

A14

A12

A24

A21

A23

A22

A20

24 VDC

N.O. contact

N.C. contact

15 14

19 20

25 26

Shell

+ECRST –ECRST

+Z –Z

+INP –INP

Connection Examples for Different Types of Motor Driver Section 3-5

Parameter Setting Example

This example is explained in terms of the X axis. For more details, refer to 4-3 Axis Parameter Area.

15 0

0 0 E 0

m+4

0 0 0 2

m+5

Word Bits Setting Contents

m+4 00 0 CW/CCW output

01 to 03 0 ---

04 0 Limit input: N.C. contact

05 1 Origin proximity: N.O. contact

06 1 Origin input signal: N.O. contact

07 1 Pulse output stopped by emergency

08 to 15 0 ---

m+5 00 to 03 2 Mode 2

04 to 07 0 Reverse mode 1

08 to 11 0 Takes origin input signal after rising

12 to 15 0 Search direction: CW

stop input signal; error counter reset signal output.

and falling edge of origin proximity input signal.

Note “m” is the beginning DM word allocated when the unit number is set.

Origin Search Operation

The origin search operation stops on the rising edge of the first Z-phase signal after the origin proximity signal has turned from ON to OFF, and after deceleration has ended. The Busy Flag turns OFF with the positioning completed input signal.

ORIGIN SEARCH

Origin proximity signal

Z phase signal

Pulse output

Error counter reset output

Approx. 20ms

Busy Flag

Positioning completed input signal

Time

Connection Examples for Different Types of Motor Driver Section 3-5

G-series or U-series Servo Drive (CS1W-NC113/NC213/NC413)

Position Control Unit (open collector outputs on the CS1W-NC@13)

CW output (with 1.6-kΩ resistance)

CCW output (with 1.6-kΩ

resistance)

Shield

OMRON R88D-GT@@@ Servo Drive

R88M-G

+CW

−CW

+CCW

−CCW

Servomotor

24-V power supply for output

24-V GND for output

Error counter reset output

Origin input signal

Positioning completed input signal

Input common

Origin proximity input signal

A10

A16

A14

A12

A24

A21

24 VDC

N.O. contact

+24VIN

RUN

ECRST

−Z

+INP

3839INPCOM

Shell

CCW limit input signal

CW limit input signal

Emergency stop input signal

A23

A22

A20

N.C. contact

Connection Examples for Different Types of Motor Driver Section 3-5

Connection to Line Driver (CS1W-NC133/NC233/NC433)

Position Control Unit (line driver outputs on the CS1W-NC@33)

5-V GND for pulse output

5-V power supply for pulse output

CW (+) output

CW (–) output

CCW (+) output

CCW (–) output

24-V power supply for output

24-V GND for output

Error counter reset output

Origin input signal

A10

A16

A14

5 VDC

24 VDC

Shield

N.O. contact

Example: OMRON R88DServo Drive

+CW

−CW

+CCW

−CCW

+24VIN

RUN

ECRST

−Z

GT@@@

R88M-G@ Servomotor

Positioning completed input signal

A12

INP

3839INPCOM

Shell

Connection Examples for Different Types of Motor Driver Section 3-5

SMARTSTEP2-series or U-series Servo Drive (CS1W-NC113/NC213/NC413)

Position Control Unit (open collector outputs on the CS1W-NC@13)

CW output (with 1.6-kΩ

resistance)

CCW output (with 1.6-k Ω

resistance)

Shield

OMRON R7D-BP@@@ Servo Drive

+CW

−CW

+CCW

−CCW

R88M-G@ Servomotor

24-V power supply for output

24-V GND f or output

Error counter reset output

Origin input signal

Positioning completed input signal

A10

A16

A14

A12

24 VDC

N.O. contact

+24VIN

RUN

ECRST

−Z

INP

13100GND

Shell

Connection Examples for Different Types of Motor Driver Section 3-5

Connection to Line Driver (CS1W-NC133/NC233/NC433)

Position Control Unit (line driver outputs on the CS1W-NC@33)

5-V GND for pulse output

5-V power supply for pulse output

CW (+) output

CW (–) output

CCW (+) output

CCW (–) output

24-V power supply for output

24-V GND for output

Error counter reset output

A10

5 VDC

24 VDC

Shield

N.O. contact

Example: OMRON R7D-BP

Servo Drive

+CW

−CW

+CCW

−CCW

+24VIN

RUN

ECRST

@@@

R88M-G@ Servomotor

Origin input signal

Positioning completed input signal

A16

A14

A12

−Z

INP

13100GND

Shell

Connection Examples for Different Types of Motor Driver Section 3-5

SMARTSTEP A-series Servo Drive (CS1W-NC113/NC213/NC413)

Position Control Unit (open collector outputs on the CS1W-NC@13)

CW output (with 1.6-kΩ resistance)

CCW output (with 1.6-kΩ resistance)

24-V power supply for output

24-V GND for output

Error counter reset output

24-V origin input signal

A11

A15

A14

24 VDC

Shield

Example: OMRON R7D-AP@@@

Servo Drive

N.O. contact

+CW

−CW

+CCW

−CCW

+24VIN

RUN

+ECRST

−ECRST

ZCOM

R7M-A@ Servomotor

Positioning completed input signal

A12

Shell

INP

0GND

Connection Examples for Different Types of Motor Driver Section 3-5

Connection to Line Driver (CS1W-NC133/NC233/NC433)

Position Control Unit (line driver outputs on the CS1W-NC@33)

5-V GND for pulse output

5-V power supply for pulse output

CW (+) output

CW (–) output

CCW (+) output

CCW (–) output

24-V power supply for output

24-V GND for output

5 VDC

24 VDC

Shield

Example: OMRON R7D-AP@@@ Servo Drive

N.O.

contact

+CW

−CW

+CCW

−CCW

+24VIN

RUN

R7M-A@ Servomotor

Error counter reset output

24-V origin input signal

Positioning completed input signal

A11

A15

A14

A12

Shell

+ECRST

−ECRST

ZCOM

INP

0GND

Connection of Unused Axes Section 3-6

3-6 Connection of Unused Axes

This section provides connection examples for the CS1W-NC213, CS1WNC233, CS1W-NC413, and CS1W-NC433 in applications where not all axes are used.

3-6-1 Using Only the X Axis and Not the Y Axis on the CS1W-NC213/

NC233 (with Unit Version 2.1 or Later)

On PCUs with unit version 2.1 or later, wiring is not required for the CW/CCW limit input signal and the emergency stop input signal for specified unused axes.

The following figure, based on Example 2: Mode 1 Connection in 3-5 Connec- tion Examples for Different Types of Motor Driver, shows an example of connecting external I/O when only the X axis and not the Y axis is used on the CS1W-NC213/NC233. The limit input signal for the X axis is assumed to be set as an N.C. connection.

Position Control Unit

Input common

Origin proximity input signal

CCW limit input signal

CW limit input signal

Emergency stop input signal

X axis (used)

Y axis (not used; no wiring required)

X axis (used)

Y axis (not used; no wiring required)

X axis (used)

Y axis (not used; no wiring required)

X axis (used)

Y axis (not used; no wiring required)

24 VDC

N.O. contact

N.C. contact

To set only the X axis as the axis to be used, set the number of unused axes to 01 in Axis Parameter Designation of 4-2 Common Parameter Area.

The following table shows the relation for each Unit between the number of unused axes and the settings.

Setting 1-axis Unit 2-axis Unit 4-axis Unit

0 All axes used. All axes used. All axes used.

1 Error 0013 occurs. Axis Y not used. Axis U not used.

2 Error 0013 occurs. Error 0013 occurs. Axes Z and U not used.

3 Error 0013 occurs. Error 0013 occurs. Axes Y, Z, and U not used.

Making this setting eliminates the need to perform wiring for the Y axis.

If other parameters are used in their default settings, the CW/CCW limit input signal will be set to a N.C. contact input. Therefore, current will flow for the signal when the power supply for the inputs is connected.

Servo Relay Unit Section 3-7

3-6-2 CS1W-NC213/NC233 – X Axis Only (Unit Versions Earlier Than

2.1)

On PCUs with a unit version earlier than 2.1, unused axes require only the emergency stop input signal to be wired.

Based on Example 2: Mode 1 Connection on page 47, the following example shows the connections for the CS1W-NC213/NC233 when only the X axis (and not the Y axis) is used. In this example, the limit input signals for both axes are set to N.C. contacts. With the CS1W-NC413/NC433, if the Z axis is used and the U axis is not used, the connection will be the same with X and Y replaced by Z and U respectively.

Position Control Unit

Input common

Origin proximity input signal

CCW limit input signal

CW limit input signal

Emergency stop input signal

X axis (used)

Y axis (not used; no wiring required)

X axis (used)

Y axis (not used)

X axis (used)

Y axis (not used)

X axis (used)

Y axis (not used)

24 VDC

N.O. contact

N.C. contact

When there is an unused axis, connect the emergency stop input signal (N.C. contact) and the CW/CCW limit input signals (N.C./N.O. switchable) for that axis so that they are ON. If the parameters are at their default settings, the CW/CCW limit input signals are N.C. contact inputs and so connect an input power supply and keep power ON.

If the emergency stop input signal and the CW/CCW limit input signals for an unused axis are not ON, a sensor input error (error codes 6000, 6100, or

6101) will be generated for the axis, and the ERC and SENS indicators as

well as the LED indicator for the axis will light or flash. The used axis, however, will continue to operate normally even if an error is generated for the unused axis.

Note If the CW/CCW limit input signals for the unused axis are set to N.O contacts

using the parameter settings, it is not necessary to wire the CW/CCW limit inputs. For details, refer to 4-3 Axis Parameter Area.

3-7 Servo Relay Unit

• Wiring requirements can be reduced by connecting Servo Drives and PCUs via a Servo Relay Unit, which provide a connector and a terminal block in one Unit.

Servo Relay Unit Section 3-7

• The connecting cable and the type of Servo Relay Unit required will depend on the Servo Drive model connected. Refer to the tables under Connection Compatibility given below.

Connections Diagram

Position Control Unit

CS1W-NC113 CS1W-NC213 CS1W-NC413 CS1W-NC133 CS1W-NC233 CS1W-NC433

XW2Z-@@@J-A@ Connecting Cable

XW2Z-@@@J-B@ Connecting Cable

XW2B-@@J6-@ Servo Relay Unit

Servo Drive

R88D-UP@@@ R88D-UT@@@ R88D-WT@@@@ R88D-GT@@@ R7D-AP@@@ R7D-ZP@@@ R7D-BP@@@

Connection Compatibility

CS1W-NC113/NC213/NC413

PCU Cable connected to

CS1W-NC113 XW2Z-@@@J-A6 XW2B-20J6-1B XW2Z-@@@J-B1 R88D-UP@@@

XW2Z-@@@J-A8 XW2B-20J6-1B XW2Z-@@@J-B5 R7D-AP@@@

CS1W-NC213 CS1W-NC413

XW2Z-@@@J-A7 XW2B-40J6-2B XW2Z-@@@J-B1 R88D-UP@@@

XW2Z-@@@J-A9 XW2B-40J6-2B XW2Z-@@@J-B5 R7D-AP@@@

XW2Z-@@@J-A9 XW2B-40J6-4A XW2Z-@@@J-B7 R7D-AP@@@

PCU

Servo Relay Unit Cable connected to

Servo Relay Unit

XW2Z-@@@J-B4 R88D-UT@@@

XW2Z-@@@J-B25 R88D-GT@@@ XW2Z-@@@J-B29 R7D-BP@@@

XW2Z-@@@J-B17 R7D-ZP@@@

XW2Z-@@@J-B4 R88D-UT@@@

XW2Z-@@@J-B25 R88D-GT@@@ XW2Z-@@@J-B29 R7D-BP@@@

XW2Z-@@@J-B17 R7D-ZP@@@

Servo Drive

R88D-WT@@@@

(when using RS-422)

Servo Relay Unit Section 3-7

CS1W-NC133/NC233/NC433

PCU Cable connected to

CS1W-NC133 XW2Z-@@@J-A10 XW2B-20J6-1B XW2Z-@@@J-B1 R88D-UP@@@

XW2Z-@@@J-A12 XW2B-20J6-1B XW2Z-@@@J-B5 R7D-AP@@@

CS1W-NC233 CS1W-NC433

XW2Z-@@@J-A11 XW2B-40J6-2B XW2Z-@@@J-B1 R88D-UP@@@

XW2Z-@@@J-A13 XW2B-40J6-2B XW2Z-@@@J-B5 R7D-AP@@@

XW2Z-@@@J-A13 XW2B-40J6-4A XW2Z-@@@J-B7 R7D-AP@@@

PCU

• The cable length for PCU Connecting Cables is indicated in the “@@@”.

050: 0.5 m 100: 1 m

• The cable length for Servo Drive Connecting Cables is indicated in the

“@@@”. 100: 1 m 200: 2 m

• When using the CS1W-NC413/433, 2 Servo Relay Units and 2 PCU Connecting Cables are required.

• When using in combination with the CS1W-NC213/NC233 (2-axis control), 2 Servo Drive Connecting Cables are required.

• When using in combination with the CS1W-NC413/NC433 (4-axis control), 4 Servo Drive Connecting Cables are required.

Servo Relay Unit Cable connected to

Servo Relay Unit

XW2Z-@@@J-B4 R88D-UT@@@

XW2Z-@@@J-B25 R88D-GT@@@ XW2Z-@@@J-B29 R7D-BP@@@

XW2Z-@@@J-B17 R7D-ZP@@@

XW2Z-@@@J-B4 R88D-UT@@@

XW2Z-@@@J-B25 R88D-GT@@@ XW2Z-@@@J-B29 R7D-BP@@@

XW2Z-@@@J-B17 R7D-ZP@@@

Servo Drive

R88D-WT@@@@

(when using RS-422)

Servo Relay Unit Section 3-7

SECTION 4

Data Areas

This section provides an overview of the parameter and data settings used in Position Control Unit operation and provides information on memory allocation.

4-1 Overall Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

4-1-1 Data Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

4-2 Common Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4-2-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

4-2-2 Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

4-3 Axis Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

4-3-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

4-3-2 Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

4-3-3 Operation Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

4-4 Operating Memory Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4-4-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4-5 Operating Data Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

4-5-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

4-6 Memory Operation Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

4-6-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

4-7 Zone Data Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

4-7-1 Zone Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

4-7-2 Zone Data Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

4-8 Examples of Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

4-8-1 Setting Positioning Using Two Axes . . . . . . . . . . . . . . . . . . . . . . . . 104

4-8-2 Setting Positioning Using One Axis. . . . . . . . . . . . . . . . . . . . . . . . . 106

4-8-3 Setting for Continuous Operation in the Same Direction for One Axis 108

Overall Structure Section 4-1

4-1 Overall Structure

The PCU is used by exchanging data with the CPU Unit as shown below.

CPU Unit

CIO Area

PCU

Special I/O Unit Area

Operating memory area (output)

(input)

DM or EM Area

User-specified DM or EM words (specified in common parameters)

Operating data area (output)

(input)

DM Area words allocated to Special I/O Units

Common parameter area

Axis parameter area

User-specified DM or EM words (for data transfer)

Data transfer area

CX-Position

I/O refresh

Power up or restart

(See note 1.)

Data transfer

Operating commands

Status (flags)

Operating data

Status data

Common parameters

Axis parameters

Memory operation data

Positioning

sequences

Speeds

Positions

Acceleration times

Deceleration times

Dwell times

Zones

Save data

Commands

Settings

Operating data

Result

Flash memory

Command execution

PCU's internal memory

Note The user can select by means of a common parameters setting whether the

axis parameters set in the CPU Unit’s DM Area are to be transferred to the PCU for use, or whether the axis parameters saved in the PCU’s flash memory are to be used.

Overall Structure Section 4-1

The data handled by the PCU can be classified in the way shown below.

Data name Contents Setting area Enable timing

Common parameter area (Refer to 4-2 Common Parameter Area.)

Axis parameter area (Refer to 4-3 Axis Param- eter Area.)

Operating memory area (Refer to 4-4 Operating Memory Area.)

Operating data area (Refer to 4-5 Operating Data Area.)

Memory operation data (Refer to 4-6 Memory Operation Data.)

Zone data (Refer to 4-7 Zone Data Area.)

This area contains the parameters for settings related to basic PCU operation, such as allocation of the operating memory area.

The common parameters must be set when using the PCU.

This area contains the parameters for settings related to axis operation, such as pulse output type, logic for input signals, operation modes, and maximum speed values.

Outputs for controlling PCU operation, such as for direct operation, memory operation, jogging, and origin search, are allocated to this area. Information (see note) relating to the status of the PCU, such as busy flags, error flags, and external input are input to this area.

This area is for settings such as positions, speeds, and acceleration/deceleration times for direct operation, origin searches and jogging, as well as positioning sequence numbers for memory operation. It also contains PCU status data (see note), such as present positions and the number of the currently executed positioning sequence.

This area is for settings related to memory operation, such as operation sequences, positions, speeds, and acceleration/deceleration times. The memory operation area contains the following six types of data:

• Positioning sequences

• Speeds

• Positions

• Acceleration times

• Deceleration times

• Dwell times

This data determines zones for the present positions of axes controlled by the PCU.

DM Area words in the CPU Unit allocated to Special I/O Units

PCU’s flash memory (See note on previous

page.)

CPU Unit’s Special I/O Unit Area

CPU Unit’s DM or EM area (determined by common parameter setting)

PCU’s internal memory (can be saved to PCU’s flash memory)

The settings are transferred from the CPU Unit to the PCU at power up or restart and enabled.

These settings are transferred from the CPU Unit’s DM Area or the PCU’s flash memory to the PCU’s internal memory at power up or restart and enabled.

Operating commands are sent from the CPU Unit to the PCU and status data is sent from the PCU to the CPU Unit with every I/O refresh.

Data is updated with every I/O refresh. The set data is enabled and used with the startup of each operation.

Data is read from the PCU’s flash memory to the internal memory at power up or restart. Settings are updated when data is transferred. The set data is enabled and used with the startup of each memory operation.

Data is read from the PCU’s flash memory to the internal memory at power up or restart. Settings are updated when data is transferred.

Note Error codes are input to the operating memory area.

Using these settings, the PCU executes operation (1) using the data/parameter areas specified in the common parameters and axis parameters (2) according to the operating commands received from the operating memory area and (3) based on operating data, memory operation data, and zone data.

The common parameters and axis parameters are basic settings for the PCU and the axes to be controlled. It is necessary to make these settings when using the PCU. Make settings for operating data, memory operation data, and zone data according to the kind of operation required.

Overall Structure Section 4-1

4-1-1 Data Areas

The following tables give the addresses (bit/word addresses in the CPU Unit and addresses in the PCU’s internal memory) for the parameters and data handled by the PCU. For more details, refer to the relevant sections.

Note Do not write to unused areas in parameters and data. Doing so may cause,

malfunctions.

Common Parameter Area (refer to page 69)

Beginning word of common parameter area, m = D20000 + 100 × unit number.

Word (same for all models) Name Data size

m Operating data area designation 1 word

m+1 Beginning word of operating data area 1 word

m+2 Axis parameter designation 1 word

m+3 Not used 1 word

Axis Parameter Area (refer to page 74)

Word (address in PCU) Name Data size

X axis Y axis Z axis U axis

m+4 (0004) m+32 (0020) m+60 (003C) m+88 (0058) I/O settings 1 word

m+5 (0005) m+33 (0021) m+61 (003D) m+89 (0059) Operation mode selection 1 word

m+6 (0006) m+34 (0022) m+62 (003E) m+90 (005A) Maximum speed 2 words

m+8 (0008) m+36 (0024) m+64 (0040) m+92 (005C) Initial speed 2 words

m+10 (000A) m+38 (0026) m+66 (0042) m+94 (005E) Origin search high speed 2 words

m+12 (000C) m+40 (0028) m+68 (0044) m+96 (0060) Origin search proximity speed 2 words

m+14 (000E) m+42 (002A) m+70 (0046) m+98 (0062) Origin compensation 2 words

m+16 (0010) m+44 (002C) m+72 (0048) m+100 (0064) Backlash compensation 1 word

m+17 (0011) m+45 (002D) m+73 (0049) m+101 (0065) Backlash compensation speed 2 words

m+19 (0013) m+47 (002F) m+75 (004B) m+103 (0067) Acceleration/Deceleration curves, accel-

eration/deceleration time designations

m+20 (0014) m+48 (0030) m+76 (004C) m+104 (0068) Origin search acceleration time 2 words

m+22 (0016) m+50 (0032) m+78 (004E) m+106 (006A) Origin search deceleration time 2 words

m+24 (0018) m+52 (0034) m+80 (0050) m+108 (006C) Positioning monitor time 2 words

m+25 (0019) m+53 (0035) m+81 (0051) m+109 (006D) CCW software limit 2 words

m+27 (001B) m+55 (0037) m+83 (0053) m+111 (006F) CW software limit 2 words

m+31 (001F) m+59 (003B) m+87 (0057) m+115 (0073) Initial pulse designation 1 word

1 word

Overall Structure Section 4-1

Operating Memory Area (refer to page 93)

Beginning word of operating memory area, n = 2000 + 100 × unit number.

Words Bits Operation

1 axis 2 axes 4 axes

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

n n n+2 n n+2 n+4 n+6 00 Sequence Number Enable

01 START

02 INDEPENDENT START

03 ABSOLUTE MOVEMENT

04 RELATIVE MOVEMENT

05 INTERRUPT FEEDING

06 ORIGIN SEARCH

07 ORIGIN RETURN

08 PRESENT POSITION PRESET

09 JOG

10 Direction designation

11 TEACH

12 RELEASE PROHIBIT/ERROR RESET

13 Error counter reset output/origin-adjustment command

output

14 Override Enable

15 STOP

n+1 n+1 n+3 n+1 n+3 n+5 n+7 00 to 07Not used

08 FORCED INTERRUPT

09 to 11Not used

12 WRITE DATA

13 READ DATA

14 SAVE DATA

15 Not used

n+2 n+4 n+7 n+8 n+11 n+14 n+17 00 to 03Not used

04 Waiting For Memory Operation Flag

05 Positioning Completed Flag

06 No Origin Flag

07 Origin Stop Flag

08 Zone 0 Monitor Flag

09 Zone 1 Monitor Flag

10 Zone 2 Monitor Flag

11 Teaching Completed Flag

12 Error Flag

13 Busy Flag

14 Data Transferring Flag

15 Deceleration Stop Execution Flag

Overall Structure Section 4-1

Words Bits Operation

1 axis 2 axes 4 axes

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

n+3 n+5 n+8 n+9 n+12 n+15 n+18 00 to 07Not used

08 CW limit input signal

09 CCW limit input signal

10 Origin proximity input signal

11 Origin input signal

12 Interrupt input signal

13 Emergency stop input signal

14 Positioning completed signal

15 Error counter reset output/origin-adjustment command

output

n+4 n+6 n+9 n+10 n+13 n+16 n+19 00 to 15Error code

Operating Data Area (refer to page 97)

Beginning word of operating data area, I = word specified in common parameters (m, m+1).

Words Name Data size

1 axis 2 axes 4 axes

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

I I I Number of write

words

I+1 I+1 I+1 Write source area 1 word

I+2 I+2 I+2 Write source word 1 word

I+3 I+3 I+3 Write destination

address

I+4 I+4 I+4 Number of read

words

I+5 I+5 I+5 Read source

address

I+6 I+6 I+6 Read destination

area

I+7 I+7 I+7 Read destination

word

I+8 I+8 I+20 I+8 I+20 I+32 I+44 Position 2 words

I+10 I+10 I+22 I+10 I+22 I+34 I+46 Speed 2 words

I+12 I+12 I+24 I+12 I+24 I+36 I+48 Acceleration time 2 words

I+14 I+14 I+26 I+14 I+26 I+38 I+50 Deceleration time 2 words

I+16 I+16 I+28 I+16 I+28 I+40 I+52 Positioning

sequence

I+17 I+17 I+29 I+17 I+29 I+41 I+53 Override 1 word

I+18 I+18 I+30 I+18 I+30 I+42 I+54 Teaching address 1 word

I+19 I+19 I+31 I+19 I+31 I+43 I+55 Not used 1 word

I+20 I+32 I+36 I+56 I+60 I+64 I+68 Present position 2 words

I+22 I+34 I+38 I+58 I+62 I+66 I+70 Positioning

sequence

I+23 I+35 I+39 I+59 I+63 I+67 I+71 Output code 1 word

1 word

Common Parameter Area Section 4-2

Memory Operation Data (refer to page 100)

PCU internal address Name Data size

X axis Y axis Z axis U axis

1000 2000 3000 4000 Positioning

sequence numbers 0 to 99

112C 212C 312C 412C Speed numbers 0

to 99

11F4 21F4 31F4 41F4 Position numbers

0 to 99

12BE 22BE 32BE 42BE Acceleration time

numbers 1 to 9

12D2 22D2 32D2 42D2 Deceleration time

numbers 1 to 9

12E5 22E5 32E5 42E5 Dwell time num-

bers 1 to 19

Zone Data Area (refer to page 103)

PCU internal address Name Data size

X axis Y axis Z axis U axis

12F8 22F8 32F8 42F8 Zone 0, CCW 2 words

12FA 22FA 32FA 42FA Zone 0, CW 2 words

12FC 22FC 32FC 42FC Zone 1, CCW 2 words

12FE 22FE 32FE 42FE Zone 1, CW 2 words

1300 2300 3300 4300 Zone 2, CCW 2 words

1302 2302 3302 4302 Zone 2, CW 2 words

3 words

2 words

1 word

4-2 Common Parameter Area

The common parameter settings determine the areas used to set the operating data (the operating data area) and axis parameters (the axis parameter area) required for axis control. The common parameters must be set before using the PCU.

Common Parameter Area Section 4-2

4-2-1 Outline

Memory from the area allocated to Special I/O Units in the CPU Unit’s DM Area is allocated to the common parameters. The beginning word of the allocated area is determined by the unit number set for the PCU according to the following equation.

Beginning word of common parameter area, m = D20000 + 100 ber.

After the common parameter settings have been made, they will go into effect the next time the PCU is powered up or restarted.

The settings for the common parameters are explained below.

× unit num-

Word

(same for all models)

m Operating data area designation Designate the memory area to which the

m+1 Beginning word of operating data area Designate the beginning word of the

m+2 Axis parameter designation Designate the location of the data to be

m+3 Not used This area is not used. Leave set to 0000. 72

Name Configuration/Explanation Page

70 operating data is to be set. Select one from the following.

0000: DM Area words allocated to Special I/O Units (fixed) 000D: User-specified DM Area words 0X0E: User-specified EM Area words (X: bank number)

operating data area. If 000D (user-specified DM Area words) or 0X0E (user-specified EM Area words) is set for the operating data area designation, specify the beginning word of the area to be allocated as the operating data area in hexadecimal.

70 used as axis parameters. Select one from the following.

• Axis parameter data saved in the

PCU’s flash memory.

• Axis parameter data set in the CPU

Unit’s DM Area.

• PCU’s default setting.

• Settings for unused axes (supported

on PCUs with unit version 2.1 or later).

4-2-2 Details

The details of the common parameters settings are given below.

Designation and Beginning Word of Operating Data Area

Word Address and Enable Timing

Bit Configuration The bit configurations for the word addresses in the above table are shown

The word addresses and enable timing for the beginning word of operating data area and operating data area designation settings are shown below.

Word Name Enable tim ing

NC1@3 NC2@3 NC4@3

m Operating data area des-

ignation

m+1 Beginning word of oper-

ating data area

At power up or restart

below.

Common Parameter Area Section 4-2

15 0008 07

m+1

Settings The following settings are available.

Word m: 0000, 000D, 0X0E (X = 0 to 9, A, B, or C)

Word m+1: 0000 to 7FXX Hex (settings possible for “XX” will depend on

Explanation The meanings of each of the settings are given below.

Area Designation (Word m, Bits 00 to 07)

Designate the area in CPU Unit memory to be used for setting operating data. The following settings are available.

00: DM Area Words Allocated to Special I/O Units Memory from the area allocated to Special I/O Units in the CPU Unit’s DM Area will be allocated according to the unit number set for the PCU. The following words will be allocated consecutively to common parameters and axis parameters.

NC1@3: m+32 to m+55 NC2@3: m+60 to m+99 NC4@3: m+116 to m+187

0D: User-specified DM Area Words Words within the DM Area starting from the beginning word specified in word m+1 will be allocated.

0E: User-specified EM Area Words Words within the EM Area starting from the beginning word specified in word m+1 will be allocated. Specify the bank number in the bank designation setting (word m, bits 08 to 15).

Bank designation Area designation

Beginning word of operating data area (Hex)

the model)

Bank Designation (Word m, Bits 08 to 15)

If user-specified EM Area words (0E) are designated as the location for the operating data area using the area designation setting (word m, bits 00 to 07), use this setting to designate a bank number. The following bank numbers can be designated: 0 (00) to 9 (09), A (0A), B (0B), C (0C). Do not, however, select a bank that is being used as PLC file memory. If the DM Area words allocated to Special I/O Units (00) or user-specified DM Area words (0D) are designated as the location of the operating memory area, set the bank designation to 0 (00). Any other setting will result in an operating data area specification error (error code 0010).

Note Do not set a bank number for a bank that is being used as PLC file memory. If

a bank that is being used as PLC file memory is set, the operating data area settings will not be reflected in PCU operation and this will result in malfunction. When there are several PCUs mounted to the same PLC, be sure to set the operating data areas for the PCUs so that they do not overlap with each other. The PCU will not detect an error if operating data areas overlap, and this may result in malfunction.

For details on the EM Area banks and how to use them as PLC file memory, refer to the SYSMAC CS/CJ Series Programmable Controllers Programming Manual (W394).

Common Parameter Area Section 4-2

Beginning Word of Operating Data Area (Word m+1)

If user-specified DM Area words (0D) or user-specified EM Area words (0E) are designated as the location for the operating data area using the area designation setting (word m, bits 00 to 07), use this setting to designate the beginning word of the operating data area. The beginning word is set in hexadecimal. The following settings are possible (varies with the model):

NC1@3: 0000 to 7FE8 Hex (0 to 32744) NC2@3: 0000 to 7FD8 Hex (0 to 32728) NC4@3: 0000 to 7FB8 Hex (0 to 32696)

If DM Area words allocated to Special I/O Units (00) are designated as the location for the operating data area, this setting will not be used.

Example 1

0m0 0 D

m+1

The area in the CPU Unit’s DM Area beginning with word 1F40 Hex (8000) is designated as the operating data area. The following words are allocated (varies with the model):

NC1@3:D8000 to D8023 NC2@3:D8000 to D8039 NC4@3:D8000 to D8071

F 4 0

Example 2

0m2 0 E

m+1

9 8

The area in bank 2 of the CPU Unit’s EM Area beginning with word 3A98 Hex (15000) is designated as the operating data area. The following words are allocated (varies with the model):

NC1@3: E2_15000 to E2_15023 NC2@3: E2_15000 to E2_15039 NC4@3: E2_15000 to E2_15071

Axis Parameter Designation

Word Address and Enable Timing

Bit Configuration The bit configuration for the word address in the above table is shown below.

The word address and enable timing for the axis parameter designation setting is shown below.

Word Name Enable tim ing

NC1@3 NC2@3 NC4@3

m+2 Axis parameter designa-

15 0008 07

Specified unused axes

m+2

12 11

Axis designation Parameter designation

tion

At power up or restart

Settings The following settings are available.

Word m+2: 0X00, 0X01 (X = 0 to 9, A to F)

Explanation The meanings of each of the settings are given below.

Parameter Designation (Word m+2, Bits 00 to 07)

Specify the axis parameters to use during PCU operation. The following settings are available.

Common Parameter Area Section 4-2

00: The PCU will operate according to the axis parameters saved in the

PCU’s flash memory.

01: The PCU will operate according to the axis parameters set in the DM

Area words allocated to Special I/O Units (m+4 onwards).

Axis Designation (Word m+2, Bits 08 to 11)

If DM Area words allocated to Special I/O Units (01) are designated as the location of axis parameters in the parameter designation setting (bits 00 to

07), use this setting to designate the axes to be set from the DM Area.

11 10 09 08

U axis

designation

Z axis

designation

Y axis

designation

X axis

designation

On PCUs with unit version 2.1 or later, setting is not required for axes specified as unused in the unused axis setting.

The meanings of the individual axis settings are as follows:

0: The axis parameter settings in the DM Area words allocated to Special

I/O Units will be used.

1: The default axis parameter settings will be used. The settings in the

DM Area words allocated to Special I/O Units will not be used.

If the PCU’s flash memory (00) is designated as the location of the axis parameters in the parameter designation setting, the above settings will not be used.

When using a 1-axis or 2-axis PCU, set 0 for the other axes (i.e., those not controlled by the PCU). Setting to a value other than 0 will result in a parameter designation error (error code 0013).

Note The settings in the DM Area words allocated to Special I/O Units will not be

used for any axes that are set to 1. This means that when control is not required for all axes (e.g., when a 4-axis PCU is used to control 3 axes), if uncontrolled axes are set to 1, there is no need to make settings for those axes in the DM Area.

Specified Unused Axes (Word m+2, Bits 12 to 15; Supported for Unit Version 2.1 or Later)

This parameter is used to specify unused axes. Parameter setting and wiring (e.g., CW, CCW, and emergency stop) are not required for the specified unused axes.

Setting 1-axis Unit 2-axis Unit 4-axis Unit

00 All axes used. All axes used. All axes used.

01 Error 0013 occurs. Axis Y not used. Axis U not used.

02 Error 0013 occurs. Error 0013 occurs. Axes Z and U not used.

03 Error 0013 occurs. Error 0013 occurs. Axes Y, Z, and U not used.

Example 1

0 0 0 0m+2

The PCU will operate according to the axis parameters saved in the PCU’s flash memory.

Example 2

0 A 0 1m+2

(when using a 4-axis PCU)

Axis Parameter Area Section 4-3

Operation for the X and Z axes will be performed according to the axis parameters set in the following DM Area words allocated to Special I/O Units.

X-axis parameter area: words m+4 to m+31 Z-axis parameter area: words m+60 to m+87

The default settings will be used for the Y and U axes.

4-3 Axis Parameter Area

The axis parameters are used for settings that include the pulse output type, input signal logic, and operation modes for axes subject to PCU control.

4-3-1 Outline

The axis parameter settings used will be selected from the following, according to the common parameter settings.

• The axis parameters saved in the PCU’s non-volatile (flash) memory (when 00 is set for the parameter designation (word m+2, bits 00 to 07) in the common parameters)

• The axis parameters set in the DM Area words allocated to Special I/O Units (for axes for which the axis specification (word m+2, bits 08 to 11) is set to 0 when 01 is set for the parameter designation (m+2, bits 00 to 07) in the common parameters)

• The default axis parameters (for axes for which the axis specification (word m+2, bits 08 to 11) is set to 1 when 01 is set for the parameter designation (m+2, bits 00 to 07) in the common parameters)

The axis parameters are read into the PCU’s internal memory at power up or restart. Also, by using data transfer, changes in the axis parameters other than the I/O settings and the operation mode can be reflected in subsequent operating commands.

When the axis parameters are set from the DM Area words allocated to Special I/O Units, the setting area (i.e., the axis parameter area) will follow on from the area used for the common parameters. The beginning word will depend on the unit number set for the PCU in the way shown below.

Beginning word of axis parameter area = m+4 (where m = D20000 + 100 unit number)

The following tables list the data set by the axis parameters. The tables give the memory allocations for when the axis parameters in the DM Area words allocated to Special I/O Units are used as well as the addresses in the PCU’s internal memory used for data transfer. For details on data transfer, refer to SECTION 5 Transferring and Saving Data. The DM Area word allocations and the PCU’s internal memory addresses are the same for all models. There are,

Axis Parameter Area Section 4-3

however, no Y, Z, or U-axis parameters when using 1-axis PCUs, and no Z or U-axis parameters when using 2-axis PCUs.

Word

(PCU internal address)

NC1@3 NC2@3 NC4@3

X axis Y axis Z axis U axis

m+4 (0004)

m+5 (0005)

m+6 (0006) m+7 (0007)

m+8 (0008) m+9 (0009)

m+10 (000A) m+11 (000B)

m+12 (000C) m+13 (000D)

m+14 (000E) m+15 (000F)

m+16 (0010)

m+17 (0011) m+18 (0012)

m+32 (0020)

m+33 (0021)

m+34 (0022) m+35 (0023)

m+36 (0024) m+37 (0025)

m+38 (0026) m+39 (0027)

m+40 (0028) m+41 (0029)

m+42 (002A) m+43 (002B)

m+44 (002C)

m+45 (002D) m+46 (002E)

m+60 (003C)

m+61 (003D)

m+62 (003E) m+63 (003F)

m+64 (0040) m+65 (0041)

m+66 (0042) m+67 (0043)

m+68 (0044) m+69 (0045)

m+70 (0046) m+71 (0047)

m+72 (0048)

m+73 (0049) m+74 (004A)

m+88 (0058)

m+89 (0059)

m+90 (004A) m+91 (005B)

m+92 (005C) m+93 (005D)

m+94 (005E) m+95 (005F)

m+96 (0060) m+97 (0061)

m+98 (0062) m+99 (0063)

m+100 (0064)

m+101 (0065) m+102 (0066)

Name Configuration/Explanation Page

I/O settings Specifies the following items

related to I/O:

• Output pulse selection (CW/CCW output, pulse/ direction output)

• Contact types (N.O./N.C.) for limit input signal, origin proximity input signal, and origin input signal

• Error counter reset output control when emergency stop signal is input

• Origin undefined designation when emergency stop signal or limit signal is input

Operation mode selection Sets the operation mode

Maximum speed (rightmost word)

(leftmost word)

Initial speed (rightmost word)

(leftmost word)

Origin search high speed

Origin search proximity speed

Origin compensation value

Backlash compensation Specifies the number of

Backlash compensation speed

(rightmost word)

(leftmost word)

(rightmost word)

(leftmost word)

(rightmost word)

(leftmost word)

(rightmost word)

(leftmost word)

used for the motor driver and specifies the origin detection method.

Specifies the maximum speed for each of the axes.

Specifies the initial speed for each of the axes.

Specifies the origin search high speed for each of the axes.

Specifies the origin search proximity speed for each of the axes.

Specifies the amount of compensation after the origin input signal is detected by an origin search operation.

pulses output for backlash compensation.

Specifies the speed for outputting the backlash compensation.

Omron CS1W-213, CS1W-233, CS1W-413, CS1W-NC113, CS1W-433 OPERATION MANUAL

Specifications and Main Features

Frequently Asked Questions

User Manual

CS1W-NC113/213/413/133/233/433 Position Control Units

Notice:

Unit Versions of CS-series Position Control Units

Version Upgrade Information

About this Manual:

WARRANTY

PRECAUTIONS

1 Intended Audience

2 General Precautions

3 Safety Precautions

4 Operating Environment Precautions

5 Application Precautions

6 Conformance to EC Directives

1-1 Features

1-2 System Configuration

1-3 Basic Operations

1-4 List of Functions

1-5 Specifications

1-6 Comparison with Existing Models

1-7 Control System Principles

2-1 Basic Operational Flow

3-1 Nomenclature and Functions

3-2 Installation

3-3 External I/O Circuitry

3-4 Wiring

3-5 Connection Examples for Different Types of Motor Driver

3-6 Connection of Unused Axes

3-7 Servo Relay Unit

4-1 Overall Structure

4-2 Common Parameter Area

4-3 Axis Parameter Area