Omron CS1W-MC221 OPERATION MANUAL

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

iv

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.

v

vi

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

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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

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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.

xi

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.

xv

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

xx

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

1

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.

2

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).

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