Omron CS1W-MC221 OPERATION MANUAL

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Cat. No. W359-E1-04

CS1W-MC221(-V1)/421(-V1)

Motion Control Units

OPERATION MANUAL

CS1W-MC221(-V1)/421(-V1) Motion Control Units

Operation Manual

Revised February 2008

Notice:

r f

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.

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.

Trademarks and Copyrights

Windows is registered trademarks of the Microsoft Corporation. Other product names and system names in this manual are trademarks or registered trademarks of

their respective companies.

 OMRON, 1999

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.

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

Features and System Configuration . . . . . . . . . . . . . . . . . . . 1

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

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1-4 Control System Configuration and Principles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1-5 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

1-6 Data Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

1-7 Overview of G-language Programs in the MC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

1-8 Commands Listed According to Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

1-9 Comparison with Earlier MC Unit Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

1-10 Basic Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

1-11 Methods for Using MC Unit Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

1-12 Overview of Version 1 Upgrades . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

SECTION 2

Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

2-1 Nomenclature and Unit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

2-2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

2-3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

2-4 Failsafe Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

2-5 Wiring Check Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

2-6 Changing the Mechanical Direction of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

2-7 Connecting Peripheral Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

SECTION 3

MC Unit Internal Data Configuration . . . . . . . . . . . . . . . . . 147

3-1 Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

3-2 Determining the Task Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

3-3 System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

3-4 Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

3-5 Monitor Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

3-6 Command Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

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TABLE OF CONTENTS

SECTION 4

Data Transfer and Storage. . . . . . . . . . . . . . . . . . . . . . . . . . . 201

4-1 Data Transfer and Storage: Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

4-2 IOWR and IORD Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

4-3 Saving Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

SECTION 5

Exchanging Data with the CPU Unit . . . . . . . . . . . . . . . . . . 223

5-1 Overall Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

5-2 Controlling the MC Unit from the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

5-3 PLC Interface Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

5-4 Interface Specifics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260

SECTION 6

Basic Positioning Operations . . . . . . . . . . . . . . . . . . . . . . . . . 325

6-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326

6-2 PTP Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327

6-3 Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328

6-4 Circular Interpolation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331

6-5 Helical Circular Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332

6-6 Interrupt Feeding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

6-7 Traverse Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336

6-8 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

6-9 Changing Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345

6-10 Stopover Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

6-11 CPU Unit Interrupt Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348

6-12 Override Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

6-13 Resetting the Error Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

6-14 Servo Lock and Unlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

6-15 Backlash Correction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356

6-16 Automatic Loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359

6-17 Present Position Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363

6-18 Electronic Gear Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365

6-19 Acceleration and Deceleration Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369

6-20 Unlimited Feeding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370

6-21 Stopping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372

SECTION 7

G-language Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

7-1 Programs and Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376

7-2 G Language Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .377

7-3 G-language Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384

7-4 M Code Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431

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TABLE OF CONTENTS

SECTION 8

G-Language Programming Examples . . . . . . . . . . . . . . . . . 445

8-1 Programming Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446

8-2 Executing MC Programs from the Ladder Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462

SECTION 9

Establishing the Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465

9-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466

9-2 Input Signals Required for an Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468

9-3 Origin Search Methods and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468

9-4 Origin Search Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .470

9-5 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479

9-6 Setting the Origin With an Absolute Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480

9-7 Absolute Encoder Interface Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 483

SECTION 10

Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487

10-1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488

10-2 Setting the Teaching Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .488

10-3 Performing Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490

10-4 Errors during Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492

SECTION 11

Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495

11-1 Operation Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496

11-2 System Configuration and Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498

11-3 Considerations When Starting Up the MC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518

SECTION 12

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521

12-1 Troubleshooting Tables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522

12-2 Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531

12-3 System Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532

12-4 Task Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536

12-5 Axis Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541

12-6 Error Log. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 546

SECTION 13

Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . 549

13-1 Routine Inspections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 550

TABLE OF CONTENTS

Appendices

A Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553

B G-language Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563

C PLC Interface Area Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .565

D System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589

E Control Bit/Flag Timing Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613

F Origin Search Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629

G Encoder Divider Rate and Rotation Speed for OMRON Servo Drivers . . . . . . . . . . . . . . . . 657

H MC Program Coding Sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659

I System Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661

J Position Data Coding Sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 669

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 677

About this Manual:

This manual describes the features, specifications, and operation of the CS1W-MC421/221 Motion Control Unit and includes the sections described below.

Please read this manual and the other manuals related to the CS1W-MC421/221 Motion Control Unit carefully and be sure you understand the information provided before attempting to install and operate the Motion Control Unit.

Refer to 1-12 Overview of Version 1 Upgrades for an outline of the new features added to the CS1WMC421-V1 and CS1W-MC221-V1. (“-V1” is omitted in this manual.)

Section 1 explains the features and system configuration of the CS1W-MC421 and CS1W-MC221 Motion Control Units (MC Units), and outlines some of the differences with the features of the earlier C200H-MC221 MC Unit.

Section 2 describes the MC Unit components and provides the information required for installing the MC Unit.

Section 3 describes the data contained within the MC Unit.

Section 4 describes the means used to store data of various types and explains how data is trans-

ferred between the MC Unit and the CPU Unit.

Section 5 describes the ways in which data can be transferred between the CPU Unit and the MC Unit, including using the IOWR/IORD instructions, using the PLC Interface Area, and using dedicated bits/flags in memory.

Section 6 explains the basic positioning operations executed by the MC Unit.

Section 7 describes using the G language to program motion control in the MC Unit.

Section 8 provides examples of G-language programming for the CS1W-MC421/221.

Section 9 explains how to search for and establish the origin using either an incremental encoder or

an absolute encoder, and gives a general overview of absolute encoders.

Section 10 describes the teaching function. This function can be used to teach new positions by moving to a given position and then reading the present position of each axis as position data.

Section 11 explains how to get started using the MC Unit. It provides information on the MC Unit’s startup procedures, system configuration, wiring, creating I/O tables, inputting MC programs, creating ladder programs, transferring data, saving data, and conducting trial operation.

Section 12 explains the troubleshooting procedures to be employed if problems should occur in MC Unit operation.

Section 13 explains the maintenance and inspection procedures that must be followed to keep the MC Unit operating in optimum condition. It includes instructions on the proper procedure to follow when replacing an MC Unit, and precautions to observe when replacing a Servomotor.

The Appendices provide MC Unit performance information, control bit/flag timing charts, MC program coding sheet, sheets for recording system parameter settings, and position data coding sheet.

!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.

xii

Unit Versions

A “unit version” has been introduced to manage Motion Control Units according to differences in functionality accompanying Unit upgrades.

Notation of Unit Versions on Products

Confirming Unit Versions with Support Software

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

The unit version is given to the right of the lot number on the nameplate of the products for which unit versions are being managed, as shown below.

Product nameplate

CS1W-MC221-V1

MC UNIT

Unit version Example for unit version 1.1

Lot No. 080201 Ver.1.1

OMRON Corporation MADE IN JAPAN

The unit versions of Motion Control Units start with unit version 1.1.

CX-Programmer version 4.0 or higher can be used to confirm the unit version using the Unit Manufacturing Information.

Manufacturing information.

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

Unit version

xiii

The unit version is displayed as 1.1 in the Unit Version Number field of the above example. Use this display to confirm the unit version of the Motion Control Unit connected online.

Using the Unit Version Label

A unit version label is provided with the Motion Control Unit. This label can be attached to the front of the Motion Control Unit to differentiate between Motion Control Units with different unit versions.

■ Unit Version Notation

Unit versions are given in this manual as shown in the following table.

Product label Notation in this manual Remarks

The version number is given to the right of the lot number for unit versions 1.1 and later, e.g., “Ver. 1.1”

No version number is given to the right of the lot number for unit versions earlier than 1.1.

CS-series Motion Control Unit with unit version 1.1 or later

Pre-Ver. 1.1 CS-series Motion Control Unit

The contents of this manual applies to all unit version whenever the unit version is not specified.

■ Functions Supported According to Unit Versions of Motion Control Units

Unit version Pre-Ver. 1.1 Units Units with unit

Internal system version Versions 1.01 to 3.01 Version 3.02 Absolute encoder functionality for

OMNUC G-series Servo Drivers

Not supported. Supported.

version 1.1

xiv

Version Upgrade Information

Improvements from Pre-Ver. 1.1 to Version 1.1

The following improvements have been made.

Pre-Ver. 1.1 Ver. 1.1

The absolute encoder functionality for OMNUC G-series Servo Drivers is not supported.

The absolute encoder functionality for OMNUC G-series Servo Drivers is supported.

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 Motion Control Units (MC Units) and related devices.

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

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 MC 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 Motion 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 Motion 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 electrical shock or electrocution.

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

result in serious electrical shock or electrocution.

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

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

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

• The CPU Unit 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.

xxii

Operating Environment Precautions 4

• The CPU Unit or MC Unit 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 CPU Unit) 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.

!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 Connect the RUN command output (RUN signal) to the Servo Driver. Other-

wise, the motor may run when the power is turned ON or OFF or when en error occurs in the Unit.

!Caution Do not save data into the flash memory during program execution 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.

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.

• 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.

xxiii

Application Precautions 5

!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 MC Unit or the CPU Unit.

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

fatal injury. Always heed these precautions.

• Always ground the system to 100 protect against electrical shock.

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

• Mounting or dismounting the MC Unit or any other Units.

• Assembling the Units.

• Setting 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 CPU Unit, the MC Unit. or the system, or could damage the CPU Unit or MC Unit. Always heed these precautions.

• Check the task configuration before creating MC program for the MC Unit. Set the task configuration (axis configuration, number of tasks, and task axis definition) using the unit parameters within the system parameters. If changes are made to the task configuration, the MC program must be changed as well.

• After transferring the system parameters, G-language program, or position data to the MC Unit, be sure to save the data in flash memory within the MC Unit (using the data save command from the CX-Motion or CPU Unit) before turning OFF the power supply to the Unit. Transferring the data to the MC Unit will simply save the data in the internal memory (SRAM) of the MC Unit and this data will be deleted when the power supply to the Unit is turned OFF.

• After transferring the system parameter data to the MC Unit and saving the data to flash memory, be sure to reset the power supply to the Unit or restart the Unit. Otherwise, the unit parameters and machine parameters will not be changed and the System Set Error, which can occur when the system parameters are transferred to the MC Unit, will not be cleared.

• Do not turn OFF the power supply to the Unit while data is being written to flash memory. Doing so may cause problems with the flash memory.

• Confirm that no adverse effects will occur in the system before changing the operating mode of the Teaching Box.

• When a wiring error occurs, be sure to reset the power supply to the Unit, check the wiring, and reset the machine parameters within the system parameters.

Ω or less when installing the system to

xxiv

Application Precautions 5

• 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 CPU Unit (including the setting of the startup operating mode).

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

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

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

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

• Tighten the mounting screws at the bottom of the Unit to a torque of

0.4 N • m. Incorrect tightening torque may result in malfunction.

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

• Check the pin numbers before wiring the connectors.

• Be sure that the connectors, terminal blocks, I/O cables, cables between drivers, and other items with locking devices are properly locked into place. Improper locking may result in malfunction.

• Always use the power supply voltages specified in this manual. 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. Be particularly careful 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.

• Separate the line ground terminal (LG) from the functional ground terminal (GR) on the Power Supply Unit before performing withstand voltage tests or insulation resistance tests. Not doing so may result in burning.

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

• 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 to the new MC Unit the contents of the parameters, position data, and other data required for resuming operation. Not doing so may result in an unexpected operation.

xxv

Conformance to EC Directives 6

• 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.

• Confirm that set parameters and data operate properly.

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

• Do not attempt to take any Units apart, to repair any Units, or to modify any Units in any way.

• Perform wiring according to specified procedures.

6 Conformance to EC Directives

6-1 Applicable Directives

•EMC Directives

• Low Voltage Directive

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): EN61131-2 EMI (Electromagnetic Interference): EN61000-6-4

Low Voltage Directive

Always ensure that devices operating at voltages of 50 to 1,000 VAC or 75 to 1,500 VDC meet the required safety standards for the PLC (EN61131-2).

6-1-2 Conformance to EC Directives

The CS-series PLCs comply with EC Directives. To ensure that the machine or device in which a CS-series PLC is used complies with EC directives, the PLC must be installed as follows:

1,2,3... 1. The PLC 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. PLCs complying with EC Directives also conform to the Common Emission Standard (EN61000-6-4). When a PLC is built into a machine, however, noise can be generated by switching devices using relay outputs and cause the overall machine to fail to meet the Standards. If this occurs,

(Radiated emission: 10-m regulations)

xxvi

Conformance to EC Directives 6

surge killers must be connected or other measures taken external to the PLC.

The following methods represent typical methods for reducing noise, and may not be sufficient in all cases. Required countermeasures will vary depending on the devices connected to the control panel, wiring, the configuration of the system, and other conditions.

xxvii

Conformance to EC Directives 6

xxviii

SECTION 1

Features and System Configuration

This section explains the features and system configuration of the CS1W-MC421 and CS1W-MC221 Motion Control Units (MC Units), and outlines some of the differences with the features of the earlier C200H-MC221 MC Unit.

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

1-1-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1-1-2 Description of Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1-2-1 System Configuration Example (CS1W-MC421) . . . . . . . . . . . . . . 4

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1-3-1 Motion Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1-3-2 Other Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1-3-3 Summary of Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1-4 Control System Configuration and Principles. . . . . . . . . . . . . . . . . . . . . . . . . 12

1-4-1 Servo System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1-4-2 Feedback Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

1-4-3 CW and CCW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

1-5 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

1-5-1 Overview of Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

1-5-2 Performance Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

1-5-3 CX-Motion Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

1-5-4 Teaching Box Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

1-6 Data Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

1-6-1 Overall Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

1-6-2 Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

1-6-3 Internal Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

1-6-4 Data Transfer Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

1-7 Overview of G-language Programs in the MC Unit . . . . . . . . . . . . . . . . . . . . 30

1-7-1 Programs and Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

1-7-2 Manual and Automatic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 32

1-7-3 G Language. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

1-7-4 G-language Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

1-8 Commands Listed According to Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

1-9 Comparison with Earlier MC Unit Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

1-9-1 Changing From the C200H-MC221 to the CS1W-MC421/MC221 . 40

1-10 Basic Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

1-11 Methods for Using MC Unit Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

1-12 Overview of Version 1 Upgrades . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

1-12-1 Using Customized Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

1-12-2 Easy Backup Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Fe at ur e s Section 1-1

1-1 Features

1-1-1 Overview

The CS1W-MC421 and CS1W-MC221 are CS-series Motion Control Units that can control four axes and two axes, respectively. With their internal G-language programming, they can be used for advanced motion control operations, such as traversing, and their multi-tasking capability allows operations to be performed independently for each axis.

Two types of motion control are possible: point-to-point and continuous path.

Point-to-point Control With point-to-point (PTP) control, positioning is controlled independently for

each axis. The pathway varies according to the travel distances, the feed rates, and so on, that are set.

Continuous Path Control With continuous path (CP) control, not only the start position and target posi-

tion can be controlled but also the path between those points. Linear interpolation, circular interpolation, helical circular interpolation, and traversing are all possible.

The MC Unit has been developed for use in simple positioning applications using servomotors. Applicable machines are as follows:

• Conveyor Systems: X/Y tables, palletizers/depalletizers, loaders/unloaders, etc. (Palletizers and depalletizers are devices used for loading goods onto pallets or for unloading them from pallets. Loaders and unloaders are devices that have shelves corresponding with the steps of a multistep press and used for inserting or removing all the materials at one time.)

• Assembling Systems: Simple robots (including orthogonal robots), simple automated assembling machines (such as coil winding, polishing, hole punching), etc.

Note The MC Unit is not designed to perform linear interpolation, circular interpola-

tion, or helical circular interpolation with horizontal articulated robots or cylindrical robots, because it does not support coordinate conversions. The MC Unit can, however, perform PTP control with these robots.

Fe at ur e s Section 1-1

1-1-2 Description of Features

Multi-tasking G Language The MC Unit is provided with a multi-tasking G language, which is the opti-

mum language for motion control. The G language makes it simple to create programs for multi-axis control, without placing a burden on the CPU Unit’s ladder diagram program.

Simple and Fast Traverse Operations

Fast Pick-and-place Operations

Supports Absolute Encoders

High-speed Response to Start Commands from CPU Unit

Two-axis MC Unit This function applies to the X axis when a 2-axis, 1-task configuration is used.

Four-axis MC Unit This function applies to the X axis when a 4-axis, 1-task configuration is used.

500-kp/s Encoder Response Frequency

CPU Unit Interrupts A CPU Unit external interrupt task can be started by outputting a D code

Commands for 2-axis traverse operations enable simple and fast traverse operations.

After a positioning command has been output, the in-position check OFF function allows the next positioning operation to be started without waiting for the first positioning operation to be completed. This makes it possible to perform high-speed pick-and-place operations.

The MC Unit is compatible with absolute encoders (such as the OMNUC W Series) as a standard feature, eliminating the need to perform an origin search. Incremental encoders can be used as well.

The response time from when a start command is received from the CPU Unit until the command voltage is output from the MC Unit is 8 ms for two axes and 12 ms for four axes (MC421 only). This is 1.5 times faster than the previous models.

The maximum feedback encoder response frequency is 500 kp/s, so the MC Unit can be used with high-speed and high-precision servomotors. This is double the response frequency of the earlier models.

(interrupt code) for the CPU Unit when positioning is completed or when passing through a particular position. This feature is ideal for high-speed synchronization between the MC Unit and CPU Unit.

Windows-based MC Support Software

Data Creation Using Teaching Box

Operate with MPG Positioning and simple sync operations can be performed using an MPG

Single-port Multi-access Function

A Windows-based Support Software package called CX-Motion can be used on the same computer and through the same port as the CX-Programmer, enabling multiple programming environments on a single computer.

Servo Information Trace Function

Speed reference values, the present speed, and the error counter can be traced with specified starting conditions and a specified sampling period using the MC Support Software. Up to 500 items can be traced, making it easy to adjust the servo system.

Automatic Loading Function

When it is necessary to use more programs or position data than can be stored in the MC Unit, programs or position data stored in an external memory device at the computer where the MC Support Software is installed can be automatically downloaded to the MC Unit’s internal memory.

In addition to entering numbers in the Position Data Edit Window of the MC Support Software (CX-Motion), it is possible to create position data by using the Teaching Box to teach positions while actually moving the machinery.

(manual pulse generator).

System Configuration Section 1-2

Motor Driver Connection

Cables are provided for connecting to the motor driver.

Cables

1-2 System Configuration

The MC Unit receives control signals (CW limit, CCW limit, origin proximity, and emergency stop input signals) from the Rack and control panel, and outputs command voltages to the servo driver.

1-2-1 System Configuration Example (CS1W-MC421)

Used for trial operation, debugging, teaching, etc.

Teaching Box

Teaching Box connector

SYSMAC CS-series PLC

I/O connector

• Monitoring (PV, I/O signals)

• Origin search

• Jogging

• Error reset

• Teaching

DRV X,Y connectors

ERH

RUN ERC

XCW

ZCW

XCCW

ZCCW

YCW

UCW

YCCW

UCCW

MACH No.

X10

WPC

DRV.X·Y

I/O

DRV.Z·U

TOOL

Terminal Block (See note 2.)

MPG connector

Etc.

MC Unit

CPU Unit

Power Supply Unit

Peripheral port connector

RS-232C port connector

DRV Z, U connectors

Driver Connection Cable (See note 1.)

Used for setting data and programming in G language.

• G language program editing

• Status monitoring

• File administration

Etc.

Personal computer

CX-Motion CX-Programmer

External I/O

CCW limit input

CW limit input

Origin proximity input

Emergency stop input

One each for 4 axes

General-purpose inputs (4)

General-purpose outputs (4)

24-V power supply for interface

ABS data backup battery (+2.8 V to +4.5 V) (See note 3.)

Servo driver

24-V power supply for interface

Either an absolute or incremental encoder can be used.

Driver Connection Cable is available as an option for OMRON H-, M-, U-, W-, and G-series Servo Drivers.

MPG

MPG 1 channel

5-V power supply for interface

Used when precise positioning is required, as in teaching.

•

Axis selection

•

Pulse ratio selection

Etc.

System Configuration Section 1-2

Note 1. A special Driver Connection Cable is available for OMRON U-, H-, M-,

W-, and G-series Servo Drivers. A cable can also be prepared by the user.

2. A special cable is available for connecting to a Terminal Block. The cable can also be prepared by the user.

3. A data backup battery is required when using an absolute encoder.

The equipment and models used in this example system configuration are shown in the following table.

Devices Model

Motion Control Unit CS1W-MC421/MC221 SYSMAC CS-series CPU

Unit

Power Supply Unit One of the following:

CPU Backplane CS1W-BC023/BC033/BC053/BC083/BC103 Teaching Box CVM1-PRO01 (Programming Console) + CVM1-MP702

Personal computer (for CX-Motion and CX-Programmer)

CX-Motion/CX-Programmer

Servo Driver R88D-M, -H, -U, -W, -G-series Servomotor R88M-M, -H, -U, -W, -G-series

One of the following:

CS1H-CPU6@ CS1G-CPU4@

C200HW-PA204 C200HW-PA204S C200HW-PA204R C200HW-PA209R C200HW-PD024

(ROM Cassette) IBM PC/AT or compatible

CXONE-AL@@C-EV@/-AL@@D-EV@

Items Supplied by the User

If you are using a manual pulse generator (MPG) in your system, prepare the following items. LGF-003-100 MPG (line driver output) 5-V power supply for the MPG

Sync encoders can also be connected to MPG connectors. Connecting a sync encoder makes it possible, for example, to synchronize axis feeding with a conveyer. If this is to be done, prepare the required sync encoder.

A data backup battery is required when using an absolute encoder. For details, refer to the Servo Driver manual.

System Configuration Section 1-2

In addition to the above, prepare power supplies for the Servo Driver interface and for external I/O.

Power supply for the Servo Driver interface: 24 V Power supply for the external I/O: 24 V

Cable to Connect CPU Unit to a IBM PC/AT or Compatible Running CX-Motion and CX-Programmer

Unit Port on Unit Port on

CPU Unit Peripheral 9-pin D-sub

RS-232C (9-pin D-sub female)

Serial Communications Board/ Unit

RS-232C (9-pin D-sub female)

computer

male

Serial

communications

mode (network)

Peripheral bus or Host Link

Host Link XW2Z-200S-CV 2.0 m

Model numbers Length Remarks

CS1W-CN226 2.0 m --CS1W-CN626 6.0 m XW2Z-200S-CV 2.0 m ESD (static

XW2Z-500S-CV 5.0 m

electricity)-resistant connectors used.

Driver Connection Cable The Driver Connection Cable is a special cable for connecting the MC Unit to

the Servo Driver. It can be used for connecting OMRON H-, M-, U-, W-, and G-series Servo Drivers.

I/O Cable and Terminal Block

Connected Driver Cable model for 1

axis

R88D-H Series R88A-CPH001M1

R88A-CPH002M1

R88D-M Series R88A-CPM001M1

R88D-U Series (for 30-W to 750-W Drivers)

R88D-U Series (for 1-KW to 5-KW Drivers)

R88D-W Series R88A-CPW001M1

R88D-G Series R88A-CPG001M1

R88A-CPM002M1 R88A-CPU001M1

R88A-CPU002M1

R88A-CPUB001M1 R88A-CPUB002M1

R88A-CPW002M1 R88A-CPW003M1 R88A-CPW005M1

R88A-CPG002M1 R88A-CPG003M1 R88A-CPG005M1

The following table shows the model numbers of the I/O Cable and Terminal Blocks for connecting CCW limit input signals, CW limit input signals, proxim-

Cable model for 2

axes

R88A-CPH001M2 R88A-CPH002M2

R88A-CPM001M2 R88A-CPM002M2

R88A-CPU001M2 R88A-CPU002M2

R88A-CPUB001M2 R88A-CPUB002M2

R88A-CPW001M2 R88A-CPW002M2 R88A-CPW003M2 R88A-CPW005M2

R88A-CPG001M2 R88A-CPG002M2 R88A-CPG003M2 R88A-CPG005M2

Length (m)

1.0

2.0

1.0

2.0

1.0

2.0

1.0

2.0

1.0

2.0

3.0

5.0

1.0

2.0

3.0

5.0

ity input signals, etc., to the MC Unit.

Name Model Remarks

MC Unit Terminal Block Connecting Cable

MC Unit Terminal Block XW2B-20J6-6 For CS1W-MC221 (2 axes)

XW2Z-100J-F1 Length: 1 m (for 2 or 4 axes)

XW2B-40J6-7 For CS1W-MC421 (4 axes)

Basic Operations Section 1-3

1-3 Basic Operations

The MC Unit has been developed for use in simple positioning applications using servomotors. Depending on the machine being controlled, the accuracy of the MC Unit should be about five to ten times higher than the machine being controlled. Applicable machines are as follows:

Conveyor Systems: X/Y tables, palletizers/depalletizers, loaders/unloaders, etc.

Assembling Systems: Simple robots (including orthogonal robots), simple automated assembling machines, etc.

Orthogonal Robots

One-axis robot Two-axis robot

Note The CS1W-MC221 can control one or two axes.

Horizontal Articulated Robots

Three-axis robot Four-axis robot

PTP control can be performed when horizontal articulated robots or cylindrical robots are used, but linear interpolation, circular interpolation, and helical circular interpolation are not possible.

Two-axis robot

Three-axis robot

X: Although point-to-point control is

possible, linear and circular interpolation are not possible for the ends of the robot arms.

Four-axis robot

Basic Operations Section 1-3

Cylindrical Robots

Two-axis robot

X: Although point-to-point control is

possible, linear and circular interpolation are not possible for the ends of the robot arms.

Four-axis robot

Three-axis robot

1-3-1 Motion Control

The MC Unit offers the following three types of motion control:

PTP Control CP Control (linear interpolation and circular interpolation) Interrupt Feeding

Control programs are created in the G language.

PTP Control PTP control is used to control each axis (X and Y axis) independently. Posi-

tioning time depends on the travel distance and speed of each axis. Example: Moving from the origin to the X-axis coordinate of 100 and Y-axis

coordinate of 50 at the same speed.

Positioning is executed separately for each axis, so travel between the two points is carried out as shown in the diagram.

Basic Operations Section 1-3

CP Control CP control is used to position by designating not only the starting point and

the target point, but also the path between these two points. Both linear interpolation and circular interpolation are possible.

Circular interpolation

Target point

Linear interpolation

Starting point

Interrupt Feeding Interrupt feeding is used to perform speed control until an external signal is

input and to perform position control for a fixed distance when the external signal is input. Positioning with no interrupt signal is also possible.

Multiturn Circular Interpolation

Speed

Speed control Position control

Signal input

(fixed distance)

The multiturn circular interpolation function has been added to the existing circular and helical circular interpolation functions. This function can be used for applications such as winding machine operations.

Central axis Z

End point (target position)

Movement in direction of central axis

Feed pitch

Beginning point (present position)

Basic Operations Section 1-3

Traversing

The following illustration shows the action of the winder (traverse function) for a winding machine.

Winder

Traverse axis

Unlimited Feeding This function executes unlimited feeding for the specified axis.

1-3-2 Other Functions

Origin Search Establishes the origin for a specified axis.

Jogging Starts and stops positioning at a specified speed along a specified axis.

Error Counter Reset Forcibly resets the error counter to zero and stops axis operation after a

deceleration command.

Present Position Preset Changes the present position according to specified position data.

Teaching Obtains the present position to create position data.

Zones A Zone Flag turns ON when the present position is within a preset range.

Override (Real Time Speed Change)

Backlash Correction Compensates for inaccurate meshing in the mechanical system.

Electronic Gears Sets a pulse ratio for the input pulses with MPG/sync encoders.

Changes the speed during PTP, linear interpolation, or circular interpolation operations.

Basic Operations Section 1-3

1-3-3 Summary of Function

The following diagram summarizes the MC Unit functions.

Stop Mode

MC Unit functions

Automatic Mode (Executes G-language programs in the MC Unit.)

Manual Mode (Executes manual commands from the CPU Unit or Teaching Box.)

Common to Automatic and Manual Modes

Position control Speed control

Origin search

Interrupt feeding Traversing

Arithmetic operations, etc.

Deceleration stop

Origin search (manual)

Standard origin return Jogging

Error counter reset

Forced origin Absolute origin setting

Servo lock/Servo unlock

Present position preset

Teaching

Zones

Backlash correction

Override Electronic gear

Pass Mode

In-position Check OFF Mode

Dwell timer

Note Positioning operations using the MC Unit are performed based on two coordi-

nate systems: A reference coordinate system and a workpiece coordinate system.

The reference coordinate system is the most fundamental one for positioning operations. The workpiece coordinate system is offset from the reference coordinate system by a specified amount, allowing the user to freely set a coordinate system.

Offset of the workpiece coordinate system

Workpiece coordinate system

Offset of the workpiece

Reference coordinate system

coordinate system

Control System Configuration and Principles Section 1-4

1-4 Control System Configuration and Principles

1-4-1 Servo System

The servo system used by and the internal operations of the MC Unit are briefly described below.

Semi-closed Loop System The servo system of the MC Unit uses a semi-closed loop system. This sys-

tem is designed to detect actual machine movements by rotation of the motor in relation to a target value. It computes the error between the target value and actual movement, and zeroes the error through feedback.

Ta bl e

Servomotor

Encoder

Actual movement

Ball screw

Decelerator

Target value

Semi-closed loop systems occupy the mainstream in modern servo systems applied to positioning devices for industrial applications.

Position controller

Internal Operations of the MC Unit

1,2,3... 1. The error counter receives a target position in units of encoder pulses. This

Commands to the MC Unit, speed control voltage to the servo driver, and the feedback signals from the encoder are described in the next few pages.

Speed control voltage

Desired position

Pulse string

Error counter

D/A converter

Position feedback

Feedback pulses

Servo driver Servomotor

Speed feedback

Encoder

is called a pulse string.

2. The error counter is directly connected to the D/A converter where the pulses received by the error counter are converted to analog voltages. These analog voltages are sent to the servo driver as the speed control voltages.

Control System Configuration and Principles Section 1-4

3. When the speed control voltage is received by the servo driver, it rotates the motor at a speed corresponding to the speed control voltage. The rotational speed is in proportion to the speed control voltage.

Servo Driver Speed Characteristics

Rotational speed +N (r/min)

Speed control voltage

4. The rotary encoder directly connected to the motor axis rotates in sync with the motor and generates feedback pulses.

5. The error counter is reduced by the feedback pulses until the error counter goes to zero. When the error counter goes to zero, the speed control voltage to the servo driver becomes zero and the motor stops rotating.

Target position value (pulses)

Error counter count (pulses)

Speed control voltage

Time

Positioning end

Time

Control System Configuration and Principles Section 1-4

6. Unless the target position is given, the error counter constantly maintains the stopped position.

7. If the motor axis moves slightly due to a drift in the driver or voltage output, the error counter receives a feedback pulse from the rotary encoder and a speed control voltage is output in the reverse direction, causing the motor to rotate toward its original position. This corrective operation for maintaining the present position is called servolock or servoclamp.

8. Using this principle, positioning with acceleration and deceleration is executed by continuously setting target positions in the error counter.

9. The target position set in the error counter becomes the error counter count as shown below. The count is converted to a speed control voltage for the servo driver to control the motor.

Target position value (pulses)

Time

Error counter count (pulses)

Time

Speed control voltage

Time

Thus, the position equals the total count of target positions (shaded area in the figure), and the speed will depend on the target position value per unit time.

Control System Configuration and Principles Section 1-4

1-4-2 Feedback Pulses

Standard OMRON Servomotors are designed for an advanced phase-A for forward rotation and an advanced phase-B for reverse rotation. The MC Unit is designed to comply with this phase advancement, allowing OMRON Driver Connecting Cables to be connected without modification.

Forward Rotation (Positive Speed Reference)

Phase A

Phase B

Reverse Rotation (Negative Speed Reference)

Phase A

Phase B

When using Servomotors by other manufacturers, check carefully the encoder specifications. If the definition differs from the ones given above, take one of the following actions:

• Reverse the phase-B wiring between the MC Unit and the servo driver. (Reverse the +B terminal and the –B terminal.)

• Set the machine parameter “encoder polarity” in the system parameters to “reverse rotation for encoder increase.” It is initially set to the “forward rotation at the encoder increase.”

1-4-3 CW and CCW

The abbreviations “CW” and “CCW” used in this manual to describe the operation of the MC Unit are defined as follows:

CW (Clockwise) Clockwise is the direction in which the present position increases.

Negative limit

CCW (Counterclockwise) Counterclockwise is the direction in which the present position decreases.

Positive limit

Negative limit

CCW

Positive limit

Specifications Section 1-5

1-5 Specifications

General Specifications

Item Specifications

Model CS1W-MC221 CS1W-MC421 Power supply

voltage

Voltage fluctuation tolerance

Internal current consumption

Weight (Connectors excluded)

Safety standards Conforms to UL (Class 2), CSA (class 2), and EC specifica-

External dimensions

Specifications other than those shown above conform to those for the SYSMAC CS Series.

5 VDC (from Backplane) 24 VDC (from external power supply)

4.75-5.25 VDC (from Backplane)

21.6-26.4 VDC (from external power supply) 600 mA or less for 5 VDC (with

Teaching Box connected: 800 mA or less)

0.2 A or less for 24 VDC 450 g max. 540 g max.

tions.

130.0 x 35.0 x 100.5 mm (H x W x D)

700 mA or less for 5 VDC (with Teaching Box connected: 1,000 mA or less)

130.0 x 70.0 x 100.5 mm (H x W x D)

Functions and Performance Specifications

Item Specifications

Applicable PLC CS Series Type of Unit CS Special I/O Unit Backplanes on which MC Unit can

be mounted Method for data

transfer with CPU Unit

Controlled Driver Analog input servo driver (Example: OMRON OMNUC H, M, U,

Built-in program language G language (Started by receiving a start command from the CPU

Control Control method Speed reference voltage output-type semi-closed loop system,

Words allocated to Special I/O Units in CIO Area

Words allocated to Special I/O Units in DM Area

Number of controlled axes

CS1W-MC221 CS1W-MC421

CPU Backplane or CS Expansion I/O Backplane (See note 1.)

30 words/Unit (uses 3 unit numbers.) (See note 2.)

CPU Unit to MC Unit: Commands: G-language program execution/stop, origin search, manual operation, etc. Data transfer: Position data, acceleration/ deceleration data, etc.

MC Unit to CPU Unit: Status: Positioning completed, zones, busy flag, etc. Monitor data: Present position, error codes, M codes, etc.

Not used. Not used.

W, or G Series)

Unit ladder diagram program.)

using incremental and absolute encoder inputs. 2 max. 4 max. Multitasking can be used to execute independent operating

modes and programs for each axis.

50 words/Unit (uses 5 unit numbers.) (See note 2.)

Specifications Section 1-5

Item Specifications

CS1W-MC221 CS1W-MC421

Automatic/Manual Mode (for each task)

Encoder interface Line receiver input; maximum response frequency: 500 kp/s

Control unit Minimum setting

unit Units mm, inch, degree, pulse (There is no unit conversion function.)

Maximum command value –39,999,999 to +39,999,999

Number of controlled axes 2 axes max. 4 axes max. Positioning

operations

Speed reference 1 pps to 2,000 kp/s (when ratio is 4) Acceleration/deceleration curve Trapezoidal or S-curve Acceleration/deceleration time Individual acceleration/deceleration settings possible: 0 to

PTP (independent) control

Linear interpolation

Circular interpolation

Helical circular interpolation

Traverse function Traverse operation for two axes Speed control Speed control for each axis Unlimited Feed

Mode Interrupt feeding Feeding a fixed distance after an interrupt input, for each axis.

Automatic Mode: Mode for executing MC program created in G language. Manual Mode: Mode for executing manual commands from CPU Unit (PLC interface area) or Teaching Box.

• The Automatic or Manual Mode is set according to the PLC interface area of the CPU Unit.

• There are a total of 11 Automatic Mode commands, including origin search, reference origin return, JOG, and error reset.

• The operation cycle is started in Automatic Mode through dedicated bits in the CPU Unit or from the Teaching Box.

(before multiplication) Pulse ratio: Select 1, 2, or 4 Note: The applicable absolute encoders are the OMRON

OMNUC U-, W-, and G-series Encoders. A Motion Control Unit with unit version 1.1 or later is required to use the absolute encoder functionality of the OMNUC G Series.

1, 0.1, 0.01, 0.001, 0.0001

See note 3.

(When the minimum setting unit is 1.) (See note 6.)

Execution by independent programs, operating modes for each axis.

2 axes max. 4 axes max.

Circular interpolation for a maximum of two axes on a plane.

--- Circular interpolation for a max-

imum of two axes on a plane + one axis for feed control

Axis feeding can be executed with no limit.

(Positioning with no interrupt input signals is also possible.)

100,000 ms (2-ms increments)

Specifications Section 1-5

Item Specifications

CS1W-MC221 CS1W-MC421

External I/O Peripheral device Teaching Box (1 only)

Encoder Line receiver inputs:

MPG /sync encoder

Servo driver relationships

Individual axis control (See note

4.)

Others (See note

4.)

Feed operations High-speed feed

rate

Interpolation feed rate

High-speed feed override

Interpolation feed override

Jog feed override 0.1% to 100.0% (Setting unit: 0.1%)

Axis control Zone settings Up to 8 zones/axis can be set.

Backlash correction

In-position zone Can be set from 0 to 10,000 pulses. Position loop gain 1 to 250 (1/s) Feedforward gain 0% to 100%

For two axes (500 kp/s before multiplication)

Line driver output-type MPG/sync encoder: 1 500 kp/s max. (before multiplication)

The following signals are each provided for two axes:

Inputs: Driver alarm signals Outputs: Driver alarm reset signals

High-speed reference voltage outputs (±10 V) Operation command outputs SEN signals (for absolute encoder)

The following signals are each provided for two axes:

Input: CCW limit inputs

CW limit inputs Origin proximity inputs Emergency stop inputs

General inputs: 4 pts. (interrupt inputs) General outputs: 4 pts. (brake signal outputs)

Example: 36.86 m/min Conditions Encoder resolution: 2,048 p/r

Motor speed: 4,500 r/m Control unit: 0.001 mm/pulse

0.1% to 100.0% (Setting unit: 0.1%)

0.1% to 199.9% (Setting unit: 0.1%)

Can be set from 0 to 10,000 pulses.

Line receiver inputs: For four axes (500 kp/s before multiplication)

The following signals are each provided for four axes:

Specifications Section 1-5

Item Specifications

CS1W-MC221 CS1W-MC421

Task program management

Saving program data

Program and position data automatic download function

Self-diagnostic function Memory corruption is detected. Error detection functions Error counter warning, error counter over, absolute encoder error

Error log function Stores up to 20 error log records.

Number of tasks 2 max. (program execution

Number of programs

Program capacity When 1 task is used:

Position data capacity

Number of registers

Subroutine nesting

MC Unit Backed up by flash memory. (See note 5.) External

peripheral devices

units) The maximum number of

programs differs according to the number of tasks.

When 1 task is used: 100 When 2 tasks are used: 50

2,000 blocks

When 2 tasks are used:

1,000 blocks/task

The maximum number of blocks in a single program is

800.

2,000 positions max. (total for all axes)

32 (Mainly used for specifying position data numbers.)

5 levels max.

CX-Motion can be used to save data to a floppy disk or the hard disk at the personal computer.

When the operation number (program or position data) is specified by an IOWR instruction from the CPU Unit, CX-Motion recognizes it and downloads the program or position data to the MC Unit.

detection, CPU errors, communications errors (Teaching Box), flash memory error, EEPROM error, software limit over error, phase-Z error, overtravel, emergency stop, unit number error, driver alarm detection, driver reverse wiring detection, CPU Unit error detection

4 max. (program execution units)

The maximum number of programs differs according to the number of tasks.

When 1 task is used: 100 When 2 tasks are used: 50 When 3 task are used: 33 When 4 tasks are used: 25

When 1 task is used:

When 2 tasks are used:

When 3 task are used:

When 4 tasks are used:

The maximum number of blocks in a single program is

800.

2,000 blocks

1,000 blocks/task

666 blocks/task

500 blocks/task

Note 1. The MC Unit must be mounted to the CPU Rack to use D codes. D codes

will not be sent to the CPU Unit if the MC Unit is mounted to a CS Expansion Rack.

2. The number of MC Units that can be mounted under one CPU Unit must be determined based on the maximum number of Special I/O Units that can be allocated words in the CPU Unit, the power supply capacity on the CPU or Expansion Rack, and the current consumption of the Units mounted to the Rack. Refer to the CPU Unit’s operation manual for details on calculation methods.

3. To display units other than pulses in the CX-Motion, change the display unit and then set the Pulse Rate to the amount of workpiece movement per pulse.

4. The required power supply must be provided by the user.

5. The service life for the flash memory is 100,000 writing operations.

Specifications Section 1-5

6. The maximum position command values, software limit values, and zone values are as shown in the following table for each minimum setting unit.

Minimum setting unit

1 0.1 0.01 0.001 0.0001

–39999999 to +39999999

The actual maximum ranges that can be set may be smaller than those shown above depending on the pulse rate. The maximum set value must satisfy the following two conditions:

•|Set value (C)|

P: Pulse rate (Pulse/pulse, mm/pulse, degrees/pulse, and inch/pulse) C: Minimum setting unit (1, 0.1, 0.01, 0.001, 0.0001)

Example: If the minimum setting unit is 0.01 and pulse rate is 0.0001, the maximum set value can be calculated as follows:

1073741823 x 0.0001=10734.1823 < 399999.99

Therefore, the maximum range is –10734.18 to 10734.18 (because the minimum setting unit is 0.01).

Also, the maximum present position shown by CX-Motion or the Teaching Box will be within the ranges indicated in the table above.

–3999999.9 to +3999999.9

≤ 1073741823 x P ≤ 39999999 (C)

–399999.99 to +399999.99

–39999.999 to +39999.999

–3999.9999 to +3999.9999

Demand Positions and Present Positions

Range of position data (mm) that can be transferred between the MC Unit and other devices (Teaching Box, CX-Motion, and CPU Unit)

Position data (pulses) handled inside the MC Unit

Data is stored internally in the MC Unit for the demand positions, software limits, present positions, zones, reference origin offsets, and workpiece origin offsets as 32-bit signed data in pulse units. The Teaching Box, CX-Motion, and CPU Unit, however, handle data in millimeters within the ranges described in note 2 for the above table. Depending on the pulse rate setting, the axes may move or stop in positions that cannot be handled by these devices. If a position is beyond the range that can be handled by these devices, it will be indicated as the maximum (399,999,999) or minimum (–399,999,999) value until the position returns within the range that can be indicated.

Pulse rate conversion

The position will be indicated as

−39,999,999 in this range.

The position will be transferred and updated in this range.

Pulse rate conversion

The position will be indicated as 39,999,999 in this range.

Note 1. The present position data held inside the MC Unit (32-bit signed data) can

be directly read by the CPU Unit using the IORD instruction. Use addresses 17BA hex, 17BB hex, 17BC hex, and 17BD hex.

2. The present position monitoring function of the CX-Motion can be used to display the reference coordinate system present value in pulses between –268,435,455 and 268,435,455 (28-bit data).

Specifications Section 1-5

1-5-1 Overview of Operations

Item Contents

Operating modes Manual Mode: Operation according to CPU Unit

Manual Jogging Moves axes continuously by manual operation.

Handle feed Moves axes by MPG. Deceleration stop Decelerates to a stop according to command. Manual origin search Searches for mechanical origin. (Origin search is

Manual origin return Moves to origin in reference coordinate system. Forced origin Forcibly sets the present position to 0 to establish

Absolute origin setting Sets the origin for an absolute encoder. Servo-lock Creates a position loop and turns ON the

Servo-unlock Releases the position loop and applies the brake,

Electronic gear function A fixed ratio (numerator and denominator) can be

memory area or commands from Teaching Box. Automatic Mode: Operation according to com-

mands in G-language program.

possible in either an incremental or absolute encoder system.)

it as the origin. (In an absolute encoder system, only the present position of the MC Unit will be set to 0.)

operation command output to the servo driver, while simultaneously releasing the brake. When an absolute encoder is used, the absolute position is read before the servo-lock is applied.

and simultaneously turns OFF the operation command output to the servo driver. Servo-unlock can be executed even in Automatic Mode.

applied to input pulses, and output to the servomotor driver.

Specifications Section 1-5

Item Contents

Automatic Positioning with linear interpolation Executes linear interpolation at the specified

Positioning with circular interpolation Executes clockwise or counterclockwise 2-axis

Positioning with helical circular interpolation

Traverse function Executes winding (traverse operation). Speed control Moves a maximum of either two or four axes at a

Interrupt feeding Moves a specified axis for a fixed amount when a

Switching to Pass Mode Changes to Pass Mode, in which operations are

Switching to In-position Check OFF Mode

Stop-over function Outputs an M code or a D code while axes are

Dwell timer Pauses positioning for a specified time. Workpiece origin return Automatically returns to workpiece origin. Automatic origin return Automatically returns to reference coordinate

Automatic Cycle start Executes a specified program from the first block,

Single block Executes the program one block at a time. Pause Temporarily halts program execution. Forced block end Forcibly ends execution of a block. Error reset Clears error status. M code reset Resets the M code (for interlock). Teaching Creates position data for each task. Auxiliary Optional inputs 20 points: Specify input information to be

M code 0 to 999

D code (interrupt code)

interpolation feed rate for up to either two or four axes simultaneously.

circular interpolation at the specified interpolation feed rate.

Executes clockwise or counterclockwise 2-axis circular interpolation and 1-axis linear interpolation (i.e., helical interpolation) at the specified interpolation feed rate. (Available for CS1W-MC421 only.)

controlled speed.

general input is turned ON. With interrupt feeding, positioning without an interrupt signal can be executed.

executed one by one with no deceleration stop. In Pass Mode, the interpolation acceleration or deceleration time of the previous operation can be specified for the next operation (Pass Mode time selection). A pass operation for only one axis can be executed at a fixed acceleration (with a fixed acceleration mode setting).

Starts the next positioning operation without waiting for the current one to be completed.

being moved by a fixed amount (determined by present position), without stopping the operation. G codes are also possible for all operations.

system origin.

or resumes execution of a stopped program.

referenced by special G code. Of the 20 input points, 4 can be specified as

general-purpose inputs for the MC Unit.

0 to 499: M code for taking interlock 500 to 999: M code not taking interlock

0 to 255 Starts a CPU Unit external interrupt task when

positioning is completed or when passing through a particular position.

Specifications Section 1-5

Item Contents

Automatic and Manual Mode

Backlash correction The amount of correction for backlash in the

Error counter reset Forcibly resets the error counter to 0, and stops

Override Changes the operating speed by applying a

Zones A zone flag turns ON when the present position

Unlimited Feed Mode, unlimited present position display

Origin search function The search pattern can be selected to shorten

Trapezoid/S-curve acceleration and deceleration

Driver alarm reset Resets the servo driver alarm. Data transfer Data is transferred between the CPU Unit and the

Servo data trace function Up to 500 data items, including speed reference

mechanical system can be registered in advance.

axis operation. (Enabled when no speed reference is provided to the servo driver.)

specified percentage to the speed specified in the system parameters or G-language program.

enters a preset range. Moves the axis with no limit. In this mode, a range

for refreshing the present position can be specified.

the origin search time. Either a deceleration stop or accumulated pulse stop can be selected for when a limit input is received during the origin search.

Either trapezoid or S-curve acceleration and deceleration can be specified for starting and stopping each axis.

MC Unit by means of the CPU Unit’s IORD and IOWR instructions. There are two modes for transferring data: One for transferring large amounts of data, and another for rapidly transferring small amounts of data.

values, present speed, and error counter data, can be traced for each axis. This data can be referenced by CX-Motion.

1-5-2 Performance Chart

Item Typical value Description

Power ON startup time Average: 600 ms Time from turning ON the power until

Cyclic service time MC221: 0.8 ms/Unit

IOWR execution time 0.7 ms/instruction Time by which the cycle time will be

IORD execution time 0.8 ms/instruction Time by which the cycle time will be

Data write time 475 ms/1,000 words Time from when IOWR is executed

Data read time 470 ms/1,000 words Time from when IORD is executed

Operation startup time MC221: 8 ms

Analog voltage output time lag per axis for interpolation

Analog voltage output time lag per axis for independent operation

MC421: 0.85 ms/Unit

MC421: 12 ms

MC221: 150 µs MC421: 210 µs

MC221: 4.3 ms/axis MC421: 4.3 ms/axis

manual operation commands are accepted.

Time by which the CPU Unit cycle time will be extended per MC Unit.

extended when IOWR is executed.

extended when IORD is executed.

until data transfer is completed.

until data transfer is completed. MC221: Time for X axis operation

with a 1-task, 2-axis configuration. MC421: Time for X axis operation with a 1-task, 4-axis configuration.

Time delay when interpolation is performed for 1 task.

Time delay when one axis each is started for all tasks simultaneously.

Specifications Section 1-5

Item Typical value Description

Interrupt notification time 2.25 ms When C200H@-series Special I/O

G language interpretation time

Minimum operation time MC221: 8.5 ms

Minimum traverse reversal time

External input response time

Zone Flag notification time

MC221: 2.0 ms MC421: 4.2 ms

MC421: 9.5 ms

2 ms Reversing operation is possible

General purpose input: 4.5 ms max. Emergency stop input: 4.5 ms max. CW/CCW limit input: 4.5 ms max. Origin proximity input: 4.5 ms

MC221: 14.08 ms MC421: 34.08 ms

Unit is not mounted. Interpretation time for G language

when axis movement is not performed.

When the time for linear interpolation is equal to or less than the values given, Stop Mode operation will be used even in Pass Mode or In-Position Check OFF Mode.

every 2 ms for traverse operation. Response time to external input

signals.

The time required for one Zone Flag to respond.

Note The above typical values will change depending on the task and axis configu-

ration.

1-5-3 CX-Motion Functions

Function Explanation

Program editing Creating, changing, and clearing MC programs. Position data editing Creating, changing, and clearing position data. Parameter editing Creating and changing system parameters, and

clearing to defaults.

Transfer and comparison Transferring and verifying MC programs, system parameters, and position

data contents between MC Unit and personal computer. Printing Printing MC programs, system parameters, and position data contents. Monitoring Monitoring MC programs that are being run.

Monitoring present values:

Reference coordinate system PV (user settings and pulses) Workpiece coordinate system PV Workpiece origin shift amount

Error counter value MC Unit FAL status MC Unit I/O status MC Unit error log (CS1W-MC421/MC221 only)

File management File list display, loading, saving, changing User-defined mnemonics Setting G code by mnemonics. Servo trace Displaying servo trace data with the MC Unit

Automatic loading Automatic downloading of programs and position data to the MC Unit

File conversion Converting parameters created by MC Support

(CS1W-MC421/MC221 only).

Software for use by the CS1W-MC421/MC221.

CX-Motion can be installed from the CX-One. Refer to the CX-One Setup Manual (Cat. No. W463) for information on system requirements and installa-

tion methods for the CX-One.

Specifications Section 1-5

1-5-4 Teaching Box Functions

Function Description

Deceleration stop Decelerates all axes to a stop and stops the execution of a program. Error reset MC Unit error reset Resets errors that have occurred in the MC Unit.

Servo driver error reset

Monitoring Present values Monitors the following present values:

Position data Reads, changes, and creates position data stored in the MC Unit. Errors Reads errors that have occurred in the MC Unit. I/O signals Monitors and changes I/O signals connected to the MC Unit. Phase-Z margin Monitors the number of pulses to phase Z from the origin input.

Servo parameters Reads and changes servo parameters. Origin search Searches for the origin. Program execution Task/program No.

designation

Cycle run Executes tasks.

Single block run Executes the program block by block. Jogging Jogs individual axes. More than one axis cannot be jogged at the same

MPG feeding Pulse ratio Designates the ratio for 1 pulse for the MPG. Override Increases or decreases the operating speed during program execution. Teaching Registers the present position as position data. Extension Mode Changes the mode used to control the MC Unit.

Servo-lock/

servo-unlock

Memory protection Protects or clears protection for the memory (position data area, system

Absolute origin setting Sets the absolute encoder’s mechanical origin to 0, and establishes it as

Teaching Box

message display Saving Stores system parameters, position data, and programs in the flash

Error detection CPU errors

Resets alarms for the servo driver.

Present position in the reference coordinate system (using user-set unit such as mm).

Present position in the reference coordinate system (in pulses). Error counter value.

Designates the desired task and program to be executed.

time.

Locks or releases the servomotor.

parameters) in the MC Unit.

the origin. Executed when first using a absolute encoder or after replacing the

absolute encoder. Switches between English and Japanese for the Teaching Box message

display.

memory.

Communications errors

Data Exchange Section 1-6

1-6 Data Exchange

The CPU Unit Controls the MC Unit through the PLC interface area in the CPU Unit during I/O refreshing and by data inputs and outputs at a any time.

1-6-1 Overall Structure

CPU Unit

PLC Interface Area

Operation-related commands

• Program number designation

• Automatic/manual

• Cycle star t

• M code reset

PLC interface area

• Jog operation (10 or 18 words)

n+17 (n+9)

n+18 (n+10)

n+47 (n+25)

Status input

• Error classification data

• System status

• Error code

• M code

• Task status

• Present position (16 or 30 words)

Specified words for transfer (See note 2.)

Specified words

Data

Etc.

I/O refresh

• INTELLIGENT I/O WRITE (IOWR) or INTELLIGENT I/O READ (IORD).

Data transfer command executed.

Command interpretation

Address (See note 1.)

6120

Data saved.

Internal memory (data area)

Position data (Corresponding to A0000 to A1999)

System parameters

• Unit parameters

• Memory control parameters

• Mechanical specifications

parameters

• Coordinate system parameters

• Feed rate parameters

• Zone parameters

• Servo parameters

Monitor information

• Error codes

• I/O monitoring

• Task status

• Present position

• Error counter values

etc.

Special information

Flash memory read/write

•

Position data read/write

•

Automatic loading etc.

•

Override function selection (See note 3.) etc.

(See note 4.)

MC Unit

Status

When powered up or restarted.

G language program transfer command executed.

Servo Driver

Servomotor

Data saved.

Flash memory

(See note 4.)

When powered up or restarted.

(See note 5.)G-language program

Data Exchange Section 1-6

Note 1. With the CS1W-MC221, there are no addresses for task 3, task 4, the Z

axis, or the U axis. For the purposes of this illustration, CS1W-MC421 addresses are shown. For details, refer to SECTION 3 MC Unit Internal Data Configuration.

2. Words data transfer are required when IORD or IOWR is used for transferring data between the CPU Unit and the MC Unit. They are not required when using CX-Motion to transfer data.

3. The override function selection (6120) can be used only with Unit Ver. 1.15 or later, and with Units whose model number ends in -V1.

4. Position data, system parameters, and G-language programs are saved to and read from flash memory. Monitor information and special information are not.

5. When positioning by means of a G-language program, the positioning coordinates can be set directly or they can be set indirectly using position data (A0000 to A1999).

1-6-2 Explanation

PLC Interface Area Words in the Special I/O Unit Area are allocated to MC Unit according to the

unit number setting switch on the front panel of the Unit. The CS1W-MC421 is allocated 50 words, and the CS1W-MC221 is allocated 30 words. For details on the PLC Interface Area, refer to SECTION 5 Exchanging Data with the CPU Unit.

CS1W-MC421

During I/O refreshing, data in the 18 words from n to n+17 (including commands related to operations and other information) is transferred from the CPU Unit to the MC Unit. Likewise, data in the 30 words from n+18 to n+47 (containing status information) is input from the MC Unit to the CPU Unit. Words n+48 and n+49 are reserved for the system.

CS1W-MC221

During I/O refreshing, data in the 10 words from n to n+9 (including commands related to operations and other information) are transferred from the CPU Unit to the MC Unit. Likewise, data in the 16 words from n+10 to n+25 (containing status information) is input from the MC Unit to the CPU Unit. Words n+26 to n+29 are reserved for the system.

Data The data consists of system parameters, position data, monitoring informa-

tion, and a command area. System parameters and position data are required for motion control. Basically, the data is set using CX-Motion and then transferred to the MC Unit. The transferred data is stored in the MC Unit’s internal memory and identified by address. The data can then be read or set by using IORD or IOWR in a ladder diagram program to specify addresses.

Monitoring information is read-only data. It includes MC Unit status, I/O monitoring data, and so on.

The command area is used for operations such as transferring position data and system parameters by using IOWR to write specified data to specified addresses.

G-language Programming (MC Programs)

Internal Memory and Flash Memory

G-language programs are executed by operation commands in the PLC interface area, and they control MC Unit positioning. They are created using CXMotion and then transferred to the MC Unit.

System parameters, position data, and G-language programs stored in internal memory can be saved to flash memory by means of data save commands

Data Exchange Section 1-6

from the CPU Unit or CX-Motion. The saved data is then automatically read to internal memory when the MC Unit is powered up or restarted.

1-6-3 Internal Block Diagram

Unit number setting switch

LED indicators

CS1 bus interface circuitry

CS1 bus connector

I/O interface circuitry

Servo processing circuitry

MPG interface circuitry

MCU

EEPROM

Servo driver interface circuitry

Teaching Box interface circuitry

D/A converter

Teaching Box connector

CS1 bus

I/O connector

MPG connector

DRV connector

Name Explanation

MCU Microcomputer for system control FLASH-ROM1 Memory for storing system programs FLASH-ROM2 Memory for storing G-language programs, system

parameters, and position data

S-RAM Memory for temporarily saving and executing

G-language programs, system parameters, and position data

EEPROM Error log

Data Exchange Section 1-6

Note G-language programs, system parameters, and position data transferred to

the MC Unit are temporarily saved to the internal memory (S-RAM). They can be saved to flash memory (FLASH-ROM 2) by means of data save commands from CX-Motion, the Teaching Box, or the CPU Unit. Be sure to save them to flash memory before turning the power OFF.

MC Unit

CX-Motion CPU Unit Teaching Box

Data transfer

Command to save to flash memory

Internal memory

System parameters Position data G-language programs

Internal memory

System parameters Position data G-language programs

MC Unit

Data transfer

Flash memory

System parameters Position data G-language programs

1-6-4 Data Transfer Overview

There are three ways to transfer data between the CPU Unit and the MC Unit, as shown below.

1,2,3... 1. The CX-Motion can be used to transfer data to or from the MC Unit via the

CPU Unit.

Personal computer

System parameters Position data Monitoring/programs

CX-Motion

MC Unit

CPU Unit

Overview of G-language Programs in the MC Unit Section 1-7

2. Data can be read or written by directly specifying MC Unit RAM addresses in IORD or IOWR instructions in a ladder diagram program.

MC Unit

System parameters Position data Monitoring/ command area

CPU Unit

Ladder diagram program

Use IORD and IOWR instructions to change or read data while the CPU Unit operations are in progress.

3. Position data can be transferred indirectly by using IOWR in a ladder diagram program to write specified data to the MC Unit’s command area. Up to 2,000 data items (6,000 words) can be transferred in this way.

For details, refer to SECTION 4 Data Transfer and Storage.

1-7 Overview of G-language Programs in the MC Unit

1-7-1 Programs and Tasks

The CS1W-MC421 MC Unit can execute up to four tasks (tasks 1 to 4), and the CS1W-MC221 can execute one or two (tasks 1 to 2). (A task is a unit of execution for a program.)

By executing two or four tasks at the same time, the MC Unit can perform the same functions as two or four controllers.

The number of tasks and axes to be used are set in advance using CX-Motion to edit unit parameters.

Number of Tasks and Axes

The X and Y axes can be used with the CS1W-MC221, and the X, Y, Z, and U axes can be used with the CS1W-MC421. Each axis can be used in only one task, i.e., any axis assigned to one task cannot be used in another task.

Example: 4 Tasks and 4 Axes

Example 2: 2 Tasks and 3 Axes

Task 1 : X, Y axis

Task 1 : X axis

Task 2: Z axis

Task 2: Y axis

Task 3 : Z axis

Task 4: U axis

Task 1: X, Y axis

Task 2: Z axis

Overview of G-language Programs in the MC Unit Section 1-7

Example 3: 2 Tasks and 4 Axes

Example 4: 1 Task and 2 Axes

Note The following table shows the factory settings for the task configuration (axis

Default Task Configuration

Task 1 : X, Y, Z axis

Task 2: U axis

Task 1 X ,Y axis

Task 1: X, Y, Z axis

Task 2: U axis

The task configuration (axis configuration, number of tasks, and task axis statements) is set by the unit parameters within the system parameters. (For details, refer to 3-3 System Parameters.

configuration, number of tasks, and task axis statements). When using any other task configuration, be sure to set these as the initial settings.

Item CS1W-MC421 CS1W-MC221

Axis configuration 4 axes 2 axes Number of tasks 1 1 Task axis statement (for task 1) X, Y, Z, and U axes X and Y axes Task axis statement (for task 2) Not used. Not used. Task axis statement (for task 3) Not used. Not used. Task axis statement (for task 4) Not used. Not used.

MC programs are managed according to the number of tasks, so it will be necessary to rewrite the program if the task configuration is changed after the program has been created. For details on changing the task configuration, refer to Section 3-2 Determining the Task Configuration.

Tasks and Blocks The MC Unit is capable of storing a total of 2,000 blocks of programming. The

maximum number of blocks that can be executed in each task depends on the number of tasks as shown in the following table. These figures include subroutines.

Number of tasks Maximum number of

blocks (CS1W-MC421)

1 2,000 blocks 2,000 blocks 2 1,000 blocks/task 1,000 blocks/task 3 666 blocks/task --4 500 blocks/task ---

Maximum number of

blocks (CS1W-MC221)

Note Up to 800 blocks can be used in one program, including subroutines.

Tasks and Programs A maximum of 100 programs can be managed by the MC Unit. The number of

programs that can be managed per task depends on the number of tasks as shown in the following table. These figures include subroutines.

Number of tasks Maximum number of

programs (CS1W-MC421)

1 100 programs 100 programs 2 50 programs/task 50 programs/task

Maximum number of

programs (CS1W-MC221)

Overview of G-language Programs in the MC Unit Section 1-7

Number of tasks Maximum number of

programs (CS1W-MC421)

3 33 programs/task --4 25 programs/task ---

Note The same program number cannot be used for different tasks.

1-7-2 Manual and Automatic Operation

Each task of the MC Unit can be executed either in Manual or Automatic Mode. In the Automatic mode, MC programs created in the G language are executed. In the Manual mode, manual commands from the CPU Unit or the Teaching Box are executed.

Automatic Mode

PLC

Operation command

Manual command

Maximum number of

programs (CS1W-MC221)

MC program to be executed in the Automatic Mode

Automatic Mode

MC Unit

Teaching Box

G language

N000 P001 XY N001 G26 XY

N094 G79

Operation commands

Manual commands

Manual Commands (from the CPU Unit)

Manual Mode

The PLC interface area is used for executing the commands in the Manual Mode or the MC program in the Automatic Mode.

There are 11 manual commands, including the deceleration stop, origin search, reference origin return, and jogging commands, etc. For detail on using these commands, refer to 5-2 Controlling the MC Unit from the CPU Unit.

Command Description

DECELERATION STOP Decelerates and stops a moving axis. ORIGIN RETURN For determining origins of mechanical system

when using an INC encoder. REFERENCE ORIGIN RETURN For returning to the reference origin. JOG For moving the axis at a fixed feed rate. RESET ERROR COUNTER Resets the error counter (accumulated pulses)

to 0. FORCED ORIGIN Forcibly sets the motor’s current stop position to

0, and establishes it as the origin. SET ABSOLUTE ORIGIN Sets the present position as the origin for the

absolute encoder. ENABLE MPG Takes input pulses from the MPG and executes

MPG operation. SERVO-LOCK Places the axis in servo-lock status. SERVO-UNLOCK Places the axis in servo-unlock status. PRESET PRESENT POSITION Sets the present position to any given value.

Overview of G-language Programs in the MC Unit Section 1-7

Operations from the Teaching Box

The following table shows the operations that can be performed using the Teaching Box.

Operation MC Unit operating mode

T.Box control T.Box enabled T.Box occupy

Monitoring Present values O O O

I/O signals ∆1O O Errors O O O Position data ∆2O O Phase-Z

margin Servo

parameters Origin search X O O Program execution X O O Jogging X O O Handle feeding X O O Extension Mode O O O

Servo-lock/

servo-unlock

Memory

protection

Absolute origin

setting

Teaching Box

message

change

Saving X O O Override ∆3O O Teaching X O O Deceleration stop X O O Error reset X O O

OOO

XOO

OOO

1-7-3 G Language

Note Refer to Section 1-7-4 G-language Codes for a table showing the functions

O: Can be used. X: Cannot be used.

∆1: Output signal ON/OFF status, analog output data, or other data is

only monitored and cannot be changed.

∆2: Position data is only monitored and cannot be changed. ∆3: Override values are only monitored and cannot be changed.

The G language is used widely in position control and its main feature is that it is very easy to write for programming. Program functions can be entered simply by entering a “G” and a 2-digit numerical code, then adding any needed parameters. G-language codes G00 through G91 are used in the MC Units. For example, the function “PTP control positioning” is assigned to G00.

assigned to the G-language codes. For details on programming, refer to the CX-Motion Online Help.

Overview of G-language Programs in the MC Unit Section 1-7

Example Program The following diagram shows the format of a basic G-language program.

N000 P001 X A

Axis being used.

Program number (P000 to P499) Block nu

N001 G90 B

N002 G00 X100 M100

Parameters G-language code

N003 G26 X D N004 G79

Program end command

Block Numbers Programs are composed of blocks, which are distinguished by block numbers

N000 through N999. Block numbers are equivalent to the program’s line numbers.

Always declare the program number and axis in block number N000 (A).

Program Numbers Program numbers range from P000 through P499. The program shown above

begins with block number N000 (A) and ends with the block (N004) that contains the program end command, G79.

Subroutines have program numbers ranging from P500 through P999, and end with a subroutine end command, G73.

The number of blocks and number of programs are the total numbers of blocks and programs being used. A maximum of 100 programs and 2,000 blocks can be used in the MC Unit. A maximum of 800 blocks can be used in any one program.

mber (N000 to N999)

G-language Codes Code G00 in line C is a G-language code representing the PTP control posi-

tioning function.

Arguments Positions are input as arguments. In this example “X100” has been input to

indicate 100 on the X-axis. The next argument, “M100,” outputs M-code 100 when the positioning to X100

has been completed. Some commands, such as G90 in line B, don’t require arguments. The abso-

lute specification command (G90) indicates that coordinates are to be treated as absolute coordinates.

Format The following table explains the contents of the MC program.

Line MC program blocks Function

A N000 P001 X Declares program number (001) and the axis being

B N001 G90 Specifies positioning by absolute coordinates. C N002 G00 X100 M100 Moves to X-axis coordinate 100. Outputs M-code

D N003 G26 X Returns to the reference origin. E N004 G79 Ends the MC program.

used (X).

100 when positioning is completed. Executed the next block with the M Code Reset Command from the CPU Unit.

Overview of G-language Programs in the MC Unit Section 1-7

The following diagram shows the operation of the example program.

Operation

Speed

Time

M strobe

M code (MC Unit output)

M code reset (input from CPU Unit)

1-7-4 G-language Codes

The following table provides a summary and brief description of the G-language commands. For a more detailed explanation, refer to SECTION 7 G- language Programming.

Code Name Function Page

G00 POSITIONING Positions up to 2 or 4 axes simultaneously with

G01 LINEAR INTERPOLATION Performs linear interpolation on 1, 2, 3, or 4 axes

G02 CIRCULAR INTERPOLATION (CLOCKWISE) Performs 2-axis circular interpolation in the

G03 CIRCULAR INTERPOLATION (COUNTER-

CLOCKWISE)

G04 DWELL TIMER Waits for the specified length of time. 395 G10 PASS MODE Performs operations one-by-one in sequence

G11 STOP MODE Performs the next operation after completing

G13 (See note 1.)

G17 CIRCULAR PLANE SPECIFICATION (X-Y) Sets the X-Y plane as the plane for circular inter-

G18 (See note 2.)

G19 (See note 2.)

G20 (See note 2.)

IN-POSITION CHECK OFF MODE Starts the next operation without waiting for posi-

CIRCULAR PLANE SPECIFICATION (X-Z) Sets the X-Z plane as the plane for circular inter-

CIRCULAR PLANE SPECIFICATION (Y-Z) Sets the Y-Z plane as the plane for circular inter-

CIRCULAR PLANE SPECIFICATION (X-U) Sets the X-U plane as the plane for circular inter-

PTP control at the maximum feed rate.

(1 or 2 axes for MC221). The specified axes move simultaneously. The feed rate can be specified.

clockwise direction at the specified interpolation feed rate.

Performs 2-axis circular interpolation in the counterclockwise direction at the specified interpolation feed rate.

without waiting for deceleration to stop.

positioning.

tioning to be completed.

polation.

384

385

388

396

398

399

400

Overview of G-language Programs in the MC Unit Section 1-7

Code Name Function Page

G21 (See note 2.)

G22 (See note 2.)

G26 REFERENCE ORIGIN RETURN Moves to the reference origin. 402 G27 WORKPIECE ORIGIN RETURN Moves to the workpiece origin. 403 G28 ORIGIN SEARCH Performs an origin search on the specified axis. 404 G29 ORIGIN UNDEFINED Sets the origin to an undefined state. 405 G30 SPEED CONTROL Feeds up to 2 axes simultaneously at the con-

G31 (See note 1.)

G32 (See note 1.)

G50 SELECT REFERENCE COORDINATE SYSTEM Specifies the reference coordinate system. 416 G51 SELECT WORKPIECE COORDINATE SYSTEM Specifies the workpiece coordinate system. 417 G53 CHANGE WORKPIECE ORIGIN OFFSET Changes the origin of the workpiece

G54 CHANGE REFERENCE COORDINATE

G60 ARITHMETIC OPERATIONS Performs arithmetic operations on numerical val-

G63 SUBSTITUTION Substitutes numerical values, position data, or

G69 (See note 1.)

G70 UNCONDITIONAL JUMP Unconditionally jumps to the specified block. 423 G71 CONDITIONAL JUMP Jumps to the specified block when the

G72 SUBROUTINE JUMP Calls the specified subroutine. 424 G73 SUBROUTINE END Ends the subroutine. 425 G74 OPTIONAL END Ends the block currently being executed when

G75 OPTIONAL SKIP Skips the block after this command when the

G76 OPTIONAL PROGRAM STOP Pauses the program when the specified optional

G79 PROGRAM END Ends the main program. 429 G90 ABSOLUTE SPECIFICATION Positions with absolute coordinates when per-

G91 INCREMENTAL SPECIFICATION Positions with relative coordinates when

CIRCULAR PLANE SPECIFICATION (Y-U) Sets the Y-U plane as the plane for circular inter-

CIRCULAR PLANE SPECIFICATION (Z-U) Sets the Z-U plane as the plane for circular inter-

INTERRUPT FEEDING Performs an interrupt feeding operation. 406

TRAVERSE Executes traverse operation. 412

SYSTEM PV

CHANGE PARAMETER Changes the specified parameter. 421

polation.

trolled feed rate.

coordinate system. Changes the present value in the reference coor-

dinate system.

ues, position data, and registers.

registers into other position data or registers.

condition is met.

the specified optional input is ON.

specified optional input is ON.

input is ON.

forming axis operations.

performing axis operations.

400

405

418

419

420

421

424

425

427

428

430

Auxiliary Codes

Note 1. This command is either new for CS1W-MC221/MC421 MC Units, or the

specifications have been changed from earlier MC Units.

2. The CS2W-MC221 MC Unit does not have this command.

Code Name Function

M M code Outputs an M code. D (See note.) D code Starts an external interrupt task for the CPU Unit.

Note D codes are either new for CS1W-MC221/MC421 MC Units, or the specifica-

tions have been changed from earlier MC Units.

Commands Listed According to Purpose Section 1-8

1-8 Commands Listed According to Purpose

Purpose Command/Function Page

To speed up winding operations. TRAVERSE (G32) 336,

412

To speed up pick-and-place operations (by starting the next operation without waiting for positioning to be completed).

To use multiturn circular interpolation or helical circular interpolation (for winding machine operations, etc.).

To start a CPU Unit interrupt task when positioning is completed or when passing through a specified position (with high-speed synchronization between the ladder diagram program and the MC Unit).

To control an axis in a fixed direction (for a turntable or fixed-direction conveyer).

To refresh the present position in a 360° range, for example, during unlimited feeding (remembering the number of turns).

To speed up feeding for axes using the MPG (Manual Pulse Generator).

To synchronize axis feeding with a device such as a conveyer.

During interrupt feeding, to execute positioning even when no interrupt signal is input.

To change speeds during operation (during PTP control, linear interpolation, or circular interpolation).

After a fixed amount of axis movement during operation, to notify the CPU Unit of interrupts, and so on, without stopping operation. (Improving tack time by controlling an external device before the operation has been completed.)

To perform an origin search to simplify absolute encoder adjustment operations (replacing motor, mechanical system belts, decelerator, etc.).

To shorten the origin search time. Use origin search pattern 2. 472 To stop smoothly for CW and CCW inputs

during origin search. To turn the motor, or to stop. Servo-lock, servo-unlock function 293,

To forcibly set the error counter to 0 when no speed reference is provided to the servo driver (when a deceleration reference has finished being output). Example: molding machine press control.

To change servo system parameters (acceleration deceleration time, position loop gain, in-position, etc.) during operation. Example: Increasing the accuracy of circular interpolation with position loop feedback gain.

Use IN-POSITION CHECK OFF MODE (G13).

CIRCULAR INTERPOLATION (CLOCKWISE) or CIRCULAR INTERPOLATION (COUNTERCLOCKWISE) (G02/G03)

Interrupt notification (D code output) 348,

Unlimited feeding function 370

Electronic gear function: Multiplication of numerator and denominator for MPG/sync encoder, and electronic gear function ON/OFF switch

INTERRUPT FEEDING (G31). 334,

Override function 349

Stopover function (M code or D code output at a given present position)

Absolute encoder system origin search function

Either deceleration stop or accumulated pulse stop can be selected.

Error counter reset function 284,

Changing servo system parameters: Use CHANGE PARAMETER (G69).

342, 399

331, 388

438

370

365

406

279, 299, 346

Sec. 9

471

296, 353

351

345, 421

Comparison with Earlier MC Unit Model Section 1-9

Purpose Command/Function Page

To trace servo system information (speed reference values, present speed, error counter) for a fixed period.

To use multiple programs and position data. To manage personal computer memory devices as internal MC Unit memory.

Servo data trace using CX-Motion CX-

Automatic loading function: When using CX-Motion, programs and data are automatically downloaded from the personal computer to the MC Unit as required (directed by the CPU Unit).

Motion

359, CXMotion

1-9 Comparison with Earlier MC Unit Model

The following table shows the points of difference between the CS1W-MC221/ MC421 and C200H-MC221 MC Units.

Item CS1W-MC221/MC421 C200H-MC221

Number of control axes 2 or 4 axes 2 axes only Binary indications (PLC interface

area)

Encoder response frequency 500 kp/s (before multiplication) 250 kp/s (before multiplication) Encoder pulse ratio 1, 2, or 4 times 4 times only Program capacity 2,000 blocks 800 blocks Acceleration/deceleration time 0 to 100.000 s 0 to 9.999 s Speed reference range 1 pps to 2,000 kp/s 1 pps to 1,000 kp/s Start time 2-axis Units: 8 ms max.

Optional inputs Optional No. 0 to 15: Inputs from

General outputs, brake signal outputs

MPG signals 500 kp/s max. (before pulse ratio

Circular interpolation (G02, G03) Multiturn circular interpolation

Helical circular interpolation With 4-axis Units, 2-axis circular

Traverse command (G32) A 2-axis traverse operation is

Unlimited Feed Mode Unlimited feeding can be either

Present position display for unlimited feeding

All binary (present position, program number, block number, M code, override, error code)

4-axis Units: 12 ms max. (See note.)

CPU Unit Optional No. 16 to 19: General

inputs 1 to 4 Four output signals are pro-

vided, and can be selected.

of 1, 2, or 4)

can be set.

interpolation on a plane + 1-axis feed control is possible.

available, with a traverse time of 4 ms max.

specified or not specified for an axis. (The software limit is ignored.)

When unlimited feeding is specified for an axis, the software limit is ignored. The present position refresh range can be set.

BCD

2-axis Units: 12 ms max.

Optional No. 0 to 4: Inputs from CPU Unit

Optional No. 5 and 6: General inputs 1 and 2

No output signals are provided.

Y axis instead of MPG

Within one turn only.

Not supported.

Cannot be specified.

Not supported.

Note Two-axis MC Unit:

This function applies to the X axis when a 2-axis, 1-task configuration is used.

Comparison with Earlier MC Unit Model Section 1-9

Four-axis MC Unit: This function applies to the X axis when a 4-axis, 1-task configuration is used.

Item CS1W-MC221/MC421 C200H-MC221

Interrupt feeding (G31) Positioning is possible even

without any interrupt signal.

Override The feed rate can be changed

during G00, G01, G02, G03, G26, G27, G30, G31, and G32 operations (except for pass oper-

ations). Backlash setting range 0 to 10,000 pulses 0 to 999 pulses In-position setting range 0 to 10,000 pulses 0 to 999 pulses Zone setting Conditions for using zones:

Use only when origin is deter-

mined, or regardless of whether

or not origin is determined.

The initial setting is for zones to

be used only when the origin is

established. Origin search Can be executed even when an

Forced origin Present position can be forcibly

Absolute encoder origin setting The absolute encoder origin can

Electronic gear function The numerator and denominator

IN-POSITION CHECK OFF command (G13)

Error counter reset The error counter can be reset

D code (interrupt code) Can be used for notifying of the

Stopover function (Code output during axis movement)

Acceleration/deceleration time setting for pass operations

Fixed acceleration mode for pass operations

absolute encoder is used.

Parameter can be set to shorten

origin search time.

Either deceleration stop or

accumulated pulse stop can be

selected for when CW or CCW

limit is detected.

set to 0, and established as the

origin. (In an absolute encoder

system, only the MC Unit’s

present position is set to 0.)

be set even while servo-lock is in

effect.

can be set.

After a positioning command out-

put has been completed, this

command lets the next operation

start without waiting for position-

ing to be completed.

for each axis.

CPU Unit of interrupts.

An M code or D code can be out-

put after a fixed amount of axis

movement during operation.

Either the acceleration or decel-

eration time of the previous oper-

ation can be selected for pass

operations.

A fixed acceleration mode is

added for when pass operations

are executed for one axis only.

Speed control remains in effect when there is no interrupt signal.

The feed rate cannot be changed during operation.

Use regardless of whether or not the origin is established.

Cannot be executed when an absolute encoder is used.

Not possible to select deceleration stop or accumulated pulse stop for when CW or CCW limit is detected.

The present position is set to 0 by the present position preset function.

Origin is set by either the absolute-value initial setting or the absolute-value software reset function. (It cannot be set while servo-lock is in effect.)

Integers only

Not supported.

Pass operations are executed with the acceleration time.

Fixed acceleration time mode only

Comparison with Earlier MC Unit Model Section 1-9

Item CS1W-MC221/MC421 C200H-MC221

Servo system parameter changes (G code: G69)

Servo-lock There is a brake signal timing

Servo-unlock There is a brake signal timing

Error log Up to 20 items can be saved. Not supported. Absolute value initial setting Integrated with absolute origin Absolute value software reset Not supported. MPG Operating Flag Busy signal is used instead. Not supported. Servo data trace function Traces servo data. Can be used

Data transfer method All data is transferred using

Present position preset Executed by IOWR. Executed by special interrupt bit. Setting teaching address Executed by IOWR. Executed by special interrupt bit. Saving to flash memory Executed by IOWR. Executed by special interrupt bit. Emergency stop method Stopped by accumulated pulse

Automatic loading G-language programs and

Servo system parameters can be changed by a G code.

adjustment function.

adjustment function. Servounlock can be used at any time.

setting.

with CX-Motion.

IORD or IOWR.

method or by operation command output turning OFF after a 0 V output.

position data are downloaded from a personal computer by means of commands from the CPU Unit, used in combination with CX-Motion.

Not supported.

There is no brake signal timing adjustment function.

There is no brake signal timing adjustment function. Servo-unlock cannot be used while other manual commands are being executed.

Not supported.

Data is transferred by means of either I/O transfers or IORD/IOWR.

Stop by turning OFF operation command output.

Not supported.

1-9-1 Changing From the C200H-MC221 to the CS1W-MC421/MC221

Be careful of the following points when changing over from the earlier MC Unit, the C200H-MC221, to either a CS1W-MC421 or CS1W-MC221 MC Unit.

Position Data C200H-MC221 data can be used as is.

G-language Programming The optional numbers are changed as shown below, so revise them in the

programs. All other C200H-MC221 programming can be used as is.

C200H-MC221: Optional numbers 0 to 6 (Numbers 5 and 6 corre-

spond to general inputs 1 and 2.)

CS1W-MC421/MC221: Optional numbers 0 to 19 (Numbers 16 to 19 cor-

respond to general inputs 1 to 4.)

Comparison with Earlier MC Unit Model Section 1-9

Ladder Diagram Programming

CS1W-MC421

(Each Unit uses five unit numbers.)

The data area allocations are as follows for the C200H-MC221:

PLC Interface Area

(Each Unit uses two unit numbers.)

IR 100 to IR 119

IR 180 to IR 199

Allocated DM Area

(Each Unit uses two unit numbers.)

DM 1000 to DM 1001

DM 1100 to DM 1101

DM 1800 to DM 1801

Unit #0

Unit #8

Expansion Data (DM Area or EM Area)

Data transfer area specification for I/O transfer instruction

Error code status, etc.

Transfer Data (DM Area or EM Area)

Position data (3 words each)

The data area allocations are as follows for the CS1W-MC421 and CS1WMC221. The words allocated DM Area and EM Area are not used. The bit allocations within words are also different, so the ladder diagram programs must be revised.

CS1W-MC221

(Each Unit uses three unit numbers.)

CIO 2000 to CIO 2029 Unit #0

Unit #91CIO 2910 to CIO 2959

CIO 2000 to CIO 2029

Unit #0

Unit #93CIO 2930 to CIO 2959

Basic Operating Procedure Section 1-10

1-10 Basic Operating Procedure

Install the Unit.

Set the unit number.

Connections and wiring

Connect the Programming Device (CX-Motion and CX-Programmer). Connect the Teaching Box. Wire the I/O connectors. Connect the servo driver. Connect the servo driver to the servomotor.

Turn ON the power to the PLC.

Create the I/O table using the CX-Programmer or another Programming Device.

Change Teaching Box messages.

Determine the number of tasks.

Refer to SECTION 2 Installation

Refer to the CX-Programmer Operation Manual (W414 or W425).

Refer to

2-7 Connecting Peripheral Devices

Refer to

3-2 Determining the Task Configuration

Use the CX-Motion to set the system parameters, transfer them to the MC Unit, and back them up to flash memory.

Use the CX-Motion to create an MC program (G language), transfer it to the MC Unit, and back it up to flash memory.

Create a CPU Unit ladder diagram program and transfer it to the CPU Unit. Use CX-Programmer.

Trial operation

Perform MC monitoring. Check servo-lock, origin search, jogging, etc. Check MC program operation. (Set manual/ automatic switch to automatic, and press the start button.) Use CX-Motion or the Teaching Box.

Refer to the CX-Motion Online Help

3-3 System Parameters

and to

Refer to the CX-Motion Online Help

3-6 Command Area

and to

Refer to the CX-Programmer Operation Manual (W414 or W425).

Refer to and to the CX-Motion Online Help.

SECTION 11 Getting Started

Methods for Using MC Unit Functions Section 1-11

1-11 Methods for Using MC Unit Functions

There are three methods for using MC Unit functions:

1,2,3... 1. G-language programs (MC programs)

2. Commands from the CPU Unit to the MC Unit using the PLC interface area.

3. Setting system parameters (using CX-Motion or IOWR).

Note The PLC interface area allocations are examples based on the CS1W-MC221

(X and Y axes, tasks 1 and 2). For the CS1W-MS421, refer to Section 5-1-1 PLC Interface Area.

Function Method Page

MC program

(G language)

Positioning with linear interpolation

Positioning with circular interpolation

Positioning with helical circular interpolation

Traverse execution O (G32), Automatic --- --- 412 Speed control O (G30), Automatic --- --- 405 Interrupt feeding O (G31), Automatic --- --- 406 Pass Mode O (G10), Automatic --- --- 396 Specifying operations in

Pass Mode Stop Mode O (G11), Automatic --- --- 398 Dwell timer setting and

execution In-position Check OFF

Mode In-position setting --- --- O (4601/4626), Automatic/

Stopover function O (G00, etc.), Automatic --- --- 440 Workpiece origin return O (G27), Automatic --- --- 403 Interrupts to CPU Unit O (D code output),

Position loop gain setting O (G69), Automatic --- O (4602/4627), Automatic/

Cycle start --- O (Word n+3/5, bit 02),

Single block --- O (Word n+3/5, bit 03),

Pause --- O (Word n+3/5, bit 05),

Forced block end --- O (Word n+3/5, bit 04),

Origin search O (G28), Automatic O (Word n+7/9, bit 01),

Reference origin return O (G26), Automatic O (Word n+7/9, bit 02),

Override setting --- O (Word n+7/9, bit 12),

O (G01), Automatic --- --- 385

O (G02, G03), Automatic --- --- 388

--- --- O (4008), Automatic 158,

O (G04), Automatic --- --- 395

O (G13), Automatic --- --- 399

Automatic

PLC Interface Area System parameters

171

169,

Manual

--- --- 348,

Manual

--- 268

Automatic

--- 272

Automatic

--- 274

Automatic

--- 273

Automatic

--- 281,

Manual

--- 282,

Manual

--- 279,

Automatic/Manual

186

438 345,

421

404

402

299

Methods for Using MC Unit Functions Section 1-11

Function Method Page

MC program

(G language)

Error counter reset --- O (Word n+7/9, bit 04),

Driver alarm reset --- O (Word n+7/9, bit 11),

M code reset --- O (Word n+3/5, bit 06),

Teaching --- O (Word n+3/5, bit 09),

Jogging --- O (Word n+7/9, bit 03),

Deceleration stop --- O (Word n+7/9, bit 00),

Forced origin --- O (Word n+7/9, bit 05),

Absolute origin setting --- O (Word n+7/9, bit 06),

Servo-lock --- O (Word n+7/9, bit 09),

Servo-unlock --- O (Word n+7/9, bit 10),

Trapezoidal/S-curve specification

Zone setting --- --- O (4500 to 4516/4525 to

Backlash correction --- --- O (4604/4629),

Origin search time shortening

Origin deceleration method setting (selection of deceleration stop or accumulated pulse stop)

Electronic gear function --- --- O (4410/4417),

Unlimited Feed Mode --- --- O (4201/4226),

Brake ON or OFF time setting

Handle feeding --- O (Word n+7/9, bit 08) --- 292,

--- --- O (4405/4430),

--- --- O (4216/4241),

--- --- O (4217/4242),

--- --- O (4006, 4605/4606,

PLC Interface Area System parameters

--- 284

Automatic/Manual

--- 298

Automatic/Manual

--- 275

Automatic

--- 277,

Automatic/Manual

--- 283

Manual

--- 280

Manual

--- 290

Manual

--- 291

Manual

--- 293

Manual

--- 296

Automatic/Manual

4541), Automatic/Manual

Automatic/Manual

Manual

Automatic/Manual

4630/4631), Automatic/Manual

278

164, 183

167, 184

169, 356

161, 472

162, 471

165, 365

159, 370

157, 169, 187

301

Overview of Version 1 Upgrades Section 1-12

1-12 Overview of Version 1 Upgrades

The functions described in this section have been added to the CS1WMC221-V1 and CS1W-MC421-V1. They are mainly divided into two categories: customized functions and the easy backup function.

Customized Functions

Function Summary and features Advantages

Virtual axes Any axis can be specified for virtual axis operation without connecting

to a Servo Driver and Servomotor. A virtual axis can be used as the input axis for the electronic gear func-

tion or the electronic cam function to enable using these functions without using an external encoder.

G language program

Positioning commands

Virtual axis (virtual present position)

(pulse output)

Can be used as the master axis for electronic gear or electronic cam control. Enables operations such as position compensation by integrating a virtual axis.

Electronic gear (CONNECT)

Error counter: 0

Virtual Servo Driver or Servomotor for virtual operation

This function synchronizes the operating axis to the input axis at a specified gear ratio.

The following options can be selected for the input axis: Virtual axis present position, real axis position command value, real axis encoder feedback input, MPG input, or sync encoder input.

The gear ratio can be changed during operation.

Input axis Operating axis

• Virtual axis present

position

• Real axis position

command value

• Real axis encoder

feedback input

• MPG or sync encoder

input

Gear ratio numerator

Gear ratio denominator

• Winding axis

• Unwinding axis

• Conveyer

• Can reduce the amount of mechanical equipment required.

• Can reduce the manhours required for mechanical maintenance.

Overview of Version 1 Upgrades Section 1-12

Function Summary and features Advantages

Electronic cam (CAMBOX)

This function synchronizes the operating axis with the input axis based on the set cam table.

The following options can be selected for the input axis: Virtual axis present position, real axis position command value, real axis encoder feedback input, MPG input, or sync encoder input. There are 720 cam table points.

Input axis

• Virtual axis present posi-

tion

• Real axis position com-

mand value

• Real axis encoder feed-

back input

• MPG or sync encoder in-

put

Operating axis

Input axis

Operating axis

• Feed axis

• Cutter

position, etc.

Can improve design efficiency because adjustments are simpler than with mechanical cams.

Note Electronic

gear (CONNECT) and electronic cam (CAMBOX)

Electronic cam/gear cancel

(CANCEL) Register (REGIST)

(present position hardware latch)

With an electronic gear (CONNECT) or electronic cam (CAMBOX), the operating axis can be operated by integrating the operation of another axis (including a virtual axis) while synchronizing to the input axis.

X axis (real axis) Y axis (virtual axis) Z axis (real axis)

Speed Speed Speed

Integrate

Time Time Time

An electronic gear (CONNECT) or the electronic cam (CAMBOX) can be cancelled.

The present position (encoder) at the leading edge of an external input can be obtained. The present position is recorded by means of a hardware latch, enabling highly accurate compensation.

Present position

Present position saved to position data address.

Time

Operations such as position compensation are enabled by integrating a virtual axis.

Can be used for purposes such as providing accurate position compensation by means such as marks printed on film.

External inputs

Linked traverse G32 commands can be linked across multiple blocks (line numbers). The winding width, num-

G language program

G32 (TRAVERSE) Xa ... G32 (TRAVERSE) Xb ... G32 (TRAVERSE) Xc ...

G32 (TRAVERSE): Wind at pitch a.

Linked operation

G32 (TRAVERSE): Wind at pitch b.

Linked operation

G32 (TRAVERSE): Wind at pitch c.

ber of windings, and pitch can be set for individual layers, enabling complex traverse control.

Overview of Version 1 Upgrades Section 1-12

Function Summary and features Advantages

Memory links The MC Unit's Position Data Area can be linked with words in the CPU

Unit's CIO, DM, and EM Areas. Data is refreshed automatically during cyclic refreshing. Data values

can be changed when axes are moved by the amount set by means of the stopover function.

MC Unit CPU Unit

• No ladder programming is required, so program size can be reduced.

• Multiple outputs are enabled during servo operation.

M code reset with program execution stopped

High-speed generalpurpose outputs

Position data (A1970 to A1985)

I/O memory (CIO, DM, EM)

Even while program execution is stopped, M codes can be reset from the CPU Unit using allocated memory.

The MC Unit's general-purpose outputs (1 to 4) can be turned ON and OFF according to zone bits.

MC Unit

General-purpose output 1

In zone 1

In zone 2

In zone 5

In zone 7

Four points can be output from zones 1 to 8.

Zone 1 output

General-purpose output 2

Zone 2 output

General-purpose output 3

Zone 5 output

General-purpose output 4

Zone 7 output

---

Outputs can be made directly, without going through the CPU Unit, and this enables faster interlock operations. Tact time can be shortened and assembly precision can be improved.

Overview of Version 1 Upgrades Section 1-12

Easy Backup

Function Summary and features Advantages

Easy backup Data stored in the MC Unit's internal flash memory is backed up using

the CPU Unit's easy backup operation on a Memory Card mounted in the CPU Unit. It can then be restored from the Memory Card and veri-

The entire system, including MC Unit data, can be backed up.

fied.

Override Function Selection

Function Summary and features Advantages

Override function selection

This function enables/disables the override value after turning OFF the Override Setting Bit.

For details on the setting method, refer to 3-6 Command Area. Enable: The set override value is enabled even after the Override Set-

ting Bit is turned OFF, and operation proceeds with the set override value.

Disable: The override value is disabled after the Override Setting Bit is turned OFF, and operation proceeds with a 100% override.

The override is enabled when the power is turned ON.

The selection to return override to 100%, or not to return it to 100%, is easy to make.

Command area R/W Address No. of words

transferred

Override func-

W 17E8 hex (6120) 0002 hex

tion selection

The timing chart is shown below.

Jog

Jog direction

Override setting

Override

Override function selection: 0000 hex (Enabled: Default)

Override function selection: 0001 hex (Disabled)

Jog operates with designated override (50.0%)

500 (50.0%)

Jog operates at 100% regardless of designated override

1-12-1 Using Customized Functions

This section describes setting and using the customized functions.

Overview The term “customized functions” in this manual indicates the following func-

tions.

• Synchronized control functions (virtual axes, electronic gear, electronic cam, electronic cam/gear cancel function, and register function)

• Linked traverse function

• Memory link function

• M code reset with program execution stopped

• High-speed general-purpose output function

Overview of Version 1 Upgrades Section 1-12

Using Customized Functions

The following table shows how the customized functions are used.

Function Method of use

Set with IOWR instruction in ladder

program

Synchronized control functions

Linked traverse function Set operand C to FFFF hex and turn

Memory link function • Set operand C to FFFF hex and turn

M code reset with program execution stopped

High-speed general-purpose output function

Virtual axes Set operand C to FFFF hex and turn

ON customized function selection bit

Electronic gear function (CONNECT)

Electronic cam function (CAMBOX)

Electronic cam/gear cancel function (CANCEL)

04 (the virtual axes, electronic gear, electronic cam, electronic cam/gear cancel function, and register function enable bit).

ON customized function selection bit 00 (the linked traverse function enable bit).

ON customized function selection bit 01 (the memory link function enable bit).

• Set operand C to 1838, 183A, 183C, and 183E hex, and specify addresses in the CPU Unit's I/O memory.

Set operand C to FFFF hex and turn ON customized function selection bit 02 (the bit to enable M code reset with program execution stopped).

Set operand C to FFFF hex and turn ON customized function selection bit 03 (the high-speed general-purpose output function enable bit).

Set the virtual axes with the IOWR instruction.

With G01, specify register E31 and set 1 at the beginning of the operand table.

With G01, specify register E31 and set 2 at the beginning of the operand table.

With G01, specify register E31 and set 3 at the beginning of the operand table.

With G01, specify register E31 and set 4 at the beginning of the operand table.

Write G32 (TRAVERSE) to multiple blocks.

---

None

For position data A1999, allocate zones to general-purpose outputs.

Set with G language

Using IOWR Instructions in the Ladder Program to Make Settings

Overview It is necessary to specify, by means of IOWR instructions (operand C: FFFF

hex) in the ladder program, whether or not each function is to be used. To retain compatibility with earlier versions, the customized functions are ini-

tially set so that they cannot be used. For any particular function to be used, the setting must be made specifically for that function.

The default settings are for none of the functions to be available for use after powering up or restarting (i.e., they are all set to all-zeros). These settings can be changed by selecting customized functions. The settings can be changed only once after powering up or restarting. If an attempt is made to change them more than once, an error will occur.

Note With the virtual axis function, unlike the customized functions, each axis is

specified individually as a virtual axis using an IOWR instruction (operand C: 1840 hex) in the ladder program.

Settings With the IOWR instruction, set FFFF hex for the control data (C) and write the

data to the MC Unit.

Overview of Version 1 Upgrades Section 1-12

MC Unit Unit number 0 to 95

A200

First Cycle Flag

Write

Ladder program

IOWR

Designations

Data

C S D

Destination unit number and number of words to transfer

CS-series CPU Unit

Transfer data

15 0

IOWR

#FFFF

First source word

Writes to the MC Unit the data stored in the three words beginning with the first source word, including the customized function selection bits.

41A

D00000 D00001 B E 5 3 D00002 0 0

Bits 00 to 04: Customized function selection bits

07 06 05 04 03 02 01 00

0 0 0

Bit 00: Linked traverse function

Bit 01: Memory link function

Unit number specification for MC Unit

MC No.

D+1 D

15 0 15 0

0002

0000 to 005F hex

Bit 02: M code reset with memory operation stopped

Bit 03: High-speed general-purpose output function

Bit 04: Synchronized control functions

Unit number

IOWR Instruction Operand Settings

Operand Set value

C Control data FFFF hex (&65535): Customized function selection S First source word Transfer data:

S+0: 41AC hex S+1: BE53 hex S+2: Bits 00 to 04: Customized function selection bits 0: Not used; 1: Used Bit 00: Linked traverse function Bit 01: Memory link function Bit 02: M code reset with program execution stopped Bit 03: High-speed general-purpose output function Bit 04: Synchronized control functions (See note.)

Note Indicates the electronic gear function, electronic

cam function, electronic cam/gear cancel function, and register function.

D Destination unit

number and number of words to transfer

15 12 11 00

S+0

S+1

S+2

41A

B E5

Bits 00 to 04: Customized function selection bits

0807 04 03

Bits 05 to 15: Reserved for system. (Set to 0.) D+0: MC Unit’s unit number, 0 to 95 (0000 to 005F hex) D+1: 0002 hex

15 12 11 00

D+0

MC Unit's unit number, 0 to 95 (0000 to 005F hex)

D+1

0 00

0807 04 03

Note When input as a constant, D+1 is the leftmost digit

and D is the rightmost.

Overview of Version 1 Upgrades Section 1-12

Execution Results

With normal completion, after the IOWR instruction has been executed the Equals Flag turns ON and the selected functions are enabled. Under the following conditions the operation will not be completed normally.

• If an intelligent transfer requested immediately before has not been completed.

• If the Teaching Box is in Enabled Mode or Occupy Mode.

• If a number other than 3 is specified as the number of words to be transferred.

• If the data in words S+0 and S+1 is not correct.

• If executed more than once after powering up or restarting.

The other Condition Flags operate the same as for other addresses used for

Application Example

A20011

First Cycle Flag

IORD/IOWR in the MC Unit. (Refer to If an attempt is made to change the settings more than once after powering

up or restarting, an IOWR instruction formatting error will occur.

MOVL

#FBE5341AC

D00000

MOV

#0010

D00002

IOWR

#FFFF

D00000

#00030000

Writes 41AC hex to D00000, and BE53 to D00001.

Writes 0010 hex to D00002. Turns ON customized function selection bit 04 (synchronized control functions). The other functions are turned OFF and not used.

Specifies FFFF hex for the control data, and writes the customized function usage selections to the MC Unit (example: Unit #0).

Transfer source data

15 0

D00000

D00001BE53

D00002

07 06 05 04 03 02 01 00

0 0 0 1 0 0 0 0

Flags on page 210.)

Bits 00 to 04: Customized function selection bits

Bit 00: Linked traverse function (not used)

Bit 01: Memory link function (not used)

Bit 02: M code reset with memory operation stopped

Bit 03: High-speed general-purpose output function (not used)

Bit 04: Synchronized control functions (used)

Application Precautions Set customized function selection bits 05 to 15 to 0 to prevent malfunctioning

in the future when new functions are added for these bits. It is recommended that this function be executed first after the MC Unit is pow-

ered up or restarted. If it is executed while an operation related to the function to be enabled is in progress, the function will be enabled in the middle of the operation and may have an undesired effect.

Using G Language to Make Settings (Synchronized Control Functions Only)

When a synchronized control function (i.e., virtual axes, electronic gear, electronic cam, electronic cam/gear cancel function, or register function) is used, normally G01 (the G code for linear interpolation commands) is used, and register E31 is specified (indirectly specifying a position data address from register E31 as the operand).

At the beginning of the indirectly specified operand table, specify which of the synchronized control functions is to be used.

Specifically, use G63 (SUBSTITUTION) and the G01 operating axis (E31) as follows:

Example: Electronic Gear Function G63 E31 = 1000 ······Sets the operand table from A1000. G63 A1000 = 1·······Sets 1000 to 1 (electronic gear function) at the beginning

of the operand table.

Overview of Version 1 Upgrades Section 1-12

G63 A1001 = 0·······Sets the parameters in the operand table from A1001 onwards. (Example: Input axis = MPG)

: ;

G01 X(E31) ·······Specifies the X axis as the operating axis, and starts the electronic gear operation.

1-12-1-1 Virtual Axes

This section describes setting and using virtual axes.

Overview Virtual axes can be used internally by the MC Unit even with no external

devices (such as servo drivers, servomotors, or encoders) or external I/O connected.

By executing the IOWR instruction in the CPU Unit's ladder program, the X, Y, Z, or U axis can be specified as a virtual axis.

MC Unit

G-language program

Position commands

Pulse output

Error counter (Normally 0)

Virtual axis (internal present position)

Feedback

Program design and debugging, and control of synchronized operations, can be simplified by specifying a virtual axis as the input axis for the electronic gear or electronic cam function.

Moreover, in case of slippage in motor or workpiece operations, position compensation can be simplified by setting the compensation amount (i.e., the slippage amount) as the virtual axis target position, and using that with the electronic gear or electronic cam function.

Note Position command values from the virtual axis are automatically returned as

feedback from the encoder, making it possible to simulate ideal operating conditions with an error level of zero.

Settings Virtual axes are used as follows:

Function Method of use

Set with IOWR instruction in

ladder program

Virtual axis function Set operand C to 1840 hex

and specify virtual/real axes in other operand.

Set with G language

None

Overview of Version 1 Upgrades Section 1-12

MC Unit Unit number: 0 to 95

Ladder program

CS-series CPU Unit

011

A20

First Cycle Flag

IOWR

Write

Data

Designations

First source word

Destination unit number and

number of words to transfer

IOWR

840

Writes the specified data for the virtual axis to the MC Unit from the first source word.

Transfer data

S+1 S

15 0150

0000000

Bits 00 to 03: Virtual/real axis specifications 1: Virtual axis 0: Real axis

03 02 01 00

IOWR Instruction Operand Settings

MC Unit unit number specification

D+1 D

15 0 15 0

0002

0000 to 005F hex

MC Unit unit number

Operand Setting

C Control data 1840 hex (&6208): Virtual axis setting S First source word Transfer data:

S+0: For each axis (bits 00 to 03), specify whether that axis is

to be used normally or as a virtual axis. Bit 00: X axis Bit 01: Y axis Bit 02: Z axis Bit 03: U axis 1: Virtual axis; 0: Normal axis

15 00 15 00

L+1 L

Bit 00: X axis

Bit 01: Y axis

Bit 02: Z axis

Bit 03: U axis

D Destination unit

number and number of words to transfer

0203 0001

U axis

Z axis

Y axis

X axis

Bits 04 to 15: Reserved for system use. (Set to 0.) S+1: Always 0000 hex. D+0: MC Unit's unit number, 0 to 95 (0000 to 005F hex) D+1: 0002 hex

15 12 11 00

D+0

MC Unit's unit number, 0 to 95 (0000 to 005F hex)

D+1

0 00

0807 04 03

Note When input as a constant, D+1 is the leftmost digit

and D is the rightmost.

Overview of Version 1 Upgrades Section 1-12

Results With normal completion, after the IOWR instruction has been executed the

Equals Flag turns ON and operation begins according to the settings. If not completed normally, the results are as follows:

Busy (Equals Flag OFF)

• An intelligent transfer requested immediately before has not been completed.

• The Teaching Box is in Enabled Mode or Occupy Mode.

IOWR Format Error (Equals Flag OFF)

• The number of words to be transferred is not 2 words.

• Customized functions (G-code commands for synchronized control functions) are not enabled.

IOWR Data Error (Equals Flag ON)

• The data in S+0 or S+1 is not within the acceptable range.

• One or more of the axes specified by the task axis declaration is servolocked.

• An axis not specified by the task axis declaration is specified as a virtual axis.

The other Condition Flags operate the same as for other addresses used for IORD/IOWR in the MC Unit. (Refer to

Flags on page 210.)

Wiring and Control

1,2,3... 1. Short-circuit the CW and CCW limit inputs, emergency stop inputs, and

alarm inputs of the virtual axis to the 24-V ground.

2. Use the virtual axis with servolock ON. The Servolock Flag will also turn ON.

Operation Specifications

1,2,3... 1. The RUN outputs, SEN signal outputs, and speed references that are out-

put to hardware ports will always be OFF (0). Therefore, axes can still be operated even if devices are connected to external output signals. Also, when system parameters are set for a brake and the outputs are not used as high-speed general-purpose outputs, the general-purpose outputs made to hardware ports will always be OFF (0).

2. Position command values are returned for encoder feedback, making it possible to simulate operating conditions with an error level of zero. Operations can thus be performed with no need to connect an external motor or encoder.

Application Example Task axis declarations

Tas k 1 : X Y Z Tas k 2 : U

Mechanical specification parameters, encoder classification

U axis: Absolute

Servo-lock status

X axis: Servo unlocked Y axis: Servo unlocked Z axis: Servo unlocked U axis: Servo unlocked

Overview of Version 1 Upgrades Section 1-12

501

A20011

First Cycle Flag

C S

Application Precautions

D00000

#1840

D00000

Sets 00000006 hex in D00000 and D00001 (i.e., only the U axis is a virtual axis).

Uses 1840 hex for the control data, and writes the virtual and real axis settings to the MC Unit (example: Unit #0).

Transfer source data

S+1 S

0003000

Unit number specification for MC Unit

MC No.

15 0 15 0

0002

D+1 D

0000 to 005F hex

Unit number

Bits 00 to 03: Virtual axis settings

03 02 01 00

1 0 0 0

Bit 00: X axis (1: Virtual axis; 0: Real axis)

Bit 01: Y axis (1: Virtual axis; 0: Real axis)

Bit 02: Z axis (1: Virtual axis; 0: Real axis)

Bit 03: U axis (1: Virtual axis; 0: Real axis)

MOVL

#00000008

IOWR

#00020000

• If an axis connected to a motor and encoder is temporarily used as a virtual axis, there will be a discrepancy between the real axis position and the position controlled in the MC Unit when the axis is returned to use as a normal axis. Therefore, set the origin before using the axis as a normal axis.

• An error may occur if the power is turned ON with no CW limit input, CCW limit input, emergency stop input, or alarm input signal connected.

• When an absolute encoder is connected, the origin will remain undetermined if a virtual axis is set without a servo-lock after the power is turned ON. In that case, use the present position preset to determine the origin.

• For an axis specified as a virtual axis, it is not possible to change the initial setting for encoder polarity in the mechanical specifications parameters from forward rotation for encoder increase.

1-12-1-2 Electronic Gear Function (CONNECT)

Overview This function moves an operating axis in sync with the input axis while apply-

ing a specified gear ratio (numerator/denominator). The operation is similar to a roller connected to a gearbox.

For the input axis, a sync encoder input, MPG input, encoder feedback input (X, Y, Z, or U), virtual axis position command value (X, Y, Z, or U), or real axis position command value (X, Y, Z, or U) can be specified.

Input axis Operating axis

• Virtual axis present posi-

tion

• Real axis position com-

mand value

• Real axis encoder feed-

back input

• MPG or sync encoder in-

put

Gear ratio numerator

Gear ratio denominator

• Winding axis

• Unwinding axis

• Conveyer

Overview of Version 1 Upgrades Section 1-12

While the electronic gear function is being executed, the gear ratio can be changed in real time from the G-language program.

It is possible to integrate other axes (i.e., other than the input axis and operating axis) with the axis that is being operated by the electronic gear. This enables position compensation according to other axis positions.

Block Diagrams

Input axis

Gear ratio numerator

Gear ratio denominator

Integrated axis

Note:

The input axis, operating axis, and integrated axis must all be different axes.

Sync Encoder Input Encoder Input

MC Unit MC Unit

G-language program

Electronic gear (numerator/ denominator)

Sync encoder

Error counter

D/A converter

Speed references

Position commands

Driver

Speed references

Driver

Error counter

D/A converter

Position commands

Encoder feedback

Integration processing

Electronic gear (numerator/ denominator)

Error counter

D/A converter

Speed references

Operating axis

Position commands

Driver

Motor

Virtual Axis Position Command Input Real Axis Position Command Input

MC Unit

G-language program

Virtual axis (present position)

Position commands

Virtual axis input

Speed references

Electronic gear (numerator/ denominator)

Driver

Error counter

D/A converter

Position commands

Motor

MC Unit

Electronic gear (numerator/ denominator)

D/A converter

Speed references

Driver

Motor

Error counter

Position commands

G-language program

Speed references

Driver

Encoder feedback

Motor

Error counter

D/A converter

Position commands

Overview of Version 1 Upgrades Section 1-12

Overall Block

MPG

Sync encoder

Encoder X

Encoder Y

Encoder Z

Encoder U

Speed

Multiplication

Command value X

Command value Y

Command value Z

Command value U

Note: The items indicated by asterisks* can be set with this function. It is not possible,

however, to set the same axis as an input axis, operating axis, and integrated axis.

Input axes*

Numerator*

Denominator*

Remainder

Command value X

Command value Y

Command value Z

Command value U

Operating axes* Integrated axes*

Integration processing

Driver X

Driver Y

Driver Z

Driver U

Settings 1) With the IOWR instruction, enable using the synchronized control functions

of the customized functions, and then 2) with the G language, specify G01 for register E31 to execute.

Selecting the Customized Functions

Programming in G Language

Note If any other operands are used, linear interpolation will be performed in the

With the IOWR instruction, turn ON customized function selection bit 04 and write the data to the MC Unit.

With G01 (LINEAR INTERPOLATION), specify register E31 and execute the operating axis (E31). Set 1 at the beginning of the operand table specified by register E31. Set the input axis, integrated axis, gear ratio numerator, and gear ratio denominator in the operand table. When the electronic gear function (CONNECT) is used with the G01 operating axis (E31), the operation can be cancelled only by executing CANCEL (electronic cam/gear cancel function).

Format

G01 <operating axis> (E31)

normal way for G01.

Operand

Operating axis

Axis First address of operand

table

X(E31) Y Z U

Overview of Version 1 Upgrades Section 1-12

An error (number out of range) will occur if a number from 1996 to 1999 is specified as the first address in the operand table.

Operand Table

Data name Data range Unit Explanation

First address Function number 1

Note Integers only

+1 Input axis 1st digit

0: MPG 1: X 2: Y 3: Z 4: U 2nd digit 0: Encoder 1: Position com-

mand value

Note Integers only

+2 Integrated axis 0: None

1: X 2: Y 3: Z 4: U

Note Integers only

+3 Gear ratio numera-

tor (output)

+4 Gear ratio denomi-

nator (input)

±39999999

Note Integers only

±39999999

Note

1. Integers only

2. Except 0

--- Specifies the function number. Electronic gear function: 1

--- Specifies the input axis for the electronic gear function. Either the encoder or position command value can be specified.

References the speed (p/2 ms) in each control cycle (2 ms), and is not affected by other input axis attributes (origin status, errors, etc.).

With input axis backlash compensation, there is no effect if the position command value is used, but there is if an encoder is used.

Note

1. MPG position command values can-

not be set.

2. The same axis cannot be specified

for both the operating axis and integrated axis.

3. An axis from a separate task can be

specified.

--- Specifies the axis (position command values) for adding outputs to electronic gear function outputs. References the speed (p/2 ms) in each control cycle (2 ms), and is not affected by other integrated axis attributes (origin status, errors, backlash compensation, etc.).

Note

1. The same axis cannot be specified

for both the operating axis and input axis.

2. An axis from a separate task can be

specified.

--- Specifies the gear ratio (numerator). If changed during operation, the results are reflected in real time.

--- Specifies the gear ratio (denominator). If changed during operation, the results are reflected in real time.

• The gear ratio numerator and denominator values in this operand table are referenced in real time while the electronic gear function is being executed. The results are thus reflected in real time when the gear ratio is changed using G63 (SUBSTITUTION). None of the other values are reflected in real time (i.e., they are reflected only when execution is started).

• Hold the values in this operand table according to the following timing.

• In Stop Mode: Until electronic gear operation begins.

Overview of Version 1 Upgrades Section 1-12

• In Pass Mode or In-position Check Off Mode: Until the electronic gear function advances to the next block.

• An error (number out of range) will occur if a value outside of the range shown in the above table is set or if a value that cannot be specified is set.

Note An error will occur if a non-integer is specified for integer-only data.

An MPG ratio overflow error will occur if the value goes out of range when the gear ratio is changed during axis operation using the electronic gear function.

Operation Specifications

Function The following calculations are performed every 2 ms in the servo cycle to

determine the output. Input axis speed V: (p/2 ms) is calculated, integrated axis speed Vi (p/2 ms) is

added, and the result is output to output axis Vi (p/2 ms).

Output axis Vi = (Input axis Vi x Gear ratio numerator + remainder) / Gear ratio denominator + Integrated axis

Note The division results are truncated.

Remainder = (Input axis Vi x Gear ratio numerator + remainder) ratio denominator x Output axis Vi

If the output direction is negative (i.e., if the input axis Vi x gear ratio numerator + remainder < 0), 1 is subtracted and linearity is maintained.

Output axis Vi = (Input axis Vi x Gear ratio numerator + remainder Gear ratio denominator + integrated axis Vi

Remainder = (Input axis Vi x Gear ratio numerator + remainder − 1) − Gear ratio denominator x Output axis Vi

To change the sign of the remainder, add 1 to the output. Changing a positive number to a negative number: Output axis Vi = Output

axis Vi

− 1

Changing a negative number to a positive number: Output axis Vi = Output axis Vi + 1

− Gear

− 1) /

Output axis position

Input axis position

Input: 10 pulses

Input: −10 pulses (to original position)

Example: When Gear Ratio = 1/4

10 2 3

Output: 2 pulses Remainder: 2

Output: −2 pulses Remainder: −3

The gear ratio can be changed in real time. When the gear ratio is changed, the output waveform is smoothed by converting the remainder with the gear ratios before and after the change.

Remainder = Remainder / Gear ratio denominator before change x Gear ratio denominator after change

Overview of Version 1 Upgrades Section 1-12

Relationship to Other G Codes

The relationships of the electronic gear function to other G codes are described in the following table.

For information on G codes, refer to

G codes Relationship to electronic gear function

G00/G26/G27/G28/ G30/G31

G01/G02/G03/G32 G04/G29/G54/G79 Independent instruc-

tions, M000 to M999 D000 to D255

G10/G11/G13 The electronic gear function also operates according to the

G17 to G22 None G50/G51/G53 None

G60/G63 None G69 Parameters changed by G69 are also valid for the electronic

G70/G71/G72/G73 None G74/G75/G76 Enabled for electronic gear function. G75 is disabled, however,

G90/G91 None. The electronic gear function is unrelated to the coordi-

In Stop Mode

When the end condition is set to Repeat, the electronic gear function does not end, so these G codes cannot be executed.

In Pass Mode or In-position Check Off Mode

If any of these G codes is executed while the electronic gear function is being preread, the system waits until the electronic gear function is ended. (See note.)

Note When the electronic gear function is executed, it is not

possible to proceed to the next block as long as the electronic gear function is not ended by means of the electronic cam/gear cancel function. (The program is also not ended.)

mode, but operation in Pass Mode is the same as in In-position Check Off Mode.

Also, positioning completed checks are executed independently of the mode between start commands and functions other than the electronic gear function or the electronic cam function.

The electronic gear function is unrelated to the coordinate system.

gear function. If G69 is executed while the electronic gear function is being preread in Pass Mode or In-position Check Off Mode, changes by G69 are reflected immediately.

for continuous operation after an error occurs when an operand is specified.

nate system.

SECTION 7 G-language Programming.

Overview of Version 1 Upgrades Section 1-12

G codes Relationship to electronic gear function

G01 (E31) (Electronic cam function)

G01 (E31) (Electronic cam/gear cancel function)

G01 (E31) Register function

In Stop Mode

When the electronic gear function is executed or when “repeat” is set as the starting/ending condition for the electronic cam function, the next block is not executed.

In Pass Mode or In-position Check Off Mode

A second block can be preread and executed for the same operating axis, and operation proceeds to the next block. If a third electronic gear function or electronic cam function is executed for the same operating axis, the operation waits for the first electronic gear function or electronic cam function to be completed.

Note If the input axis or integrated axis for the electronic

gear/cam function is used as the operating axis for another electronic gear/cam function, execute the command where the axis is not the operating axis for the electronic gear/cam function first. These commands will be automatically executed in this order even if they are placed in the reverse order. Also, if the G code commands for electronic gears/cams serve as the input and output for each other and the order cannot be determined, an MPG ratio overflow error will occur.

In Stop Mode

When the end condition is set to Repeat, the electronic gear function does not end, so these G codes cannot be executed.

In Pass Mode or In-position Check Off Mode

The electronic gear function can be cancelled by this G-code command.

Not related.

Relationship to Bits/Flags The relationships of the electronic gear function to control bits and flags are

described in the following table.

Bit/Flag name Relationship to electronic gear function

Automatic/Manual Mode

Forced Block End Bit Enabled for the electronic gear function. Operation is stopped

Pause Bit Enabled for the electronic gear function. Operation is stopped

Servo-unlock Bit Enabled for the electronic gear function. Operation is stopped

Axis Operating Flag Turns ON during electronic gear execution regardless of input. Positioning Com-

pleted Flag Error Counter Reset

Bit

Deceleration Stop Bit Uses up pulses accumulated in the error counter and stops.

If the mode is switched from automatic to manual during electronic gear function execution, the electronic gear function is paused. Operation is stopped immediately with no deceleration. Continuous execution is possible if the operating axis is not moved during the pause.

immediately with no deceleration. For continuous operation, the previous operations are all cleared and execution proceeds again from the present block.

immediately with no deceleration. Continuous execution is possible if the operating axis is not moved during the pause.

immediately with no deceleration. Continuous execution is not possible.

Turns OFF during electronic gear execution regardless of input.

When turned ON, tasks for that axis are stopped. When turned OFF, prereading is started again.

Overview of Version 1 Upgrades Section 1-12

Relationship to External I/O

The relationships of the electronic gear function to external I/O are described in the following table.

Signal name Relationship to electronic gear function

Limit inputs Causes a clockwise overtravel or counterclockwise overtravel

error. Operation is stopped immediately with no deceleration.

Emergency stop input

Driver alarm input Causes a driver alarm input error. Operation is stopped imme-

MPG input Can be used as electronic gear function G-code command

Causes an emergency stop input error. Operation is stopped immediately with no deceleration.

diately with no deceleration.

input.

Relationship to Errors The relationships of the electronic gear function to errors are described in the

following table.

Error classification Relationship to electronic gear function

System errors When a system error occurs, the electronic gear function is

Task errors When a task error occurs, the electronic gear function is

Axis errors When an axis error occurs, the electronic gear function is

stopped for all tasks. Operation is stopped immediately with no deceleration.

stopped for that task. Operation is stopped immediately with no deceleration.

stopped in tasks performing operations for that axis. Operation is stopped immediately with no deceleration.

Relationship to Parameters

The relationships of the electronic gear function to parameters are described in the following table.

Parameter name Relationship to electronic gear function

MPG/sync encoder When MPG is set for electronic gear function input, operations

Minimum unit setting Not used for control by the electronic gear function. Pulse rate numerator Not used for control by the electronic gear function. Pulse rate denomi-

nator Software limits Detects software limit errors during operation if there are limits

Maximum feed rate An MPG ratio overflow error occurs if the command speed for

Backlash compensation

In-position Executes positioning completion checks according to the

Application Example N000 P000 X

N001 G54 X0 .............................Presets X axis to 0.

N002 G63 E31=1000 .................Sets operand table from A1000.

N003 G63 A1000=1 ...................Electronic gear function

N004 G63 A1001=0 ...................Input axis = MPG

N005 G63 A1002=0 ...................Integrated axis = None

N006 G63 A1003=1 ...................Gear ratio numerator = 1

N007 G63 A1004=10 .................Gear ratio denominator = 10

N008 G01 X(E31).......................Operating axis = X axis

N009 G63 A1010=X ...................Gets present position of X axis.

are executed according to this setting.

Not used for control by the electronic gear function.

set for the axis and if the origin has been determined.

the operating axis exceeds the maximum feed rate. Backlash compensation is enabled. It is executed according to

the direction of operation for the electronic gear function.

operating mode when the electronic cam/gear function cancel and optional end commands are executed.

Executes positioning completion checks for forced block end, pause, servo error, and servo-unlock operations regardless of the operating mode.

Overview of Version 1 Upgrades Section 1-12

N010 G71 N009/A1010<30 .......Waits until present position of X axis reaches

30 or higher.

N011 G63 A1004=11 ................. Changes gear ratio denominator to 11.

Etc.

Application Precautions

Note (1) When the electronic gear function is executed in Stop Mode, there is no

operation completion, so the axis command for the next block is not executed and the program does not end.

(2) Be careful of the execution timing when using G code commands for syn-

chronized control functions in more than one task. There is only one E register, E31, that is used in the G code commands for synchronized control functions. When specifying the first position data address, be sure that another address is not being specified in E31 in another task. Interlocking between tasks will be necessary. Also, when in Stop Mode, operand table values indirectly referenced by register E31 for the G01 operating axis (E31) must be held until the electronic gear function begins operating. When in Pass Mode or In-position Check Off Mode, hold the values until operation moves to the next block after the electronic gear function.

• The electronic gear function and the electronic cam function cannot be simultaneously executed for the same operating axis. One of them must be ended using the electronic cam/gear cancel function (CANCEL).

• When using customized functions other than synchronized control functions (i.e., the memory link, linked traverse, or high-speed general-purpose output functions), make sure that the position data for the respective functions in the operand table do not overlap. For information on position data for customized functions, refer to Appendix A.

• There may be cases where operations by input axes and integrated axes do not function normally. For details, refer to Appendix B.

• Input axis speed (high and low) must be checked to ensure that operating axis speed does not exceed the maximum feed rate.

• When an MPG or axis feedback (encoder) is used for the input axis, input axis oscillation may affect the operating axis. If backlash compensation is set for the operating axis, oscillation will occur in the backlash compensation range. The larger the backlash, the greater the oscillation becomes.

Note It is recommended that a higher resolution encoder be used for the input axis

than for the operating axis.

• The gear ratio (numerator and denominator) must be set in pulses. Even if the unit is set to millimeters, degrees, or inches in the parameters, the values must be converted to pulse units for the gear ratio numerator (output) and gear ratio denominator (input) in the electronic gear function's operand table.

• If the master axis and slave axis are switched and then the slave axis is operated by the electronic gear function with respect to the master axis encoder, the servomotor's present position will always have an error of several pulses, and the calculation of the travel distance will gradually deviate. This will require separate programming for position compensation.

• When the electronic gear function is executed, the override function for the operating axis is disabled.

Overview of Version 1 Upgrades Section 1-12

1-12-1-3 Electronic Cam Function (CAMBOX)

Overview This function moves an operating axis in sync with the specified input axis

according to a cam table (i.e., a table that sets the relationship between input axis positions and the operating axis positions). The operation is similar to that of the cam mechanism of a machine.

For the input axis, a sync encoder input, MPG input, encoder feedback input (X, Y, Z, or U), virtual axis present position, or real axis position command value (X, Y, Z, or U) can be specified.

Block Diagrams

Input axis

• Virtual axis present

position

• Real axis position

command value

Operating axis

• Feed axis

• Cutter position,

etc.

• Real axis encoder

feedback input

• MPG or sync encoder

input

Operating axis

Input axis

The cam table can be used for either reciprocating cam operation (with the same stroke ratio for 0 ratios for 0

° and 360°).

° and 360°) or feed cam operation (with different stroke

It is possible to integrate other axes (i.e., other than the input axis and operating axis) to the axis that is being operated by the cam table. This enables position compensation according to other axis positions.

Input axis

Operating

axis

Input axis

Integrated axis

Note: The input axis, operating axis, and integrated axis must all be different axes.

Integration processing

Operating axis

Sync Encoder Input Encoder Input

MC Unit MC Unit

G-language program

Position commands

Error counter

D/A converter

Speed references

Driver

Motor

Sync encoder

Electronic cam

Error counter

D/A converter

Speed references

Driver

Position commands

Motor

Encoder feedback

Electronic cam

Error counter

D/A converter

Speed references

Driver

Position commands

Motor

Overview of Version 1 Upgrades Section 1-12

Virtual Axis Position Command Input

Overall Block

MPG

Sync encoder

Encoder X

MC Unit

G-language program

Position commands

Virtual axis (present position)

Multiplication

Virtual axis input

Speed references

Driver

Position

Electronic cam

Error counter

D/A converter

Electronic cam

See detailed diagram below.

Position commands

Motor

Real Axis Position Command Input

G-language program

MC Unit

D/A converter

Speed references

Driver

Motor

Electronic cam

Error counter

Position commands

Command value X

Command value Y

Encoder feedback

Speed references

Driver

Motor

Error counter

D/A converter

Position commands

Integration processing

Driver X

Driver Y

Encoder Y

Encoder Z

Encoder U

Multiplication

Command value Z

Command value U

Operating axes* Integrated axes*

Command value X

Command value Y

Command value Z

Command value U

Input axes*

Note: *The items indicated by asterisks* can be set with this function. It is not possible,

however, to set the same axis as an input axis, operating axis, and integrated axis.

Integration processing

Driver Z

Driver U

Overview of Version 1 Upgrades Section 1-12

Electronic Cam Diagram

Position

Input axis absolute position*

Operating axis phase-Z leading edge*

Operating axis general input leading edge*

Start condition*

Start condition check

Cam start position*

Cam rotation distance*

*The items indicated by asterisks* can be set with this function.

Cam angle calculation

Cam table*

Cam data reception

Cam stroke*

Cam stroke conversion

Position

Settings 1) With the IOWR instruction, enable using the synchronized control functions

of the customized functions, and then 2) with the G language, specify G01 for register E31 to execute.

1) Selecting the Customized Functions

With the IOWR instruction, turn ON customized function selection bit 04 and write the data to the MC Unit.

2) Programming in G Language

With G01 (LINEAR INTERPOLATION), specify register E31 and execute the operating axis (E31). Set 2 at the beginning of the operand table specified by register E31. In the operand table, set the distance for one rotation of the input axis (360

°), the operating axis stroke width, the cam angle and stroke ratio set

for the cam table (720 max.), etc.

Format G01 <operating axis> (E31)

Note If any other operands are used, linear interpolation will be performed in the

normal way for G01.

Operand

Operating axis

Axis First address of operand

X(E31) Y Z U

An error (number out of range) will occur if the sum of the first number in the operand table plus the size of the operand table exceeds 1999.

table

Overview of Version 1 Upgrades Section 1-12

Operand Table

Data name Data range Unit Description

First address Function number 2

Note Integers only

+1 Input axis 1st digit

0: MPG 1: X 2: Y 3: Z 4: U 2nd digit

0: Encoder 1: Position command value

Note Integers only

+2 Integrated axis 0: None

+3 Stroke width 0 to 39,999,999 Pulses

+4 Cam rotation dis-

tance

+5 Cam start position 0 to 39,999,999 Sets the position to which the operating

1: X 2: Y 3: Z 4: U

Note Integers only

0.0001 to 39,999,999

--- Specifies the function number.

--- Specifies the input axis for the elec-

--- Specifies the axis (position command

mm deg inch (See note 1.)

Electronic cam function: 2

tronic cam function. Either the encoder or position command values can be specified. References the speed (p/2 ms) in each control cycle (2 ms) and is not affected by other input axis attributes (origin status, errors, etc.). With input axis backlash compensation, there is no effect if the position command value is used, but there is if an encoder is used.

Note

1. MPG position command values cannot be set.

2. The same axis as the operating axis and integrated axis cannot be specified.

3. An axis from a separate task can be specified.

values) for adding outputs to electronic cam function outputs. References the speed (p/2 ms) in each control cycle (2 ms) and is not affected by other integrated axis attributes (origin status, errors, backlash compensation, etc.).

Note

1. The same axis as the operating axis and input axis cannot be specified.

2. An axis from a separate task can be specified.

Specifies the operating axis stroke width (i.e., the operating axis travel distance per cam rotation). This value will be the standard for the cam table data (stroke ratio).

Specifies the distance of a single rotation (360°) of the input axis.

axis is to move using the input axis position. This is the parameter that shifts the cam table phase. When cam operation is started, the operation begins from the angle in the cam table that corresponds to this position.

Note A value smaller than the cam

rotation distance must be set.

Overview of Version 1 Upgrades Section 1-12

Data name Data range Unit Description

+6 Start/end conditions

Latch Input position Repeat

+7 Input axis position ±39,999,999 Pulses

+8 Cam table size 2 to 720

+9 Cam table data n

+10 Cam table data n

+11 From here on, the descriptions are the same as for +9 and +10 according to the cam table size, alter+12 and higher

(cam angle)

(stroke ratio)

nating between cam angle and stroke ratio.

1st digit: Start condition 0: None 1: Input axis position 2: General-purpose input leading edge 3: Phase-Z leading edge

2nd digit: End condition 0: 1 rotation only 1: Repeat

Note Integers only

Per axis (See note 2.)

0.0000 to 360.0000 Deg Specifies the input axis position, in

0.0000 to ±3999.9999

--- Start condition: Specifies the electronic

mm deg inch (See note.)

Points The cam table size is specified in

Factor Specifies the cam axis position as a

cam operation's start condition (trigger). If MPG is used for the input axis, the input axis position cannot be specified for the start condition. If the phase Z input is specified, the input for the axis to latch will be monitored. If a general-purpose input is specified, the input for the axis number corresponding to the axis to latch (X to U correspond to 1 to 4, respectively) will be monitored. End condition: Specifies whether electronic cam operations are to end after one rotation or be repeated with no limit.

Specifies the input axis position for starting cam operation when the input axis position is the start/end condition. Electronic cam operation starts when the position set here is crossed.

Note If 0 is set, the electronic cam

function does not operate even if the input axis starts from 0. In that case, set the start/end conditions to None (0).

points. A set consisting of a cam angle and stroke ratio is counted as one point.

increasing order, from 0° to 360°. (Identical values are not possible.)The beginning of the table must be 0°, and the end of the table must be 360°.

percentage of the input axis position. The normal range is from 0 to ±1.

Note (1) For version-1 MC Units, units are determined according to the parame-

ters. MPG can be pulses only.

(2) Up to 720 points can be set per axis. Their use, however, is limited by the

position data capacity.

• Values in this operand table are not reflected in real time (i.e., they are reflected only when first executed).

• Hold the values in this operand table according to the following timing. a. In Stop Mode: Until electronic cam operation begins. (If a start condi-

tion is set, wait for the start condition.)

b. In Pass Mode or In-position Check Off Mode: Until the electronic cam

function advances to the next block.

• An error (number out of range) will occur if a value outside of the range shown in the above table is set, or if a value that cannot be specified is set.

Note An error will occur if a non-integer is specified for integer-only data.

Overview of Version 1 Upgrades Section 1-12

• An overflow error will occur if the stroke width is not within a range of 0 to 7FFF FFFF hex after being converted to pulse units at the operating axis pulse rate.

• An overflow error will occur if the cam rotation distance is not within a range of 1 to 3FFF FFFF hex after being converted to pulse units at the input axis pulse rate.

• The settable resolution in the cam table is 1/10,000 for input axis phases. A maximum of 720 points can be set.

• An overflow error will occur if the input axis position is not within a range of C000 0001 to 3FFF FFFF hex after being converted to pulse units at the input axis pulse rate.

• An error (number out of range) will occur if a stroke width converted to pulse units and multiplied by the stroke ratio is not within a range of C000 0001 to 3FFF FFFF hex.

• A traverse continuation error will occur if a cycle start is executed after operation has been stopped by a driver alarm during electronic cam operation.

Operation Specifications

Start/End Condition Starting and stopping the electronic cam function depends on the conditions

that are set.

Start Condition

Not specified.

Electronic cam operation begins immediately after the electronic cam function is executed (or after the preceding axis operation is completed when prereading is executed).

Input Axis Position

Electronic cam operation is started when the position specified by the input axis position is crossed. The input axis setting determines whether the command position or the present position (encoder) is used. The object of comparison is only the present position or command position display, and it is unrelated to other input axis attributes (such as no origin and unlimited axes).

Latch

Electronic cam operation starts with the leading edge of the specified generalpurpose input or phase-Z input. When an encoder is used for the input axis, hardware can be used to obtain an accurate starting position.

End Condition

One Rotation Only

Operation ends after one rotation (i.e., when the 0° position is reached) in either direction. The operating axis is stopped at the 0 axis and overtraveling distance will not be output.

Repeated

Operation is repeated with no limit, until an electronic cam/gear cancel, forced block end, or optional end is executed.

° position of the input

Overview of Version 1 Upgrades Section 1-12

Starting Position for the Electronic Cam Function

Reciprocating cam operation When the stroke ratio is the same for 0° and 360

Operating axis

Cam rotation distance

Stroke ratio width *Stroke amount

Starting position

The electronic cam function operates with relative movement taking the starting position as the basis. Before executing the electronic cam function, adjust the input axis and operating axis positions.

When repeating is set for the end condition, the function operates with relative movement even when the 0 tion is used if the stroke ratio is different for cam angles 0

° position is crossed. Therefore, feed cam opera-

° and 360°. (See the

diagrams below.)

Feed cam operation

When the stroke ratio is different for 0° and 360

Operating axis

Cam rotation distance

Stroke ratio width *Stroke amount

Starting position

Input axis

Starting position

Input axis

Cam Processing The following calculations are made every 2 ms in the servo cycle to deter-

mine the output.

Unlimited Axis Processing for the Input Axis

The input axis travel distance (p/ms) is added to the cam present position. If the cam present position (p) exceeds the cam rotation distance (p), it is reduced to within the rotation distance and the number of rotations is found.

Cam Angle

The cam angle (value in degrees × 10,000) is found.

Cam angle [value in degrees

× 10,000] = (Cam present position [p] ×

3,600,000 / Cam rotation distance [p])

Overview of Version 1 Upgrades Section 1-12

Stroke Ratio Extraction

The cam angle is taken as a search key, and a dichotomizing search is made of the cam table. If there is matching data, the stroke ratio is obtained.

If there is no matching data in the cam table, an interpolation value is found from the previous and subsequent data. The following equation is used to calculate the interpolation value.

y = (y2

Note The division results are truncated.

− y1) × (x − x1)/(x2 − x1) + y1

Relationships to Other G Codes

x is the present cam angle (value in degrees stroke ratio (factor

× 10,000).

× 10,000), and y is the target

x1 is the previous cam angle (value in degrees × 10,000) in the cam table. x2 is the subsequent cam angle (value in degrees × 10,000) in the cam table. y1 is the previous stroke ratio (factor × 10,000) in the cam table. y2 is the subsequent stroke ratio (factor × 10,000) in the cam table.

Operating Axis Position

The relative position of the operating axis is found.

Operating axis relative position [p] = ±Stroke width [p] × Stroke ratio [Factor

× 10,000] / 10,000

Operating Axis Speed

The operating axis speed is found.

Operating axis speed [p/2 ms] = Operating axis relative position [p] − Previous operating axis relative position [p]

When rotations occur with unlimited axis processing (A) for the input axis, the following is added and feed cam operation is used.

Cam angle 360

× stroke width [p] × Rotation speed

ratio

° stroke ratio × stroke width [p] − Cam angle 0° stroke

The relationships of the electronic cam function to other G codes are described in the following table. For information on G codes, refer to the

TION 7 G-language Programming

G code Relationship to electronic cam function

G00/G26/G27/G28/ G30/G31

G01/G02/G03/G32 G04/G29/G54/G79 Independent instruc-

tions, M000 to M999 D000 to D255

G17/G18/G19/G20/ G21/G22

G50/G51/G53 Not related. The electronic cam function is unrelated to the

G60/G63 None G69 Parameters changed by G69 are also valid for the electronic

G70/G71/G72/G73 None

In Stop Mode

When repeat is set as the end condition, the electronic cam operation does not end, so these G codes cannot be executed.

In Pass Mode or In-position Check Off Mode

If any of these G codes is executed while electronic cam function is being preread, execution will wait until the electronic cam function is ended.

None

coordinate system.

cam function. If G69 is executed while the electronic cam function is being preread in Pass Mode or In-position Check Off Mode, changes by G69 are reflected immediately.

SEC-

Overview of Version 1 Upgrades Section 1-12

G code Relationship to electronic cam function

G74/G75/G76 Enabled for electronic cam function. G75 is disabled, however,

G90/G91 None. The electronic cam function is unrelated to the coordi-

G01 (E31) (Electronic gear or electronic cam)

G01 (E31) (Electronic cam/gear cancel)

G01 (E31) (Register function)

for continuous operation after an error occurs when an operand is specified.

nate system.

In Stop Mode

When the electronic gear function is executed or when “repeat” is set as the starting/ending condition for the electronic cam function, the next block is not executed.

In Pass Mode or In-position Check Off Mode

Note If the input axis or integrated axis for the electronic

In Stop Mode

When repeat is set as the end condition, the electronic cam operation does not end, so these G codes cannot be executed.

In Pass Mode or In-position Check Off Mode

The electronic cam function can be cancelled by this G-code command.

Not related.

Relationship to Bits/Flags The relationships of the electronic cam function to control bits and flags are

described in the following table.

Bit name Relationship to electronic cam function

Automatic/Manual Mode

Forced Block End Bit Enabled for the electronic cam function. Operation is stopped

Pause Bit Enabled for the electronic cam function. Operation is stopped

Servo-unlock Bit Enabled for the electronic cam function. Operation is stopped

Axis Operating Flag Turns ON during electronic cam execution regardless of

If the mode is switched from automatic to manual during electronic cam function execution, the electronic cam function is paused. Operation is stopped immediately, with no deceleration. Continuous execution is possible if the operating axis is not moved during the pause.

immediately with no deceleration. For continuous operation, the previous operations are all cleared and execution proceeds again from the present block.

immediately with no deceleration. Continuous execution is possible if the operating axis is not moved during the pause.

immediately with no deceleration. Continuous execution is not possible.

inputs.

Overview of Version 1 Upgrades Section 1-12

Bit name Relationship to electronic cam function

Positioning Completed Flag

Deceleration Stop Bit Uses up pulses accumulated in the error counter and stops.

Turns OFF during electronic cam execution regardless of inputs.

Relationship to External I/O

The relationships of the electronic cam function to external I/O are described in the following table.

Signal name Relationship to electronic cam function

General-purpose inputs

Phase-Z input Can be used as start condition. Limit inputs Causes a clockwise overtravel or counterclockwise overtravel

Emergency stop input

Driver alarm input Causes a driver alarm input error. Operation is stopped imme-

MPG input Can be used as electronic cam function G-code command

Error counter reset When turned ON, operation is stopped for all tasks that

Can be used as start condition.

error. Operation is stopped immediately with no deceleration. Causes an emergency stop input error. Operation is stopped

immediately with no deceleration.

diately with no deceleration.

input.

include that axis. When turned OFF, prereading is started again.

Relationship to Errors The relationships of the electronic cam function to errors are described in the

following table.

Error classification Relationship to electronic cam function

System errors When a system error occurs, the electronic cam function is

Task errors When a task error occurs, the electronic cam function is

Axis errors When an axis error occurs, the electronic cam function is

stopped for all tasks. Operation is stopped immediately with no deceleration.

stopped for that task. Operation is stopped immediately with no deceleration.

stopped in tasks performing operations for that axis. Operation is stopped immediately with no deceleration.

Relationship to Parameters

The relationships of the electronic cam function to parameters are described in the following table.

Parameter name Relationship to electronic cam function

MPG/sync encoder When MPG is set for electronic cam function inputs, opera-

tions are executed according to this setting. Minimum unit setting Not used for control by the electronic cam function. Pulse rate numera-

tor/denominator Software limits Detects software limit errors during operation if there are limits

Maximum feed rate An MPG ratio overflow error occurs if the command speed for

Backlash compensation

In-position Executes positioning completion checks according to the

Used when data for the input axis and the operating axis that

is specified in mm units is to be converted to pulse units.

set for the axis and if the origin has been determined.

the operating axis exceeds the maximum feed rate.

Backlash compensation is enabled. It is executed according to

the direction of operation for the electronic cam function.

operating mode when the electronic cam/gear function cancel

and optional end commands are executed.

Executes positioning completion checks for forced block end,

pause, servo error, and servo-unlock operations regardless of

the operating mode.

Omron CS1W-MC221 OPERATION MANUAL

Specifications and Main Features

Frequently Asked Questions

User Manual

CS1W-MC221(-V1)/421(-V1) Motion Control Units

Notice:

About this Manual:

Unit Versions

Version Upgrade Information

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 Control System Configuration and Principles

1-5 Specifications

1-6 Data Exchange

1-7 Overview of G-language Programs in the MC Unit

1-8 Commands Listed According to Purpose

1-9 Comparison with Earlier MC Unit Model

1-10 Basic Operating Procedure

1-11 Methods for Using MC Unit Functions

1-12 Overview of Version 1 Upgrades