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 position 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.

•Assembling Systems: Automated assembling machines

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

Note: The MC Unit is not designed to perform linear interpolation, circular interpolation, 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.

CS1W-MC421 CS1W-MC221

System Configuration

	CPU Unit	MC Unit
		(Example: CS1W-MC221)

MC Support

Software

	Analog input Servomotor
	servodriver
Teaching Box
	MC Terminal Block
	Conversion Unit
Automatic Mode
MC Unit	CPU Unit
G language program

Data bits

Operating commands

Manual Mode

MC Unit

CPU Unit

Teaching Box

Data bits

Manual controls

Manual controls

ªProgrammable Controllerº is abbreviated as ªPCº in theseSpecification Sheets.

1

Motion Control Units								Product Specifications
										Stop Mode
							Position control			Pass Mode
							Speed control			In-position
										Check OFF Mode
							Origin search
				Automatic Mode			Interrupt feeding
				(Executes G-language programs			Traversing
				in the MC Unit.)
							Dwell timer
							Arithmetic operations, etc.
							Jogging
							Deceleration stop
							Present position preset
MC Unit functions				Manual Mode			Origin search (manual)
				(Executes manual commands			Servo lock/Servo unlock
				from the CPU Unit or Teaching			Error counter reset
				Box.)
							Forced origin
							Standard origin return
							Absolute origin setting

Common to Automatic				Teaching
				Zones
and Manual Modes
				Backlash correction
				Override
				Electronic gear

Features

Multitasking G Language

The MC Unit is provided with a multitasking G language, which is the optimum language for motion control. The G language makes it simple to create programs for multiaxis control, without placing a burden on the CPU Unit's ladder diagram program.

Simple and Fast Traverse Operations

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

Fast Pick-and-place 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.

Supports Absolute Encoders

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

High-speed Response to Start Commands from CPU Unit

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 13 ms for four axes (MC421 only). This is 1.5 times faster than the previous models.

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.

500-kp/s Encoder Response Frequency

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.

CPU Unit Interrupts

A CPU Unit external interrupt task can be started by outputting a D code (interrupt code) for the CPU Unit when positioning is com-

pleted or when passing through a particular position. This feature is 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 range.

•Synchronous Electronic Gear

Input pulses for a synchronous encoder can be accelerated or decelerated for each axis at any timing. The acceleration or deceleration rate is specified by a numerator/denominator ratio.

To provide simple synchronous control, this function can also be enabled or disabled for each axis at any timing.

•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 press control in molding and other processes.

•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 operations.

•Override (Real Time Speed Change)

The speed can be changed during PTP, linear interpolation, or circular interpolation operations in which the axis stops during the positioning operation. (This function is invalid in pass mode or in-position check OFF mode.)

•Pass Operations

The acceleration and deceleration times can be changed during pass operations. It is possible to specify whether to pass the operation using the previous acceleration time or pass the operation using the deceleration time during pass operations. It is also possible to pass the operation at a constant acceleration rate during single-axis pass operation.

2

Product Specifications	Motion Control Units

•Servo Parameter Changes

The servo gain, such as the feed-forward gain, can be changed 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 ModeThe

The search pattern can be selected to reduce the origin search 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.

•Interrupt Feeding

This function uses general-purpose inputs (interrupt signals) to move the specified axis by the specified distance for positioning.

It is possible to perform positioning operations when no interrupt signals are received during interrupt feeding.

•Brake Signal Outputs

To make motor operation even easier, brake signal outputs (also used as a general-purpose output) can be used during servo lock or unlock.

•Stopover

A stopover outputs M code or D (interrupt) code without stopping operation after feeding the axis by the specified distance during operation. The cycle time can be reduced by controlling peripheral devices before the operation is completed.

•Error Logging

The error log can store up to 20 error records, such as positioning 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 management of multiple MC Units.

•Tree Display for Edit or Monitor Screens

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

so that the user can easily understand the location of the data currently being set, edited, or monitored.

•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 Windows-based CX-Motion. 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 CX-Motion is installed can be automatically downloaded to the MC Unit's internal memory. This function allows the system to cope with an application consisting of more than 100 programs.

•Single-port Multiaccess 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.

•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 these mnemonics as required, making it easy to write or analyze MC programs.

•File Conversion

The existing system parameters, position data, and programs created using previous versions of the MC Support Software can be converted for use with the CX-Motion.

Data Creation Using Teaching Box

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.

Operate with MPG

Positioning and simple sync operations can be performed using an MPG (manual pulse generator).

Models

Applicable PCs	Unit classification	Controlled driver	Number of controlled	Model
			axes
CS1 Series	CS1 Special I/O Unit	Analog input servodriver	4	CS1W-MC421
			2	CS1W-MC221

MC Unit Support Software (Sold Separately)

Name	Computer	Supported MC Units	Specifications	Model
CX-Motion	IBM PC/AT or	CS1W-MC421/221,	Operating system:	WS02-MCTC1-E
	compatible	C200H-MC221,	Windows 95/98/NT V4.0
		CV500-MC421/221	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, printing,
			automatic loading, file
			conversion, etc.

Connecting Cables

Connection to CPU Unit	Computer	Cable length	Cable model
Peripheral port	IBM PC/AT or compatible	2.0 m, 6.0 m	CS1W-CNjjj
RS-232C port	IBM PC/AT or compatible	2.0 m, 5.0 m	XW2Z-jjjS (-jj)

3

	Motion Control Units				Product Specifications
		Specifications
		Item		Specifications
		Model		CS1W-MC221	CS1W-MC421
	Applicable PC			CS1 Series
	Type of Unit			CS1 Special I/O Unit
	Backplanes on which MC Unit can			CPU Backplane or CS1 Expansion I/O Backplane (See note 1.)
	be mounted
	Method for data		Words allocated	30 words/Unit (uses 3 unit numbers.) (See	50 words/Unit (uses 5 unit numbers.) (See
	transfer with		to Special I/O	note 2.)	note 2.)
	CPU Unit		Units in CIO
				CPU Unit to MC Unit:
			Area
				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.
			Words allocated	Not used.	Not used.
			to Special I/O
			Units in DM Area
	Controlled Driver			Analog input servodriver (Example: OMRON OMNUC H, M, or U Series)
	Built-in program language			G language (Started by receiving a start command from the CPU Unit ladder diagram program.)
	Control		Control method	Speed reference voltage output-type semi-closed loop system, using incremental and absolute
				encoder inputs.
			Number of	2 max.	4 max.
			controlled axes
				Multitasking can be used to execute independent operating modes and programs for each axis.
	Automatic/Manual Mode (for each			Automatic Mode: Mode for executing MC program created in G language.
	task)			Manual Mode: Mode for executing manual commands from CPU Unit (PC interface area) or
				Teaching Box.
				Note: The Automatic or Manual Mode is set according to the PC interface area of the CPU Unit.
				There are a total of 11 Automatic Mode commands, including origin search, reference origin
				return, JOG, and error reset.
				The operation cycle is started in Automatic Mode through dedicated bits in the CPU Unit or from
				the Teaching Box.
	Encoder interface			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.
	Control unit		Minimum setting	1, 0.1, 0.01, 0.001, 0.0001
			unit
			Units	mm, inch, degree, pulse (There is no unit conversion function.)
	Maximum command value			±39,999,999 to +39,999,999 (When the minimum setting unit is 1.)
	Number of controlled axes			2 axes max.	4 axes max.
	Positioning		PTP	Execution by independent programs, operating modes for each axis.
	operations		(independent)
			control
			Linear	2 axes max	4 axes max.
			interpolation
			Circular	Circular interpolation for a maximum of two axes on a plane.
			interpolation
			Helical circular	---	Circular interpolation for a maximum of two
			interpolation		axes on a plane + one axis for feed control
			Traverse function	Traverse operation for two axes
			Speed control	Speed control for each axis
			Unlimited Feed	Axis feeding can be executed with no limit.
			Mode
			Interrupt feeding	Feeding a fixed distance after an interrupt input, for each axis. (Positioning with no interrupt
				input signals is also possible.)
	Speed reference			1 pps to 2,000 kp/s (when ratio is 4)
	Acceleration/deceleration curve			Trapezoidal or S-curve
	Acceleration/deceleration time			Individual acceleration/deceleration settings possible: 0 to 100,000 ms (2-ms increments)

Note: 1. The MC Unit must be mounted to the CPU Rack to use D codes. D codes will not be sent to the CPU Unit if the MC Unit is mounted to a CS1 Expansion Rack.

2.The number of MC Units that can be mounted under one CPU Unit must be determined based on the maximum number of Special I/O Units that can be allocated words in the CPU Unit, the power supply capacity on the CPU or CS1 Expansion Rack, and the current consumption of the Units mounted to the Rack. Refer to the CPU Unit's operation manual for details on calculation methods.

4

	Product Specifications					Motion Control Units
	Item				Specifications
	External I/O	Peripheral	Teaching Box (1 only)
		device
		Encoder	Line receiver inputs:			Line receiver inputs:
			For two axes			For four axes
			(500 kp/s before multiplication)			(500 kp/s before multiplication)
		MPG/sync	Line driver output-type MPG/sync encoder: 1
		encoder	500 kp/s max. (before multiplication)
		Servodriver	The following signals are each provided for			The following signals are each provided for
		relationships	two axes:			four axes:
			Inputs:	Driver alarm signals
			Outputs: Driver alarm reset signals
				High-speed reference voltage outputs (±10 V)
				Operation command outputs
				SEN signals (for absolute encoder)
		Individual axis	The following signals are each provided for			The following signals are each provided for
		control	two axes:			four axes:
			Input:	CCW limit inputs
				CW limit inputs
				Origin proximity inputs
				Emergency stop inputs
		Others	General inputs: 4 pts. (interrupt inputs)
			General outputs: 4 pts. (brake signal outputs)
	Feed operations	Rapid feed rate	Example: 36.86 m/min
			Conditions
		Interpolation	Encoder resolution: 2,048 p/r
		feed rate	Motor speed: 4,500 r/m
			Control unit: 0.001 mm/pulse
		Rapid feed	0.1% to 100.0% (Setting unit: 0.1%)
		override
		Interpolation	0.1% to 199.9% (Setting unit: 0.1%)
		feed override
		Jog feed	0.1% to 100.0% (Setting unit: 0.1%)
		override
	Axis control	Zone settings	Up to 8 zones/axis can be set.
		Backlash	Can be set from 0 to 10,000 pulses.
		correction
		In-position zone	Can be set from 0 to 10,000 pulses.
		Position loop	1 to 250 (1/s)
		gain
		Feedforward	0% to 100%
		gain
	Task program	Number of tasks	2 max. (program execution units)			4 max. (program execution units)
	management
		Number of	When 1 task is used:		100	When 1 task is used:	100
		programs	When 2 tasks are used:		50	When 2 tasks are used:	50
						When 3 task are used:	33
						When 4 tasks are used:	25
		Program	When 1 task is used:			When 1 task is used:
		capacity		2,000 blocks		2,000 blocks
			When 2 tasks are used:			When 2 tasks are used:
				1,000 blocks/task		1,000 blocks/task
			The maximum number of blocks in a single			When 3 task are used:
						666 blocks/task
			program is 800.
						When 4 tasks are used:
						500 blocks/task
						The maximum number of blocks in a single
						program is 800.
		Position data	2,000 positions max. (total for all axes)
		capacity
		Number of	32 (Mainly used for specifying position data numbers.)
		registers
		Subroutine	5 levels max.
		nesting
	Saving program	MC Unit	Backed up by flash memory.
	data
		External	CX-Motion can be used to save data to a floppy disk or the hard disk at the personal computer.
		peripheral
		devices

5

	Motion Control Units		Product Specifications
	Item	Specifications
	Program and position data automatic	When the operation number (program or position data) is specified by an IOWR instruction from
	download function	the CPU Unit, CX-Motion recognizes it and downloads the program or position data to the MC
		Unit.
	Self-diagnostic function	Memory corruption is detected.
	Error detection functions	Error counter warning, error counter over, absolute encoder error detection, CPU errors,
		communications errors (Teaching Box), flash memory error, EEPROM error, software limit over
		error, phase-Z error, overtravel, emergency stop, unit number error, driver alarm detection,
		driver reverse wiring detection, CPU Unit error detection
	Error log function	Stores up to 20 error log records.
	Model	CS1W-MC221	CS1W-MC421
	Settings	Front panel: Rotary switches for unit number	Front panel: Rotary switches for unit number
		setting (0 to 93)	setting (0 to 91)
		Rear panel: None	Rear panel: None
	Indicators	7 LED indicators: Running, MC Unit error,	11 LED indicators: Running, MC Unit error,
		CPU Unit error, motor rotation direction for	CPU Unit error, motor rotation direction for
		each axis (CCW/CW)	each axis (CCW/CW)
	Connections on front panel	Servodriver connector, I/O connector,	Servodriver connectors (two), I/O connector,
		Teaching Box connector (one each)	Teaching Box connector, MPG connector
	Power supply voltage	5 VDC (from Backplane)
		24 VDC (from external power supply)
	Voltage fluctuation tolerance	4.75-5.25 VDC (from Backplane)
		21.6-26.4 VDC (from external power supply)
	Internal current consumption	600 mA or less for 5 VDC (with Teaching Box	700 mA or less for 5 VDC (with Teaching Box
		connected: 800 mA or less)	connected: 1,000 mA or less)
	Weight (Connectors excluded)	450 g max.	540 g max.
	Safety standards	Conforms to UL (Class 2), CSA (class 2), and EC specifications.
	External dimensions	130.0 × 35 × 100.5 mm (H × W × D)	130.0 × 70.0 × 100.5 mm (H × W × D)
		Single-slot size	Double-slot size
	Standard accessories	10136-3000VE snap-on connector for	10136-3000VE snap-on connector for
		Servodrivers and 10336-52F0-008 Connector	Servodrivers and 10336-52F0-008 Connector
		Cover (manufactured by Sumitomo 3M): 1 set	Cover (manufactured by Sumitomo 3M): 2
		10126-3000VE snap-on connector for I/Os	sets
		and 10326-52F0-008 Connector Cover	10126-3000VE snap-on connector for I/Os
		(manufactured by Sumitomo 3M): 1 set	and 10326-52F0-008 Connector Cover
		Antistatic screws: 4	(manufactured by Sumitomo 3M): 1 set
			10114-3000VE snap-on connector for MPG
			and 10314-52F0-008 Connector Cover
			(manufactured by Sumitomo 3M): 1 set
			Antistatic screws: 8
	Cat. No.	W359

6

Product Specifications

Motion Control Units

Options (Sold Separately)

Name

Specifications

Model

MC Terminal Block Conversion

For easier wiring of I/O

2-axis

XW2B-20J6-6

Unit

connectors

4-axis

XW2B-40J6-7

MC Terminal Block Conversion

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

XW2Z-100J-F1

Unit Cable

Snap-on connector for

Soldered connector

10136-3000VE (manufactured

Servodriver connector on Unit

by Sumitomo 3M)

front panel (1 or 2 sets provided

Connector cover

10336-52F0-008

as standard on the Unit)

(manufactured by Sumitomo

3M)

Snap-on connector for I/O

Soldered connector

10126-3000VE (manufactured

connector on Unit front panel (1

by Sumitomo 3M)

set provided as standard on the

Connector cover

10326-52F0-008

Unit)

(manufactured by Sumitomo

3M)

Snap-on connector for MPG

Soldered connector

10114-3000VE (manufactured

connector on Unit front panel (1

by Sumitomo 3M)

set provided as standard on the

Connector cover

10314-52F0-008

CS1W-MC421 Unit only)

(manufactured by Sumitomo

3M)

Teaching Box

Jogging, origin search, present value monitoring, and other

CVM1-PRO01-E

operations by means of manual commands

Teaching (taking present values into position data)

Teaching Box Connecting

Cable length: 2 m

CV500-CN224

Cable

Cable length: 4 m

CV500-CN424

Cable length: 6 m

CV500-CN624

ROM Cassette

Required when the CVM1-PRS21-V1 Programming Console is

CVM1-MP702

used as a Teaching Box.

CX-Motion Connecting Cables

Unit

Port on Unit

Computer

Port on

Serial

Model numbers

Length

Remarks

computer

communications

mode (network)

CPU Unit

Peripheral

IBM PC/.AT

9-pin

Peripheral bus or

CS1W-CN226

2.0 m

---

or

D-sub

Host Link

CS1W-CN626

6.0 m

compatible

male

RS-232C

XW2Z-200S-CV

2.0 m

ESD (static electric-

(9-pin D-sub

ity)-resistant con-

XW2Z-500S-CV

5.0 m

female)

nectors used.

Serial

RS-232C

Host Link

XW2Z-200S-CV

2.0 m

Communications

(9-pin D-sub

XW2Z-500S-CV

5.0 m

Board/Unit

female)

Connecting RS-232C Cable to Peripheral Port

Unit

Port on Unit

Computer

Port on

Serial

Model numbers

Length

Remarks

computer

communications

mode (network)

CPU Unit

Peripheral port

IBM PC/.AT

9-pin D-sub

Peripheral bus or

CS1W-CN118 +

0.1 m +

ESD (static

or

male

Host Link

XW2Z-200S-CV

(2 or 5 m)

electricity)- resistant

compatible

or

connectors used for

XW2Z-j00S-CV.

XW2Z-500S-CV

Host Link

CS1W-CN118 +

---

XW2Z-200S-V

or

XW2Z-500S-V

Connecting CQM1-CIF01/02 Cable to Peripheral Port

Unit

Port on Unit

Computer

Port on

Serial

Model numbers

Length

Remarks

computer

communications

mode (network)

CPU Unit

Peripheral port

IBM PC/.AT

9-pin D-sub

Host Link

CS1W-CN114 +

0.5 m + 3.3 m

---

or

male

CQM1-CIF02

compatible

7