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
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