Omron CS1W-MC221, CS1W-MC421 OPERATION MANUAL

CS1 Series
CS1W-MC421/221

Motion Control Units

Specification Sheets

Product Specifications

CS1 Special I/O Unit

CS1-series

Motion Control Units

CS1W-MC421/221

Multitasking G Language for Advanced, High-speed, and High-precision 2/4-axis
Motion Control

The CS1W-MC421 and CS1W-MC221 are
CS1-series Motion Control Units that control four
axes and two axes, respectively. With their built-in
G-language programming capability, they can be
used

for

advanced motion control operations, such
as traversing, and their multitasking capability
allows operations to be performed independently
for each axis. Two types of motion control are
possible: Point-to-point and continuous path.

1. 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 other set parameters.

2. Continuous Path Control: With continuous path (CP)
control,

not only the start position and target
controlled but also the path between those points. Linear
interpolation,
tion, and traversing are all possible.

The

MC Unit has been developed for use in simple position

applications using servomotors. Applicable machines are

ing
as

follows:

• Conveyor

loaders/unloaders,

• Assembling

(such as coil winding, polishing, hole punching), simple
robots,

Note: The

circular interpolation, or helical circular interpolation with
horizontal
it does not support coordinate conversions. The MC Unit
can,

circular interpolation,

Systems: X/Y tables, palletizers/depalletizers,

etc.

MC Unit is not designed to perform linear interpolation,

articulated robots or cylindrical robots,

however

etc.

Systems:

, perform PTP control with these robots.

Automated assembling machines

helical circular interpola

position can be

because

System Configuration

-

MC Support

-

Software

Automatic Mode

CS1W-MC421

CPU Unit

G language program

Teaching Box

MC Unit
(Example: CS1W-MC221)

CS1W-MC221

Analog input
servodriver

MC Terminal Block
Conversion Unit

CPU UnitMC Unit

Servomotor

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

Manual Mode

Specification Sheets.

Teaching Box

Manual controls

MC Unit

Data bits

Operating
commands

Data bits

Manual
controls

CPU Unit

1

Motion Control Units

MC

Unit functions

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

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

eaching

Product Specifications

Position control
Speed control

Origin search
Interrupt feeding

Traversing
Dwell timer
Arithmetic operations, etc.
Jogging
Deceleration stop
Present position preset

Origin search (manual)
Servo lock/Servo unlock

Error counter reset
Forced origin
Standard origin return

Absolute origin setting

Stop Mode

Pass Mode
In-position

Check OFF Mode

Common to Automatic
and Manual Modes

Features

Multitasking

The

MC Unit is
optimum
ple to create programs for multiaxis
den on the CPU Unit’

Simple and Fast T

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

Fast Pick-and-place Operations

After
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 opera

tions.

Supports

The MC Unit is compatible with absolute encoders as a standard
feature,

encoders can be used as well.

tal

High-speed Response to Start Commands from CPU Unit

The

response time from when a start
CPU
ms

for two axes and 13 ms for four axes (MC421 only).

times

Note: T

500-kp/s Encoder Response Frequency

The maximum feedback encoder response frequency is 500 kp/s,

the MC Unit can be used with high-speed and high-precision ser

so
vomotors. This is double the response frequency of the earlier mod
els.

CPU Unit Interrupts

A

CPU

code (interrupt code) for the CPU Unit when positioning is com-

G Language

provided with a multitasking G language, which is the

language

operations.

a positioning command has been output,

eliminating the need to perform an origin search. Incremen

Unit until the command voltage is output from the MC Unit is

faster than the previous models.

wo-axis MC Unit

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

Four-axis MC Unit

This function applies to the X axis when a 4-axis, 1-task
configuration

Unit external interrupt task can be started by outputting a D

for motion control. The G language makes it sim

control, without placing a bur

s ladder diagram program.

raverse Operations

the in-position check

Absolute Encoders

command is received from the

This is 1.5

is used.

is used.

-

-

-

-

8

-

-

Teaching
Zones

Backlash correction
Override
Electronic gear

pleted

or when passing through a particular position.

ideal

for high-speed synchronization between the MC Unit and CPU

Unit.

Other

Functions

•

Unlimited Feeding

This function executes unlimited feeding for the specified axis.
Use of this function allows the user to control unlimitedly fed
axes, such as those for turntables or one-way conveyors. The
present value can be increased or decreased within the
specified

•

Synchronous Electronic Gear

Input pulses for a synchronous encoder can be accelerated or
decelerated for each axis at any timing. The acceleration or
deceleration
To
enabled

range.

rate is specified by a numerator/denominator

provide simple synchronous control,

or disabled for each axis at any timing.

this function can also be

This feature is

• Error Counter Reset

After a deceleration command has been completed, the error
counter

reset function forcibly sets the error counter to 0 to stop
the axis operation completely. This function is best suited for
machine

•

Multiturn Circular Interpolation

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

•

Override (Real T

The speed can be changed during PTP, linear interpolation, or
circular interpolation operations in which the axis stops during
the
or

•

Pass Operations

The
pass operations. It is possible to specify whether to pass the
operation using the previous acceleration time or pass the
operation
is
rate

press control in molding and other processes.

operations.

ime Speed Change)

positioning operation. (This function is invalid in pass

in-position check OFF mode.)

acceleration and deceleration times can

using the deceleration time during

also possible to pass the operation at a constant

during single-axis pass operation.

be changed during

pass operations. It

acceleration

ratio.

mode

2

Product Specifications

CS Se es

CS S ec a /O U

a og u se od e

Motion Control Units

• Servo

•

• Interrupt

•

Parameter Changes

The

servo gain, such as the
from a G language program. Therefore, if position loop
feed-forward gain is enabled during circular interpolation, the
level

of accuracy for circular interpolation can be improved.

Comprehensive Functions in Origin Search Mode

search pattern can be selected to reduce

The
time. It is possible to select either deceleration stop or error
counter-based stop when a limit input is received during origin
search. Origin searches are also possible in absolute encoder
systems.

This
move
It is possible to perform positioning
signals

Brake Signal Outputs

To
used as a general-purpose output) can be used during servo
lock

Feeding

function uses general-purpose inputs (interrupt signals) to

the specified axis by the specified distance for positioning.

are received during interrupt feeding.

make motor operation even easier

or unlock.

feed-forward gain, can be changed

The

the origin search

operations

, brake signal outputs (also

when no interrupt

• Stopover

A

stopover outputs M code or D (interrupt) code without stopping
operation
operation. The cycle time can be reduced by controlling
peripheral

after feeding the axis by the specified distance during

devices before the operation is completed.

• Error Logging

error log can store up to 20 error records, such as positioning

The
errors

or hardware errors in the MC Unit or operation fatal errors
in the CPU Unit, together with the date and time of each error.
The

error log can be read using the CX-Motion.

Windows-based MC Support Software: CX-Motion

•

Multiple MC Unit Management in Project Units

Multiple

MC Units can be registered as one project. This allows

simultaneous

• T

ree Display for Edit or Monitor Screens

Data

will be displayed in tree format on the left side of the window

management of multiple MC Units.

Models

Applicable PCs

CS1 Series

Unit classification

CS1 Special I/O Unit

Analog input servodriver

so that the user can easily understand the location of the data
currently

•

Servo Information T

Speed reference values, the present speed, and the error
counter can be traced with specified starting conditions and a
specified
Up
system.

• Automatic

When
can be stored in the MC Unit, programs or position data stored in
an
installed can be automatically downloaded to the MC Unit’s
internal
application

•

Single-port Multiaccess Function

A
can
the CX-Programmer, enabling multiple programming environ­ments

•

User-defined Mnemonics

The user can enter G codes or mnemonics corresponding to
each G code when writing a program. The user can register or
change
analyze

•

File Conversion

The existing system parameters, position data, and programs
created
be

Data Creation Using T

In

addition to entering numbers

the

MC Support Software (CX-Motion), it

data by using the T

tion
moving

Operate with MPG

Positioning
MPG

Controlled driver

being set, edited, or monitored.

race Function

sampling period using the Windows-based

to 500 items can be traced, making it easy to adjust the servo

Loading Function

it is necessary to use more programs or position data than

external memory device at

memory

. This function allows the system to cope with

consisting of more than 100 programs.

Windows-based Support Software package called CX-Motion

be used on the same computer and through the same port as

on a single computer

these mnemonics as required, making it easy

MC programs.

using previous versions of the MC Support Software can

converted for use with the CX-Motion.

eaching Box

the machinery

and simple sync operations can be performed using

(manual pulse generator).

Number of controlled

4 CS1W-MC421
2 CS1W-MC221

eaching Box to teach positions while actually
.

axes

the computer where CX-Motion is

.

in the Position Data Edit Window of

is possible to create posi

CX-Motion.

an

to write or

an

Model

-

MC Unit Support Software (Sold Separately)

Name Computer Supported

CX-Motion IBM PC/A

compatible

T or

CS1W-MC421/221,
C200H-MC221,
CV500-MC421/221

Connecting Cables

Connection to CPU Unit Computer

Peripheral port
RS-232C port

IBM PC/A
IBM PC/A

T or compatible
T or compatible

MC Units

2.0 m, 6.0 m

2.0 m, 5.0 m

Specifications Model

Operating system:
Windows 95/98/NT V4.0
CPU: Pentium, 100 MHz
min.
Memory: 32 MB min.
Hard disk: 10 MB min.
CD-ROM drive: 1 min.
(for setup)
Functions: Creating and
editing system
parameters, creating and
editing position data,
creating MC programs
(G language), monitoring
MC Units, saving data in
flash memory
automatic loading, file
conversion, etc.

Cable length

, printing,

WS02-MCTC1-E

Cable model

CS1W-CNjjj
XW2Z-jjjS (-jj)

3

Motion Control Units

ubeo

Specifications

Item Specifications

Model CS1W-MC221 CS1W-MC421

Applicable PC CS1 Series
T

ype of Unit

Backplanes on which MC Unit can
be mounted

Method for data
transfer with
CPU Unit Units in CIO

Controlled Driver
Built-in program language
Control

Automatic/Manual Mode (for each
task)

Encoder interface

Control unit

Maximum command value
Number of controlled axes
Positioning

operations

Speed reference
Acceleration/deceleration curve
Acceleration/deceleration time

W

ords allocated

to Special I/O
Area

W

ords allocated
to Special I/O
Units in DM Area

Control method

Number of
controlled axes

Minimum setting
unit

Units

PTP
(independent)
control

Linear
interpolation

Circular
interpolation

Helical circular
interpolation

T

raverse functionTraverse operation for two axes
Speed control
Unlimited Feed

Mode
Interrupt feeding

CS1 Special I/O Unit
CPU Backplane or CS1 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.

Analog input servodriver (Example: OMRON OMNUC H, M, or U Series)
G language (Started by receiving a start command from the CPU Unit ladder diagram program.)
Speed reference voltage output-type semi-closed loop system, using incremental and absolute

encoder inputs.
2 max. 4 max.
Multitasking can be used to execute independent operating modes and programs for each axis.
Automatic Mode: Mode for executing MC program created in G language.

Manual Mode: Mode for executing manual commands from CPU Unit (PC interface area) or
T

eaching Box.
Note: The Automatic or Manual Mode is set according to the PC interface area of the CPU Unit.
There are a total of 1

return, JOG, and error reset.
The operation cycle is started in Automatic Mode through dedicated bits in the CPU Unit or from

the T

eaching Box.
Line receiver input; maximum response frequency: 500 kp/s (before multiplication)
Pulse ratio: Select 1, 2, or 4
Note: The applicable absolute encoder is the OMRON OMNUC U Series.
1, 0.1, 0.01, 0.001, 0.0001

mm, inch, degree, pulse (There is no unit conversion function.)
–39,999,999 to +39,999,999 (When the minimum setting unit is 1.)
2 axes max. 4 axes max.
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.

---

Speed control for each axis
Axis feeding can be executed with no limit.

Feeding a fixed distance after an interrupt input, for each axis. (Positioning with no interrupt
input signals is also possible.)

1 pps to 2,000 kp/s (when ratio is 4)
T

rapezoidal or S-curve

Individual acceleration/deceleration settings possible: 0 to 100,000 ms (2-ms increments)

Product Specifications

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

1 Automatic Mode commands, including origin search, reference origin

Circular interpolation for a maximum of two
axes on a plane + one axis for feed control

Note: 1. The

a CS1 Expansion Rack.

2. The
I/O Units that can be allocated words in the CPU Unit, the power supply capacity on the CPU or CS1 Expansion Rack, and the
current

4

MC Unit must be mounted to the CPU Rack to use D codes. D codes will not be sent to the CPU Unit

number of MC Units that can be mounted under one CPU Unit must be determined based on the maximum number of

consumption of the Units mounted to the

Rack. Refer to the CPU Unit’

s operation manual for details on calculation methods.

if the MC Unit is mounted to

Special

Product Specifications

Conditions

sco o

as og a

Sa g og a

Item Specifications

External I/O

Feed operations

Axis control

T

ask program

management

Saving program
data

Peripheral
device

Encoder

MPG/sync
encoder

Servodriver
relationships

Individual axis
control

Others

Rapid feed rate

Interpolation
feed rate

Rapid feed
override

Interpolation
feed override

Jog feed
override

Zone settings
Backlash

correction
In-position zone Can be set from 0 to 10,000 pulses.
Position loop

gain
Feedforward

gain
Number of tasks
Number of

programs

Program
capacity

Position data
capacity

Number of
registers

Subroutine
nesting

MC Unit
External

peripheral
devices

Motion Control Units

T

eaching Box (1 only)

Line receiver inputs:
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:
Outputs:

The following signals are each provided for
two axes:

Input:

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

Example: 36.86 m/min

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%)

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

Up to 8 zones/axis can be set.
Can be set from 0 to 10,000 pulses.

1 to 250 (1/s)

0% to 100%

2 max. (program execution units) 4 max. (program execution units)
When 1 task is used:

When 2 tasks are used:

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

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.

Backed up by flash memory
CX-Motion can be used to save data to a floppy disk or the hard disk at the personal computer

Driver alarm signals
Driver alarm reset signals

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

CCW limit inputs
CW limit inputs
Origin proximity inputs
Emergency stop inputs

n

iti

n

100
50

2,000 blocks
1,000 blocks/task

.

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

The following signals are each provided for
four axes:

The following signals are each provided for
four axes:

When 1 task is used:
When 2 tasks are used:
When 3 task are used:
When 4 tasks are used:

When 1 task is used:

2,000 blocks

When 2 tasks are used:

1,000 blocks/task

When 3 task are used:

666 blocks/task

When 4 tasks are used:

500 blocks/task

The maximum number of blocks in a single
program is 800.

100
50
33
25

.

5

Motion Control Units

o e su y o age

o age uc ua o o e a ce

Item Specifications

Program
download function

Self-diagnostic function
Error detection functions

Error log function
Model CS1W-MC221 CS1W-MC421
Settings

Indicators

Connections on front panel

Power supply voltage

V

Internal current consumption

W
Safety standards
External dimensions

Standard accessories

Cat. No.

and position data automatic

oltage fluctuation tolerance

eight (Connectors excluded)

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.

Memory corruption is detected.
Error counter warning, error counter over

communications errors (T
error

, phase-Z error

driver reverse wiring detection, CPU Unit error detection
Stores up to 20 error log records.

Front panel: Rotary switches for unit number
setting (0 to 93)

Rear panel: None
7 LED indicators: Running, MC Unit error

CPU Unit error
each axis (CCW/CW)

Servodriver connector
T

eaching Box connector (one each)

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 T

connected: 800 mA or less)
450 g max. 540 g max.
Conforms to UL (Class 2), CSA (class 2), and EC specifications.

130.0 × 35 × 100.5 mm (H × W
Single-slot size

10136-3000VE snap-on connector for
Servodrivers and 10336-52F0-008 Connector
Cover (manufactured by Sumitomo 3M): 1 set

10126-3000VE snap-on connector for I/Os
and 10326-52F0-008 Connector Cover
(manufactured by Sumitomo 3M): 1 set

Antistatic screws: 4

W359

, motor rotation direction for

eaching Box), flash memory error

, overtravel, emergency stop, unit number error

, I/O connector

× D)

, absolute encoder error detection, CPU errors,

Front panel: Rotary switches for unit number
setting (0 to 91)

Rear panel: None

,

1

1 LED indicators: Running, MC Unit error
CPU Unit error
each axis (CCW/CW)

,

eaching Box

Servodriver connectors (two), I/O connector,
T

eaching Box connector

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

130.0 × 70.0 × 100.5 mm (H × W
Double-slot size

10136-3000VE snap-on connector for
Servodrivers and 10336-52F0-008 Connector
Cover (manufactured by Sumitomo 3M): 2
sets

10126-3000VE snap-on connector for I/Os
and 10326-52F0-008 Connector Cover
(manufactured by Sumitomo 3M): 1 set

101
and 10314-52F0-008 Connector Cover
(manufactured by Sumitomo 3M): 1 set

Antistatic screws: 8

Product Specifications

, EEPROM error

, driver alarm detection,

, motor rotation direction for

14-3000VE snap-on connector for MPG

, software limit over

, MPG connector

,

eaching Box

× D)

6

Product Specifications

C

e a oc Co e so

o eas e g o /O

(

(

eac g o Co ec g

CUU

eea

C/

9

e e a bus o

tibl

Options (Sold Separately)

Name Specifications Model

MC Terminal Block Conversion
Unit

MC T

erminal Block Conversion

Unit Cable
Snap-on connector for

Servodriver connector on Unit
front panel (1 or 2 sets provided
as standard on the Unit)

Snap-on connector for I/O
connector on Unit front panel (1
set provided as standard on the
Unit)

Snap-on connector for MPG
connector on Unit front panel (1
set provided as standard on the
CS1W

-MC421 Unit only)

T

eaching Box

T

eaching Box Connecting

Cable

ROM Cassette

For easier wiring of I/O
connectors

For connecting the I/O connectors on the front panel of the Unit

Soldered connector

Connector cover 10336-52F0-008

Soldered connector

Connector cover 10326-52F0-008

Soldered connector

Connector cover 10314-52F0-008

Jogging, origin search, present value monitoring, and other
operations by means of manual commands

T

eaching (taking present values into position data)
Cable length: 2 m
Cable length: 4 m
Cable length: 6 m
Required when the CVM1-PRS21-V1 Programming Console is

used as a T

eaching Box.

Motion Control Units

2-axis XW2B-20J6-6
4-axis XW2B-40J6-7

XW2Z-100J-F1

10136-3000VE (manufactured
by Sumitomo 3M)

(manufactured by Sumitomo
3M)

10126-3000VE (manufactured
by Sumitomo 3M)

(manufactured by Sumitomo
3M)

101

14-3000VE (manufactured

by Sumitomo 3M)

(manufactured by Sumitomo
3M)

CVM1-PRO01-E

CV500-CN224
CV500-CN424
CV500-CN624
CVM1-MP702

CX-Motion Connecting Cables

Unit Port on Unit Computer Port on

CPU Unit Peripheral

RS-232C

p

(9-pin D-sub
female)

Serial
Communications
Board/Unit

Connecting RS-232C Cable to Peripheral Port

Unit Port on Unit Computer Port on

CPU Unit

Connecting CQM1-CIF01/02 Cable to Peripheral Port

Unit Port on Unit Computer Port on

CPU Unit

RS-232C

p

(9-pin D-sub
female)

Peripheral port

Peripheral port

IBM PC/.A

or

compa

IBM PC/.A
or
compatible

IBM PC/.A
or
compatible

p

T

T

computer

T 9-pin

D-sub

e

male

computer

9-pin D-sub
male

computer

9-pin D-sub
male

Serial

communications

mode (network)

Peripheral bus or
Host Link

Host Link

Serial

communications

mode (network)

Peripheral bus or
Host Link

Host Link CS1W-CN1

Serial

communications

mode (network)

Host Link CS1W-CN1

Model numbers

CS1W-CN226
CS1W-CN626
XW2Z-200S-CV

XW2Z-500S-CV
XW2Z-200S-CV
XW2Z-500S-CV

Model numbers

CS1W-CN1
XW2Z-200S-CV

or
XW2Z-500S-CV

XW2Z-200S-V
or
XW2Z-500S-V

Model numbers

CQM1-CIF02

18 +

18 +

14 +

Length Remarks

2.0 m

6.0 m

2.0 m

5.0 m

2.0 m

5.0 m

Length Remarks

0.1 m +
(2 or 5 m)

0.5 m + 3.3 m

---

ESD (static electric­ity)-resistant con­nectors used.

ESD (static
electricity)- resistant
connectors used for
XW2Z-j00S-CV.

---

Length Remarks

---

7

Motion Control Units

aua

Product Specifications

Connecting an IBM PC/A

Unit Port on Unit Computer Port on

CPU Unit RS-232C

Serial
Communications
Board/Unit

T or Compatible with RS-232C Cable

IBM PC/.AT9-pin D-sub

p

(9-pin D-sub
female)

RS-232C

p

(9-pin D-sub
female)

or
compatible

Applicable CPU Units

PC CPU

CS1-series CS1H-CPUjj

Unit model

number

CS1G-CPUjj

T

CS1W
numbers; unit numbers 0 to 93)

CS1W
numbers; unit numbers 0 to 91)

The current consumption must be within the allowable range for the
Power Supply Unit.

Overview of Operations

Item Contents

Operating

Manual

modes

Jogging
Handle feed
Deceleration stop Decelerates to a stop according to command.
Manual origin search

Manual origin return
Forced origin Forcibly sets the present position to 0 to establish it as the origin. (In an absolute

Absolute origin setting Sets the origin for an absolute encoder
Servo-lock

Servo-unlock

Electronic gear function

computer

male

otal number of MCUs that can be mounted on CPU Racks and

-MC221: 32 Units (each Unit requires 30 words equivalent to 3 unit

-MC421: 19 Units (each Unit requires 50 words equivalent to 5 unit

The following two modes are available.
Manual Mode: Operation according to CPU Unit memory area or commands from

Teaching Box.
Automatic Mode: Operation according to commands in G-language program.
Moves axes continuously by manual operation.
Moves axes by MPG.

Searches for mechanical origin. (Origin search is possible in either an incremental or
absolute encoder system.)

Moves to origin in reference coordinate system.

encoder system, only the present position of the MC Unit will be set to 0.)

Creates a position loop and turns ON the operation command output to the
servodriver
used, the absolute position is read before the servo-lock is applied.

Releases the position loop and applies the brake, and simultaneously turns OFF the
operation command output to the servodriver
Automatic Mode.

A fixed ratio (numerator and denominator) can be applied to input pulses, and output
to the servomotor driver

Expansion I/O Racks

, while simultaneously releasing the brake. When an absolute encoder is

Serial

communications

mode (network)

Host Link

Host Link

.

Model

numbers

XW2Z-200S-V
XW2Z-500S-V
XW2Z-200S-V
XW2Z-500S-V

.

. Servo-unlock can be executed even in

Length Remarks

2 m
5 m
2 m
5 m

Unit location

None

---

restrictions

8

Product Specifications

Item Contents

Automatic

Automatic

Automatic and
Manual Mode

Positioning
interpolation

Positioning with circular
interpolation

Positioning with helical
circular interpolation

T

raverse function
Speed control
Interrupt feeding

Switching to Pass Mode

Switching to In-position
Check OFF Mode

Stop-over function

Dwell timer
W

orkpiece origin return
Automatic origin return
Cycle start

Single block
Pause T
Forced block end Forcibly ends execution of a block.
Error reset Clears error status.
M code reset
Teaching
Auxiliary

Backlash correction

Error counter reset

Override

Zones
Unlimited Feed Mode,

unlimited present position
display

Origin search function

Trapezoid/S-curve
acceleration and
deceleration

Driver alarm reset
Data transfer

Servo data trace function

with linear

Optional inputs

M code

D code
(interrupt code)

Motion Control Units

Executes linear interpolation at the specified interpolation feed rate for up to either
two or four axes simultaneously

Executes clockwise or counterclockwise 2-axis 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.
(A

vailable for CS1W
Executes winding (traverse operation).
Moves a maximum of either two or four axes at a controlled speed.
Moves a specified axis for a fixed amount when a general input is turned ON. With

interrupt feeding, positioning without an interrupt signal can be executed.
Changes to Pass Mode, in which operations are 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.

Outputs an M code or a D code while axes are being moved by a fixed amount
(determined by present position), without stopping the operation. G codes are also
possible for all operations.

Pauses positioning for a specified time.
Automatically returns to workpiece origin.
Automatically returns to reference coordinate system origin.
Executes a specified program from the first block, or resumes execution of a stopped

program.
Executes the program one block at a time.

emporarily halts program execution.

Resets the M code (for interlock).
Creates position data for each task.
20 points: Specify input information to be referenced by special G code.
Of the 20 input points, 4 can be specified as general-purpose inputs for the MC Unit.
0 to 999
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.
The amount of correction for backlash in the mechanical system can be registered in

advance.
Forcibly resets the error counter to 0, and stops axis operation. (Enabled when no

speed reference is provided to the servodriver
Changes the operating speed by applying a specified percentage to the speed

specified in the system parameters or G-language program.
A zone flag turns ON when the present position enters a preset range.
Moves the axis with no limit. In this mode, a range for refreshing the present position

can be specified.

The search pattern can be selected to shorten 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.

Resets the servodriver alarm.
Data is transferred between the CPU Unit and the 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.

Up to 500 data items, including speed reference values, present speed, and error
counter data, can be traced for each axis. This data can be referenced by CX-Motion.

-MC421 only

.

.)

.)

9

Motion Control Units

Comparison with Earlier MC Unit Model

The

following table shows the points of dif

Item CS1W-MC221/MC421 C200H-MC221

Number of control axes
Binary indications

Encoder response frequency
Encoder pulse ratio
Program capacity
Acceleration/deceleration time
Speed reference range
Start time

Optional inputs

General outputs, brake signal outputs

MPG signals

ference between the CS1W

2 or 4 axes
All binary (present position, program

number

, block number

error code)
500 kp/s (before multiplication) 250 kp/s (before multiplication)
1, 2, or 4 times
2,000 blocks
0 to 100.000 s
1 pps to 2,000 kp/s 1 pps to 1,000 kp/s
2-axis Units: 8 ms max.

4-axis Units: 12 ms max.
Note: 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.
Optional No. 0 to 15: Inputs from CPU Unit
Optional No. 16 to 19: General inputs 1 to 4

Four output signals are provided, and can
be selected.

500 kp/s max. (before pulse ratio of 1, 2, or4)Y axis instead of MPG

Product Specifications

-MC221/MC421 and C200H-MC221 MC Units.

2 axes only
BCD

, M code, override,

4 times only
800 blocks
0 to 9.999 s

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.

Circular interpolation (G02, G03)
Helical circular interpolation

T

raverse command (G32)

Unlimited Feed Mode

Present position display for unlimited
feeding

Interrupt feeding (G31) Positioning is possible even without

Override The feed rate can be changed during

Multiturn circular interpolation can be set.
With 4-axis Units, 2-axis circular

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

A 2-axis traverse operation is available,
with a traverse time of 4 ms max.

Unlimited feeding can be either 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.

any interrupt signal.

G00, G01, G02, G03, G26, G27, G30,

Within one turn only
Not supported.

Not supported.

Cannot be specified.

Not supported.

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

The feed rate cannot be changed

during operation.
G31, and G32 operations (except for
pass operations).

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 determined, or

Use regardless of whether or not the

origin is established.
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

absolute encoder is used.
Parameter can be set to shorten origin

search time.
Either deceleration stop or

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.
accumulated pulse stop can be

selected for when CW or CCW limit is
detected.

Forced origin Present position can be forcibly set to

0, and established as the origin. (In an

The present position is set to 0 by the

present position preset function.
absolute encoder system, only the MC
Unit’s present position is set to 0.)

.

10

Product Specifications

ggg

Item C200H-MC221CS1W-MC221/MC421

Absolute encoder origin setting The absolute encoder origin can be

Electronic gear function The numerator and denominator can

IN-POSITION CHECK OFF command
(G13)

Error counter reset The error counter can be reset for

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

Stopover function (Code output during
axis movement)

Acceleration/deceleration time setting
for pass operations

Fixed acceleration mode for pass
operations

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
Absolute value software reset
MPG Operating Flag Busy signal is used instead. Not supported.
Servo data trace function Traces servo data. Can be used with

Data transfer method All data is transferred using IORD or

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 position

set even while servo-lock is in effect.

be set.
After a positioning command output

has been completed, this command
lets the next operation start without
waiting for positioning to be
completed.

each axis.

Unit of interrupts.
An M code or D code can be output

after a fixed amount of axis movement
during operation.

Either the acceleration or deceleration
time of the previous operation can be
selected for pass operations.

A fixed acceleration mode is added for
when pass operations are executed
for one axis only.

Servo system parameters can be
changed by a G code.

adjustment function.

adjustment function. Servo-unlock can
be used at any time.

Integrated with absolute origin setting.

CX-Motion.

IOWR.

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

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

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.

Not supported.

Not supported.

Not supported.

Pass operations are executed with the
acceleration time.

Fixed acceleration time mode only

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.
Not supported.

Not supported.

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

Stop by turning OFF operation
command output.

Not supported.

Motion Control Units

11

Motion Control Units

Product Specifications

Performance

The

following table shows the typical values of each performance item. These values, however, vary according to the task configuration, axis

configuration,

Power ON startup time

Cyclic service time CS1W-MC221:

IOWR execution time

IORD execution time

Data write time

Data read time

Operation startup time

Analog voltage output time lag per axis for
interpolation

Analog voltage output time lag per axis for
independent operation

Interrupt notification time

G language interpretation time

Minimum operation time

Minimum traverse reversal time

External input response time

Zone Flag notification time

and so on. For details, refer to the

Item T

Motion Control Units Operation Manual

ypical value

A

verage: 600 ms

CS1W-MC421:

0.7 ms/instruction

0.8 ms/instruction

475 ms/1,000 words

470 ms/1,000 words

CS1W-MC221:
CS1W-MC421:

CS1W-MC221:
CS1W-MC421:

CS1W-MC221: 4.3 ms/axis
CS1W-MC421: 4.3 ms/axis

2.25 ms

CS1W-MC221:
CS1W-MC421:

CS1W-MC221:
CS1W-MC421:

2 ms

General purpose input:
Emergency stop input:
CW/CCW limit input:
Origin proximity input:

CS1W-MC221:
CS1W-MC421:

0.8 ms/Unit

0.85 ms/Unit

8 ms
12 ms

150

µs

210

µs

2.0 ms

4.2 ms

8.5 ms

9.5 ms

1 ms max.

4.5 ms max.

4.5 ms max.

4.5 ms

14.08 ms

34.08 ms

(W359-E1-1).

Description

T

ime from turning ON the power until

manual operation commands are accepted.

T

ime by which the CPU Unit cycle time will

be extended per MC Unit.

T

ime by which the cycle time will be

extended when IOWR is executed.

T

ime by which the cycle time will be

extended when IORD is executed.

T

ime from when IOWR is executed until

data transfer is completed.

T

ime from when IORD is executed until

data transfer is completed.

MC221: T

1-task, 2-axis configuration.

MC421: T

1-task, 4-axis configuration.

T

ime delay when interpolation is performed

for 1 task.

T

ime delay when one axis each is started

for all tasks simultaneously

When C200H

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 give, Stop

Mode operation will be used even in Pass

Mode or In-Position Check OFF Mode.

Reversing operation is possible every 2 ms

for traverse operation.

Response time to external input signals.

The time required for one Zone Flag to

respond.

ime for X axis operation with a
ime for X axis operation with a

.

j-series Special I/O Unit is

G Language

Example

N000 P001 XY

Program number and axis declaration

N001 G91

Incremental Specification

N002 G00 X100 Y50 M001

Positioning: Moves the X axis by 100 and the Y axis by 50
from the present position, and outputs M code 001 after
positioning has been completed.

Block

number (N000 to N999): Equivalent to a program line number

G code: 2-digit number following “G” represents a command.

.

12

Product Specifications

Code

ae

Code

ae

Motion Control Units

Code Name

G00 Positioning

G01

G02

G03

G04
G10

G11
G13 IN-POSITION CHECK OFF MODE
G17
G18 CIRCULAR PLANE SPECIFICATION (X-Z)
G19 CIRCULAR PLANE SPECIFICATION (Y-Z)
G20 CIRCULAR PLANE SPECIFICATION (X-U)
G21 CIRCULAR PLANE SPECIFICATION (Y-U)
G22 CIRCULAR PLANE SPECIFICATION (Z-U)
G26
G27 W
G28
G29 Origin UNDEFINED
G30 SPEED CONTROL
G31 INTERRUPT FEEDING
G32 traverse
G50
G51
G53
G54
G60

G63 Substitution

G69
G70
G71
G72
G73
G74

G75
G76
G79
G90
G91

Linear Interpolation

Circular Interpolation (Clockwise)

Circular Interpolation (Counterclockwise)

Dwell T

imer W

Pass Mode

Stop Mode

Circular Plane Specification (X-Y)

Reference Origin Return

orkpiece Origin Return

Origin Search

Select Reference Coordinate System Specifies the reference coordinate system.
Select W
Change W
Change Reference Coordinate System PV
Arithmetic Operations

Change Parameter
Unconditional Jump
Conditional Jump
Subroutine Jump
Subroutine End
Optional End

Optional Skip Skips the block after this command when the specified optional input is ON.
Optional Program Stop
Program End
Absolute Specification Positions with absolute coordinates when performing axis operations.
Incremental Specification

orkpiece Coordinate System

orkpiece Origin Of

fset

Function

4-axis MCU

CS1W-MC221 CS1W-MC421

Positions up to 2 or 4 axes simultaneously with PTP control at the maximum
feed rate.

Performs linear interpolation on 1, 2, 3, or 4 axes (1 or 2 axes for MC221).
The specified axes move simultaneously
The feed rate can be specified.
Performs 2-axis circular interpolation in the clockwise direction at the

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

specified interpolation feed rate.

aits for the specified length of time.

Performs operations one-by-one in sequence without waiting for
deceleration to stop.

Performs the next operation after completing positioning.
Starts the next operation without waiting for positioning to be completed.
Sets the X-Y plane as the plane for circular interpolation.
Sets the X-Z plane as the plane for circular interpolation.
Sets the Y
Sets the X-U plane as the plane for circular interpolation.
Sets the Y
Sets the Z-U plane as the plane for circular interpolation.
Moves to the reference origin.
Moves to the workpiece origin.
Performs an origin search on the specified axis.
Sets the origin to an undefined state.
Feeds up to 2 axes simultaneously at the controlled feed rate.
Performs an interrupt feeding operation.
Executes traverse operation.

Specifies the workpiece coordinate system.
Changes the origin of the workpiece coordinate system.
Changes the present value in the reference coordinate system.
Performs arithmetic operations on numerical values, position data, and

registers.
Substitutes numerical values, position data, or registers into other position

data or registers.
Changes the specified parameter
Unconditionally jumps to the specified block.
Jumps to the specified block when the condition is met.
Calls the specified subroutine.
Ends the subroutine.
Ends the block currently being executed when the specified optional input is

ON.

Pauses the program when the specified optional input is ON.
Ends the main program.

Positions with relative coordinates when performing axis operations.

-Z plane as the plane for circular interpolation.

-U plane as the plane for circular interpolation.

.

.

2-axis MCU

Auxiliary Codes

Code Name

M
D D code

4-axis MCU

CS1W-MC221 CS1W-MC421

M code Outputs an M code.

Starts an external interrupt task for the CPU Unit.

Function

2-axis MCU

13

Motion Control Units

System Configuration

Control System

Semi-closed

Feedback pulses and
present value information
(for absolute encoders)

Loop System

Product Specifications

MC Unit

Analog output

Servodriver

Tachogenerator

Rotary encoder

Connected Configuration

MPG or
synchronous
encoder

Teaching Box

XW2Z-100J-F1 MC Unit Terminal
Block Connecting Cable or
user-prepared cable

CCW limit input
CW limit input
Origin proximity input

Emergency stop input

for 4 or 2 axes

General-purpose inputs (4)
General-purpose outputs (4)

Servomotor

MC Unit
(Example: CS1W-MC421)

MPG connector

DRV X, Y
connectors

DRV Z, U connectors

I/O connector

MC Unit Terminal Block
CS1W-MC421: XW2B-40J6-7
CS1W-MC221: XW2B-20J6-6

CPU Unit

Power Supply Unit

Servodriver Connecting
Cable (for U/H/M-series) or
user-prepared cable

For connection to peripheral port on CPU
Unit: CS1W-CNjjj
For connection to RS-232C port on CPU
Unit: XW2Z-j00S(-CV)

Servodriver

Servomotor

CS1W-MC421:
4 axes

CS1W-MC221:

Servodriver

2 axes

14

Servomotor

Product Specifications

Exchanging Data

CS1

Motion Control Units

CS1W-MC221

CIO Area Words

2000 to 2029

2010 to 2039

2020 to 2049

2030 to 2059

n to n+29

2900 to 2929
2910 to 2939

2920 to 2949

2930 to 2959

Reserved
Reserved

Data Memory Area

(Allocated areas are not used)

Data transfer words

Data

Unit #0
Unit #1
Unit #2
Unit #3

Unit #90
Unit #91
Unit #92
Unit #93
Unit #94
Unit #95

Transferred to each Unit during I/O refresh

IOWR/IORD instructions

I/O Refresh Data Area

OUT refresh

IN refresh

Reserved

n: 2000 + 10 × unit number

Address

Data saved.

A total of 30 words used.

Internal memory

Position data

System parameters

Monitor information

Special information

Flash memory

G-language program

S

S S S S

At startup or
when restarted.

S

CS1

CIO Area Words

2000 to 2049
2010 to 2059
2020 to 2069

2030 to 2079

n to n+49

2900 to 2949

2910 to 2959

Reserved
Reserved

Reserved
Reserved

Data Memory Area

(Allocated areas are not used)

Data transfer words

Data

Unit #0
Unit #1
Unit #2

Unit #3

Unit #90
Unit #91

Unit #92
Unit #93
Unit #94

Unit #95

Transferred to each Unit during I/O refresh

IOWR/IORD instructions

CS1W-MC421

I/O Refresh Data Area

A total of 50 words used.

n: 2000 + 10 × unit number

Internal memory

Address

Position data

System parameters

Monitor information

Special information

Data saved.

Flash memory

G-language program

OUT refresh

IN refresh

Reserved

S

S S S S

When powered
up
or restarted.

S

15

Motion Control Units

U

Gee

C

ed

()

Component Names

CS1W-MC221 CS1W-MC421

Product Specifications

LED indicators

Unit number setting switch

MPG connector

DRV X-Y connector
10126-3000VE Connector

(Sumitomo 3M)

10326-52F0-008 Connector cover

(Sumitomo 3M)

(This unit is provided with 2 sets.)

Teaching Box
connector

I/O connector

Teaching Box
connector

Indicators

Indicator Color Status Meaning

RUN Green

ERC Red

ERH

XCCW

Red ON

Yellow
YCCW
ZCCW (See note.)
UCCW (See note.)

XCW

Yellow
YCW
ZCW (See note.)
UCW (See note.)

ON The
OFF

The MC Unit is not recognized by the PC or is

malfunctioning.
ON
OFF

An error occurred in the MC Unit.

The MC Unit is operating normally

An error occurred in the CPU Unit.
OFF
ON

The CPU Unit is operating normally

The motor for the applicable axis is turning in the CCW

direction. (The X to U axes correspond to XCCW to

UCCW.)
OFF

The applicable axis is stopped or is turning in the CW

direction.
ON

The motor for the applicable axis is turning in the CW

direction. (The X to U axes correspond to XCW to UCW
OFF

The applicable axis is stopped or is turning in the CCW

direction.

MC Unit is operating normally

LED indicators

Unit number setting switch

DRV X-Y connector
10126-3000VE Connector

(Sumitomo 3M)

10326-52F0-008 Connector cover

(Sumitomo 3M)

(This unit is provided with 2 sets.)

I/O connector

DRV Z-U connector
10126-3000VE Connector

(Sumitomo 3M)

10326-52F0-008 Connector cover

(Sumitomo 3M)

(This unit is provided with 2 sets.)

SU

.

.

.

.)

Note:

The CS1W

-MC221 does not have the ZCCW

, UCCW, ZCW

, and UCW indicators.

16

Product Specifications

I/O Connector Wiring

I/O Connector

Snap-on
Connector: 10126-3000VE (provided with the Unit, manufactured by Sumitomo 3M)
Case: 10326-52F0-008 (provided with the Unit, manufactured by Sumitomo 3M)

Connector

CS1W-MC221

CS1W-MC221

Pin

1

2 XCWL (NC) 11 X-axis CW limit

3 YCWL (NC) 16 Y

4 XCCWL (NC) 12 X-axis CCW

5 YCCWL (NC) 17 Y-axis CCW

6 XSTOP (NC) 14 X-axis

7 YSTOP (NC) 8 Y-axis

8 IN1 (NO) 4
9 IN2 (NO) 9
10 XORG (NC,

11 YORG (NC,

12 OUT1 (See

13 OUT2 (See

14 DC GND 0

15 --- --­16 MPG-A

17 MPG-B

18 MPG-A

19 MPG-B

20 --- --­21 IN3 (NO)
22 IN4 (NO)
23 --- --­24 --- --­25 OUT3

Symbol T

+24 V

NO)
(See note 1)

NO)
(See note 1)

note 3)

note 3)

erminal on

MC Unit

terminal block

10

13

18 Y

15

19

See note 2

See note 2

See note 2

See note 2

See note 2
See note 2

See note 2

Motion Control Units

Name Function

24-VDC input

input

-axis CW limit

input

limit input

limit input

emergency
stop input

emergency
stop input

General input 1 General input 1
General input 2 General input 2
X-axis origin

proximity input

-axis origin

proximity input

General output1General output 1 or X-axis brake

General output2General output 2 or Y

24-VDC input
ground

MPG input
phase A

MPG input
phase B

MPG input
phase A

MPG input
phase B

General input 3 General input 3
General input 4 General input 4

General output3General output 3

Connects to the + terminal of the
24-VDC external power supply

Limits movement of the X axis in
the CW direction.

Limits movement of the Y axis in
the CW direction.

Limits movement of the X axis in
the CCW direction.

Limits movement of the Y axis in
the CCW direction.

Disables the X-axis run output
and stops it.

Disables the Y
and stops it.

Used for the X-axis origin
search.

Used for the Y
search.

signal output

signal output
Connects to the – terminal (0 V)

of the 24-VDC external power
supply.

MPG input
phase A

MPG input
phase B

MPG input
phase A

MPG input
phase B

-axis run output

-axis origin

-axis brake

See note 1

.

26 OUT4

“NC” stands for normally closed and “NO” stands for normally open.
Note: 1. For

the CS1W

MPG

Connection Example

2.

MPG inputs, and general outputs 3 and 4 cannot be connected from the terminal block.

-MC221, connect the MPG to this I/O connector

See note 2

on page

General output4General output 4

23.

. For the connection method, refer to

17

Motion Control Units

CS1W-MC421

CS1W-MC421

Pin

1

2 XCWL (NC) 21 X-axis CW limit

3 YCWL (NC) 26 Y

4 XCCWL (NC) 22 X-axis CCW

5 YCCWL (NC) 27 Y-axis CCW

6 XSTOP (NC) 24 X-axis

7 YSTOP (NC) 8 Y-axis

8 IN1 (NO) 4
9 IN2 (NO) 9
10 XORG (NC, NO)

11 YORG (NC, NO)

12

13

14 DC GND 0

15 ZCWL (NC)

16 UCWL (NC)

17 ZCCWL (NC)

18 UCCWL (NC)

19 ZSTOP (NC)

20 USTOP (NC)

21 IN3 (NO)
22 IN4 (NO)
23 ZORG (NC, NO)

24 UORG (NC, NO)

25 OUT3

Symbol Terminal

+24 V

(See note 1)

(See note 1)
OUT1 (See note 2)

OUT2 (See note 2)

(See note 1)

(See note 1)

20

23

28 Y

25

29

31 (See note 5)

36 (See note 3)

32 (See note 3)

37 (See note 3)

34 (See note 3)

18 (See note 5)

14 (See note 4)
19 (See note 4)
33 (See note 5)

38 (See note 5)

35 (See note 4) General output3General output 3

on MC

Unit terminal

block

Name Function

24-VDC input

input

-axis CW limit

input

limit input

limit input

emergency
stop input

emergency
stop input

General input 1 General input 1
General input 2 General input 2
X-axis origin

proximity input

-axis origin

proximity input
General output1General output 1 or X-axis

General output2General output 2 or Y

24-VDC input
ground

Z-axis CW limit
input

U-axis CW limit
input

Z-axis CCW
limit input

U-axis CCW
limit input

Z-axis
emergency
stop input

U-axis
emergency
stop input

General input 3 General input 3
General input 4 General input 4
Z-axis origin

proximity input
U-axis origin

proximity input

Product Specifications

Connects to the + terminal of
the 24-VDC external power
supply.

Limits movement of the X axis
in the CW direction.

Limits movement of the Y axis
in the CW direction.

Limits movement of the X axis
in the CCW direction.

Limits movement of the Y axis
in the CCW direction.

Disables the X-axis run output
and stops it.

Disables the Y
and stops it.

Used for the X-axis origin
search.

Used for the Y
search.

brake signal output

brake signal output
Connects to the – terminal (0

V) of the 24-VDC external
power supply

Limits movement of the Z axis
in the CW direction.

Limits movement of the U axis
in the CW direction.

Limits movement of the Z axis
in the CCW direction.

Limits movement of the U axis
in the CCW direction.

Disables the Z-axis run output
and stops it.

Disables the U-axis run output
and stops it.

Used for the Z-axis origin
search.

Used for the U-axis origin
search.

-axis run output

-axis origin

-axis

.

18

26 OUT4

“NC” stands for normally closed and “NO” stands for normally open.

3. When the CS1W-MC221 and the XW2B-40J6-7 are connected, these terminals will be used as
MPG

inputs.

4. When

5.

the CS1W

general

inputs/outputs 3 and 4.

When the CS1W-MC221 and the XW2B-40J6-7 are connected, these

-MC221

39 (See note 4) General output4General output 4

and the XW2B-40J6-7 are connected, these terminals will be allocated as

terminals will not be used.

Product Specifications

External Connection Diagram

Using

the Connector

Example:

X-axis W

iring

I/O connector

Pin

+24 V input

X-axis CW limit input

Y-axis CW limit input

X-axis CCW limit input

Y-axis CCW limit input

Motion Control Units

Connector:

and assemble the connector by

Wire
using the connector case provided with
the Unit or by using the XW2Z-100J-F1
MC Unit T
Cable.

erminal Block Connecting

+

24 VDC

–

Using the MC Unit T

XW2Z-100J-F1 MC Unit Terminal Block Cable

MC Unit Terminal Block
CS1W-MC221: XW2B-20J6-6
CS1W-MC421: XW2B-40J6-7

X-axis CW, CCW, origin proximity, and emergency stop
Y-axis CW, CCW, origin proximity, and emergency stop

CW
limit input

erminal Block

CCW
limit
input

Emergency
stop input

Origin
proximity
input

X-axis emergency stop input

Y-axis emergency stop input

General-purpose input 1

General-purpose input 2

X-axis origin proximity input

Y-axis origin proximity input

24-V input GND

Example:

+

24 VDC

–

X-axis W

CW
limit
input

CCW
limit
input

iring

Emerg
ency
stop
input

XW2B-20J6-6
MC Unit Terminal Block

24-VDC input ground

General input 1

Origin
proxim
ity
input

Y-axis emergency stop input
General input 2
24-VDC input
X-axis CW limit input
X-axis CCW limit input
X-axis origin proximity input
X-axis emergency stop input

Y-axis CW limit input
Y-axis CCW limit input
Y-axis origin proximity input

19

Motion Control Units

DRV Connector Wiring

DRV X-Y and Z-U Connectors

The

DR

V connectors are used primarily to connect servodrivers. The DR

for

the Z and U axes.
Special driver cables, which are sold separately
Snap-on Connectors

Connector: 10136-3000VE (provided with the Unit, manufactured by Sumitomo 3M)
Case: 10336-52F0-008 (provided with the Unit, manufactured by Sumitomo 3M)

, are available for OMRON U-, H-, and M-series Servodrivers.

V X-Y connector is for the X and Y axes, and the DR

Product Specifications

V Z-U connector is

CS1W-MC221

CS1W-MC221

Pin Symbol Name Function

1

2 DC GND

3 XALM
4 XRUN
5 XALMRS

6 --- --­7 --- --­8 XSGND X-axis SEN signal

9 XSOUT X-axis SEN signal

10 X-GND
11 X-A
12 X-A X-axis phase A
13 X-B
14 X-B X-axis phase B
15 X-Z
16 X-Z X-axis phase Z
17 XOUT

18 XAGND

19 +F24V

20 FDC GND

21 YALM Y
22 YRUN Y
23 YALMRS Y

24 --- --­25 --- --­26 YSGND Y-axis SEN signal

27 YSOUT Y-axis SEN signal

28 Y-GND Y
29 Y-A Y
30 Y-A Y-axis phase A
31 Y-B Y
32 Y-B Y-axis phase B
33 Y-Z Y
34 Y-Z Y-axis phase Z
35 YOUT Y

36 YAGND Y

+24 V

24 VDC input

24 VDC input ground

X-axis alarm input
X-axis run output Driver run output for the X-axis
X-axis alarm reset

output

ground

output
X-axis feedback ground
X-axis phase A input

input

X-axis phase B input

input

X-axis phase Z input Phase Z feedback input for the X-axis

input

X-axis speed control

X-axis speed control
ground

24 VDC output

24 VDC output ground

-axis alarm input

-axis run output

-axis alarm reset

output

ground

output

-axis feedback ground

-axis phase A input
input

-axis phase B input
input

-axis phase Z input
input

-axis speed control

-axis speed control

ground

External power supply’
input (for the X-Y axes)

External power supply’
ground (for the X-Y axes)

Driver alarm input for the X-axis

Reset output for the X-axis’
alarm.

Not used.
Not used.
SEN signal ground for the X-axis

SEN signal output for the X-axis
(absolute encoder driver)

Feedback ground for the X-axis
Phase A feedback input for the X-axis
Phase A
Phase B feedback input for the X-axis
Phase B

Phase Z
Speed control voltage to the X-axis

driver
Ground for the X-axis’

voltage
24-VDC input to the driver (for the

X-Y axes)
Ground for 24-VDC outputs (for the

X-Y axes)
Driver alarm input for the Y
Driver run output for the Y
Reset output for the Y

alarm.
Not used.
Not used.
SEN signal ground for the Y

SEN signal output for the Y
(absolute encoder driver)

Feedback ground for the Y
Phase A feedback input for the Y
Phase A
Phase B feedback input for the Y
Phase B
Phase Z feedback input for the Y
Phase Z
Speed control voltage to the Y

driver
Ground for the Y

voltage

feedback input for the X-axis

feedback input for the X-axis

feedback input for the X-axis

feedback input for the Y

feedback input for the Y

feedback input for the Y

s 24-VDC

s 24-VDC

s speed control

-axis’s driver

-axis’

s speed control

s driver

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

20

Product Specifications

Motion Control Units

CS1W-MC421

CS1W-MC421

Pin

1 +24

2 DC GND

3 ZALM
4 ZRUN
5 ZALMRS

6 --- --­7 --- --­8 ZSGND Z-axis SEN signal

9 ZSOUT Z-axis SEN signal

10 Z-GND Z-axis feedback

11 Z-A
12 Z-A Z-axis phase A
13 Z-B
14 Z-B Z-axis phase B
15 Z-Z
16 Z-Z Z-axis phase Z
17 ZOUT
18 ZAGND

19 +F24V

20 FDC GND

21 UALM
22 URUN
23 UALMRS U-axis alarm reset

24 --- --­25 --- --­26 USGND U-axis SEN signal

27 USOUT U-axis SEN signal

28 U-GND U-axis feedback

29 U-A U-axis phase A

30 U-A U-axis phase A

31 U-B U-axis phase B

32 U-B U-axis phase B

33 U-Z U-axis phase Z

34 U-Z U-axis phase Z

35 UOUT U-axis speed control
36 UAGND U-axis speed control

Symbol Name Function

V

24 VDC input

24 VDC input
ground

Z-axis alarm input
Z-axis run output
Z-axis alarm reset

output

ground

output

ground
Z-axis phase A input Phase A feedback input for the Z-axis

Z-axis phase B input Phase B feedback input for the Z-axis

Z-axis phase Z input Phase Z feedback input for the Z-axis

Z-axis speed control
Z-axis speed control

ground
24 VDC output

24 VDC output
ground

U-axis alarm input Driver alarm input for the U-axis
U-axis run output Driver run output for the U-axis

output

ground

output

ground

input

input

input

input

input

input

ground

External power supply’
the Z-U axes)

External power supply’
(for the Z-U axes)

Driver alarm input for the Z-axis
Driver run output for the Z-axis
Reset output for the Z-axis’

Not used.
Not used.
SEN signal ground for the Z-axis

SEN signal output for the Z-axis (absolute
encoder driver)

Feedback ground for the Z-axis

input

Phase A

feedback input for the Z-axis

input

Phase B

feedback input for the Z-axis

input

Phase Z

feedback input for the Z-axis
Speed control voltage to the Z-axis driver
Ground for the Z-axis’

voltage
24-VDC input to the driver (for the Z-U

axes)
Ground for 24-VDC outputs (for the Z-U

axes)

Reset output for the U-axis’

Not used.
Not used.
SEN signal ground for the U-axis

SEN signal output for the U-axis (absolute
encoder driver)

Feedback ground for the U-axis

Phase A feedback input for the U-axis

Phase A

feedback input for the U-axis

Phase B feedback input for the U-axis

Phase B

feedback input for the U-axis

Phase Z feedback input for the U-axis

Phase Z

feedback input for the U-axis

Speed control voltage to the U-axis driver
Ground for the U-axis’s speed control

voltage

s 24-VDC input (for

s 24-VDC ground

s speed control

s driver alarm.

s driver alarm.

21

Motion Control Units

Se es

eg ( )

for 30 W to

for 1W to

se es

88

se es

88

Servodriver Cables (Optional)

When using OMRON’s U-, H-, or M-series Servodrivers, use Special Servodriver Cables that are
available

as options to connect the MC Unit to Servodrivers.

Series

For two axes

U-series R88D-U

R88A-CPU001M2 R88A-CPU001M1 1.0
for 30-W to
750-W
Servodrivers

R88D-U

R88A-CPU002M2 R88A-CPU002M1 2.0

R88A-CPUB001M2 R88A-CPUB001M1 1.0
for 1-W to
5-kW
Servodrivers

H-series R88D-H

R88A-CPUB002M2 R88A-CPUB002M1 2.0

R88A-CPH001M2 R88A-CPH001M1 1.0

R88A-CPH002M2 R88A-CPH002M1 2.0

M-series R88D-M

R88A-CPM001M2 R88A-CPM001M1 1.0

R88A-CPM002M2 R88A-CPM002M1 2.0

Cable model number

For single axis

Length (m)

Product Specifications

Connector:
When

the Special Cables shown on
the left are not to be used, wire and
assemble the connector by using
the connector case provided with
the Unit.

U-series Servodrivers:
R88A-CPU001M2/002M2 (30 to 750 W)
R88A-CPUB001M2/002M2 (1 to 5 kW)

Connect to a battery when using the
absolute encoder.

Servodriver

DRV X-Y
connector

Servodriver

Connect to +24 V

H-series Servodrivers:
R88A-CPH001M2/002M2

DRV X-Y
connector

Connect to +24 V

Servodriver

Servodriver

M-series Servodrivers:
R88A-CPM001M2/002M2

DRV X-Y
connector

Connect to +24 V

Servodriver

Servodriver

22

Product Specifications

Connection Examples

Connection
Special Driver Cable: R88A-CPU00

to U-series (30-W to 750-W) Models (Using an Absolute Encoder)

jM2

MC Unit

DRV X-Y connector

X-axis alarm reset output

X-axis SEN signal ground

X-axis SEN signal output

X-axis speed control ground

24-VDC input

24-VDC input ground

X-axis alarm input

X-axis run output

X-axis feedback ground

X-axis phase A input
X-axis phase A
X-axis phase B input
X-axis phase B
X-axis phase Z input
X-axis phase Z input
X-axis speed control

24-VDC output

24-VDC output ground

input

input

DC Power Supply

Red

+24V

Black

Battery
(+2.8 to 4.5 V)

Motion Control Units

AC Servodriver
R88D-UAjjj

CN1

+24V

+A
–A
+B
–B

+Z
–Z

Red

+

Black

AC Servodriver
R88D-UAjjj

Y-axis alarm input

Y-axis run output

Y-axis alarm reset output

Y-axis SEN signal ground

Y-axis SEN signal output

Y-axis feedback ground

Y-axis phase A input
Y-axis phase A

Y-axis phase B input
Y-axis phase B
Y-axis phase Z input
Y-axis phase Z

Y-axis speed control

Y-axis speed control ground

input

input

input

MPG Connector Wiring

MPG Connector (for CS1W-MC421 Only)

The

MPG connector is used to connect a manual pulse generator (MPG). With the CS1W

CS1W-MC221,

Manual Pulse Generator (MPG)

Use

a line driver model for the MPG. The LGF-003-100 (by Sumtak) is recommended.
Snap-on Connectors
Connector: 101
Case: 10314-52F0-008 (provided with the Unit, manufactured by Sumitomo 3M)

CS1W-MC421

there is an MPG terminal on the I/O connector

.

14-3000VE (provided with the Unit, manufactured by Sumitomo 3M)

Pin Symbol Name

5 MPG-A
6 MPG-A
12 MPG-B
13 MPG-B

+24V

+A
–A
+B
–B

+Z
–Z

Red

Battery
(+2.8 to 4.5 V)

+

Black

-MC421, it is wired with an MPG connector

MPG input phase A
MPG input phase A
MPG input phase B
MPG input phase B

. With the

23

Motion Control Units

MPG Connection Example

MPG (LGF-003-100)

+

5 VDC
Power

–

supply

CS1W-MC421
MPG connector

MPG input phase A

6

MPG input phase A

5

MPG input phase B

13

MPG input phase B

12

Note: For the CS1W-MC221, use the I/O connector.

MPG (LGF-003-100)

Product Specifications

+

5 VDC
Power

–

supply

CS1W-MC221
I/O connector

MPG input phase A

16

MPG input phase A

18

MPG input phase B

17

MPG input phase B

19

24

ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.

To

convert millimeters into inches, multiply by 0.03937. T

o convert grams into ounces, multiply by 0.03527.

OMRON Corporation

Systems Components Division
66 Matsumoto
Mishima-city

, Shizuoka 41

1-851
Japan
T

el: (81)559-77-9633

Fax: [phone]

Regional Headquarters
OMRON EUROPE B.V.

W

egalaan 67-69, NL-2132 JD Hoofddorp

1

The Netherlands
T

el: (31)2356-81-300/Fax: [phone]

OMRON ELECTRONICS, INC.

1 East Commerce Drive, Schaumburg, IL 60173
U.S.A.
T

el: (1)847-843-7900/Fax: [phone]

OMRON ASIA PACIFIC PTE. LTD.

83 Clemenceau Avenue,
#1

1-01, UE Square,
Singapore 239920
T

el: (65)835-301

1/Fax: [phone]

1

Authorized Distributor:

Note:

Specifications subject to change without notice.

Cat.

No. R062-E1-1

Printed in Japan
0100-0.7M