Omron CS1W-MCH71 OPERATION MANUAL

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Cat. No. W419-E1-04

Programmable Controller SYSMAC CS-series CS1W-MCH71

Motion Control Unit

CS1W-MCH71 Motion Control Unit

Operation Manual

Revised September 2004

Notice:

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OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property.

!DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or

serious injury.

!WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or

serious injury.

!Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or

moderate injury, or property damage.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PLC” means Programmable Controller. “PC” is used, however, in some Programming Device displays to mean Programmable Controller.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of information.

 OMRON, 2003

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, o by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission o OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

Note Indicates information of particular interest for efficient and convenient opera-

tion of the product.

1,2,3... 1. Indicates lists of one sort or another, such as procedures, checklists, etc.

Introduction

We are flattered that you have purchased OMRON SYSMAC CS-series advanced Motion Control Unit. Motion control Unit CS1W-MCH71 (the abbreviation “MC Unit” is in this mean) is a high performance

CPU unit of the programmable controller SYSMAC CS-series that has been produced by OMRON's advanced technology for control and abundant experience.

This instruction manual describes MC Unit's specifications and procedures for operation. Please read each section in its entirety and be sure you understand the information provided in the

section and relate sections before attempting any of the procedures or operation given.

Unit Versions of CS-series Advanced Motion Control Units

Unit Versions A “Unit version” has been introduced to manage Advanced Motion Control

Units (MC Units) in the CS Series according to differences in functionality accompanying Unit upgrades.

Notation of Unit Versions on Products

CS-series Advanced Motion Control Unit

The unit version is given to the right of the lot number on the nameplate of the applicable CS-series Advanced Motion Control Units, as shown below.

Product nameplate

OMRON CS1W-MCH71

MC UNIT

Lot No. 031001 0000 Ver.2.0

Unit version Example for Unit version 2.0

The unit version of the Advanced Motion Control Units begins at version 2.0.

Identifying Unit Versions A unit version label is provided with the Advanced Motion Control Unit. This

label can be attached to the front of the Motion Control Unit to differentiate between Motion Control Units of different Unit versions.

Attach the unit version label here.

Confirming Unit Versions with Support Software

The unit version cannot be confirmed in Unit Manufacturing Information of CX-Programmer version 4.0 or higher.

Use the MC-Miel for MCH Support Tool for Motion Control Units to confirm the unit version, as shown in the following table.

Method for confirming the internal system software version

Corresponds to the unit version

Confirm in the device information under the Tools Menu in the MC-Miel for MCH.

Internal system software version Pre-Ver. 2.0: 1.00xxxx to 1.04xxxx Unit Ver. 2.0: 1.05xxxx

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Unit Version Notation

In this manual, the unit version of a Motion Control Unit is given as shown in the following table.

Product nameplate Notation used in this manual Special remarks

Ver. 2.0 or later number shown to the right of the lot number

Blank to the right of lot number

CS-series Advanced Motion Control Unit Ver. 2.0 or later. Information without refer-

ence to specific Unit versions applies to all versions

Pre-Ver. 2.0 CS-series Advanced Motion Control Unit

of the Unit.

Functions Supported by Advanced Motion Control Unit Ver. 2.0

Unit Version Pre-Ver. 2.0 Motion Control Unit Motion Control Unit Ver. 2.0

Internal system software version 1.00 to 1.04 1.05 CS-series Advanced Motion Control Unit

model numbers

Jogging Not supported Supported Communications levels Not supported Supported Communications cycle/Unit cycle Not supported Supported LATCH command processing time Not supported Supported Latch status refresh time Not supported Supported Using interpolation commands during

pass operation Acceleration/deceleration time during

pass operation Deceleration time during pass opera-

tion Torque to position switching Not supported Supported Speed to position switching Not supported Supported

Support Software MC-Miel for MCH Ver. 1.5.7 or lower MC-Miel for MCH Ver. 1.5.8 or higher

CS1W-MCH71 CS1W-MCH71

Not supported Supported

Unit Versions and Lot Numbers

Type Model Date of manufacture

June 2004 or earlier July 2004 or later

CPU Bus Unit Advanced Motion Con-

trol Unit

CS1W-MCH71 No version code

(pre-Ver. 2.0)

Unit Ver. 2.0. (Lot No.: 040715 or later)

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Version Upgrade Information

The following tables outline changes made for the most recent version upgrade for SYSMAC CSSeries Advanced Motion Control Units.

Jogging

Previous versions Present version (unit Ver. 2.0 or later)

The following procedure was required to set or reverse the jogging direction.

• Specify the feed direction using the JOG/STEP Direction Bit.

• Turn ON The JOG Operation Bit.

• Turn OFF the JOG Operation Bit to reverse the feed direction.

• Reverse the JOG/STEP Direction Bit after the axis has stopped.

• Turn ON the JOG Operation Bit.

• The jogging direction will then be reversed.

Network Levels

Previous versions Present version (unit Ver. 2.0 or later)

Motion Control Units could be used to control communications across three network levels.

• The following setting/reversal method has been added.

• Specify the feed direction using the JOG/STEP Direction Bit.

• Turn ON the JOG Operation Bit.

• Leave the JOG Operation Bit turned ON and simply reverse the JOG/STEP Direction Bit setting to reverse the feed direction.

• Use the following parameter to switch between the previous function and the new function. Parameter No.: P00004 Bit: 05 0: Default setting. Same functionality as previous versions. This bit was previously reserved (default setting

0). 1: Selects new function supported with this version.

Motion Control Units now support communications across eight network levels, the same as CPU Units. CPU Units with unit Ver. 2.0 or later support eight network levels.

Communications Cycle/Unit Cycle

Previous versions Present version (unit Ver. 2.0 or later)

The communications cycle and Unit cycle were as follows:

Communications cycle: 1 ms, 2 ms, or 4 ms Unit cycle: 1 ms, 2 ms, 4 ms, or 8 ms

LATCH Command Processing Time

Previous versions Present version (unit Ver. 2.0 or later)

The time required to detect the external latch signal after the LATCH command is executed was as follows: Receiving latch signals at any position: 105 ms to 232 ms Receiving only those latch signals within a specific positioning range: 105 ms to 232 ms

• A 3-ms communications cycle is now supported, enabling higher-precision performance. Communications cycle: 1 ms, 2 ms, 3 ms, or 4 ms Unit cycle: 1 ms, 2 ms, 3 ms, 4 ms, 6 ms, or 8 ms

• Use the following parameter to switch between the previous function and the new function. Parameter No.: P00004 Bit: 03 0: Default setting. Same functionality as previous versions. This bit was previously reserved (default setting

0). 1: Enables 3-ms cycle provided with this version.

The required time has been shortened for receiving latch signals at any position, as follows:

Receiving latch signals at any position: 3 ms to 24 ms (improved) Receiving only those latch signals within a specific positioning range: 105 ms to 232 ms (same)

Latch Status Refresh Time

Previous versions Present version (unit Ver. 2.0 or later)

After LATCH command execution, the time required from input of the latch signal until the input is reflected in the system variable (variable showing latch completion) was as follows:

14.5 ms to 85.5 ms

The required time has been shortened as follows:

7.5 ms to 37.5 ms

Using Interpolation Commands in Pass Operations

Previous versions Present version (unit Ver. 2.0 or later)

To execute a pass operation when the axis was stopped required two interpolation commands just for the first movement. Example:

PASSMODE; MOVEL [J01]100 F10000; MOVEL [J02]400 F10000; WHILE #MW0000==0; INC MOVEL [J02]100 F1000; WEND;

etc.

A pass operation can be executed when the axis is stopped using a single interpolation command.

Example: PASSMODE;

WHILE #MW0000==0; INC MOVEL [J02]100 F1000; WEND;

etc.

Acceleration/Deceleration Time During Pass Operation

Previous versions Present version (unit Ver. 2.0 or later)

Parallel processing had to be executed using the PARALLEL command to change the acceleration/deceleration time during a pass operation, making changes at user-specified timing difficult.

• The acceleration/deceleration time can be changed during pass operation.

• The acceleration/deceleration time can be easily switched using the newly added parameter, as follows: MOVEL [J01]1000 F1000 #IW0A00 = 2; [The pass operation will be performed to the next position using the time set in bank 2.] MOVEL [J01]5000 F1000

• The following ten new parameters have been added and use the area previously allocated for task parameters. The setting range is 0 to 60,000 ms. No. P00M11 Interpolation feed acceleration/deceleration time (Bank 1) to P00M20 Interpolation feed acceleration/deceleration time (Bank 10)

Deceleration Time During Pass Operation

Previous versions Present version (unit Ver. 2.0 or later)

The interpolation feed deceleration time was used to decelerate to a stop during pass operation. Example:

Pass Mode Select P00M06 = 0 Interpolation feed acceleration time Ta=P0MM02 Interpolation feed deceleration time Td=P00M03

Program: PASSMODE; INC MOVEL [J01]1000 F100000; INC MOVEL [J01]1000 F100000; END;

Speed

Time

Ta Ta Td

• The interpolation time used for the pass operation (interpolation feed acceleration time or deceleration time) is used to decelerate to a stop during pass operation.

Example: Pass Mode Select P00M06 = 0

Interpolation feed acceleration time Ta=P0MM02 Interpolation feed deceleration time Td=P00M03

Program: PASSMODE; INC MOVEL [J01]1000 F100000; INC MOVEL [J01]1000 F100000; END;

Speed

Time

Ta Ta Ta

• To decelerate to a stop using the interpolation feed deceleration time in the same way as previous versions, add STOPMODE before the final interpolation command before stopping.

PASSMODE; INC MOVEL [J01]1000 F100000;

STOPMODE INC MOVEL [J01]1000 F100000; END;

Switching from Torque to Position Control

Previous versions Present version (unit Ver. 2.0 or later)

Torque control switched could be switched to position control using the TORQUR command only after the axis feedback speed reached 0.

Speed

Time

Ta Ta Td

• Torque control can be switched to position control using the TORQUR command when the axis feedback speed reaches the speed specified in the specified parameter (specified as a percentage of the rated speed).

• The following new parameter uses an area previously reserved in the axis parameter area. Parameter No.: P3AA09 Parameter name: Position Control Switching Speed Setting range: 0 to 32767 (unit: 0.01%)

Switching from Speed to Position Control

Previous versions Present version (unit Ver. 2.0 or later)

Speed control switched could be switched to position control using the SPEEDR command only after the axis feedback speed reached 0.

• Speed control can be switched to position control using the SPEEDR command when the axis feedback speed reaches the speed specified in the specified parameter (specified as a percentage of the rated speed).

• The following new parameter uses an area previously reserved in the axis parameter area Parameter No.: P3AA09 Parameter name: Position Control Switching Speed Setting range: 0 to 32767 (unit: 0.01%)

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TABLE OF CONTENTS

PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix

1 Intended Audience. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx

2 General Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx

3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi

4 Application Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xxii

5 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii

6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

SECTION 1

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

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

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

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-4 Control System Configuration and Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1-5 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

1-6 Command List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

1-7 Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

SECTION 2

Basic Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2-1 Basic Operation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2-2 Overview and Operating Procedure of MC-Miel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

SECTION 3

Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

3-1 Nomenclature and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3-2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3-3 External I/O Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3-5 Connecting MECHATROLINK Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

SECTION 4

MC Unit Internal Data Configuration and Setting . . . . . . . 49

4-1 Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4-2 System Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4-3 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

4-4 Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4-5 System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

4-6 I/O Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

4-7 Present Position Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

4-8 Servo Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

4-9 CAM Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

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TABLE OF CONTENTS

SECTION 5

Data Transfer and Storage. . . . . . . . . . . . . . . . . . . . . . . . . . . 193

5-1 Data Transfer and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194

5-2 IOWR Instruction to Transfer Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

5-3 IORD Instruction to Transfer Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

5-4 Saving Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216

SECTION 6

Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

6-1 Program and Task Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

6-2 Command Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .260

6-3 Command Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

SECTION 7

PC Interface Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

7-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340

7-2 Operating Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345

7-3 Allocations for the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358

7-4 Interface Specifics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381

SECTION 8

Establishing the Origin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489

8-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490

8-2 Input Signals Required for Origin search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492

8-3 Origin Search Methods and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492

8-4 Origin Search Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .494

8-5 Absolute (ABS) Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .497

8-6 ABS Encoder Origin Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498

SECTION 9

Other Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503

9-1 Teaching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504

9-2 Debugging the Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .510

9-3 Coordinate System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514

9-4 Backup and Restore Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522

SECTION 10

Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525

10-1 Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526

10-2 Slave Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560

10-3 Others. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572

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TABLE OF CONTENTS

SECTION 11

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581

11-1 Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582

11-2 Countermeasures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588

11-3 Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592

11-4 Unit-related Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593

11-5 Motion Task-related Alarm Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596

11-6 Axis-related Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .602

11-7 MLK Device Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607

11-8 Servo Driver Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609

11-9 Error Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610

SECTION 12

Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . 613

12-1 Routine Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617

TABLE OF CONTENTS

xvi

About this Manual:

This manual describes the installation and operation of the CS1W-MCH71 Motion Control Unit (MC Unit) and includes the sections described below.

Please read this manual carefully and be sure you understand the information provided before attempting to install or operate the MC Unit. Be sure to read the precautions provided in the following section.

Precautions provides general precautions for using the Motion Control Unit, Programmable Controller, and related devices.

Section 1 introduces the features and system configuration of the CS1W-MCH71 CS-series Motion Control Unit. It also describes product operating principles and provides product specifications

Section 2 provides an overview of the basic procedures required to use the CS1W-MCH71 Motion Control Unit.

Section 3 describes the names of Unit parts and how to install and wire the CS1W-MCH71 Motion Control Unit.

Section 4 describes the data configuration uses to set up, operate, and monitor the CS1W-MCH71 Motion Control Unit and related devices.

Section 5 describes how to transfer data between the CPU Unit and the CS1W-MCH71 Motion Control Unit and how data is stored.

Section 6 describes how to program CS1W-MCH71 Motion Control Unit operation, including the program configuration and the specific commands used in programming.

Section 7 describes the interface area in the CPU Unit used to control and monitor the CS1W-MCH71 Motion Control Unit.

Section 8 describes how to establish the origin in the positioning system.

Section 9 describes special operations for the CS1W-MCH71 Motion Control Unit, including teaching,

program debugging, coordinate systems, and backup functions.

Section 10 provides a programming example to demonstrate how the CS1W-MCH71 Motion Control Unit can be used.

Section 11 describes how to troubleshoot problems that may occur when using the CS1W-MCH71 Motion Control Unit.

Section 12 describes the maintenance and inspection procedures required to keep the CS1W-MCH71 Motion Control Unit in optimum condition.

!WARNING Failure to read and understand the information provided in this manual may result in per-

sonal injury or death, damage to the product, or product failure. Please read each section in its entirety and be sure you understand the information provided in the section and related sections before attempting any of the procedures or operations given.

xvii

xviii

PRECAUTIONS

This section provides general precautions for using the CS1W-MCH71 Motion Control Unit and related devices.

The information contained in this section is important for the safe and reliable application of the CS1W-MCH71 Motion Control Unit. You must read this section and understand the information contained before attempting to set up or operate a CS1W-MCH71 Motion Control Unit.

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx

3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi

4 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

5 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii

6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

6-1 Applicable Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

6-2 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

6-3 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

6-4 Installation within Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

xix

Intended Audience 1

1 Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).

• Personnel in charge of installing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of managing FA systems and facilities.

2 General Precautions

The user must operate the product according to the performance specifications described in the operation manuals.

Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical equipment, amusement machines, safety equipment, and other systems, machines, and equipment that may have a serious influence on lives and property if used improperly, consult your OMRON representative.

Make sure that the ratings and performance characteristics of the product are sufficient for the systems, machines, and equipment, and be sure to provide the systems, machines, and equipment with double safety mechanisms.

This manual provides information for programming and operating the Unit. Be sure to read this manual before attempting to use the Unit and keep this manual close at hand for reference during operation.

!WARNING It is extremely important that a PLC and all PLC Units be used for the speci-

fied purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying a PLC System to the above-mentioned applications.

Safety Precautions 3

3 Safety Precautions

DANGER

Never attempt to disassemble any Units while power is being supplied. Doing so may result in serious electronic shock.

Never touch any of the terminals while power is being supplied. Doing so may result in serious electronic shock.

Provide safety measures in external circuits (i.e., not in the Programmable Controller or MC Unit) to ensure safety in the system if an abnormality occurs due to malfunction of the PLC or MC unit. Not providing sufficient safety measures may result in serious accidents.

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

• The PLC will turn OFF all outputs when its self-diagnosis function detects any error or when a severe failure alarm (FALS) instruction is executed. As a countermeasure for such errors, external safety measures must be provided to ensure safety in the system.

• The PLC or MC Unit outputs may remain ON or OFF due to deposits on or burning of the output relays, or destruction of the output transistors. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.

• When the 24-VDC (service power supply to the PLC) is overloaded or short-circuited, the voltage may drop result in the outputs being turned OFF. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.

• Provide safety measures in external circuits to ensure safety in system if an abnormality occurs due to malfunction of MC Unit connectors.

WARNING

Execute online edit only after confirming that the cycle time extension will not cause any adverse effects. Some input signals may not be read if the cycle time is extended.

Confirm the safety of the destination node before transferring program to the node or changing the contents of I/O memory. Doing either of these without confirming safety may result in injury.

Do not save data into the flash memory during memory operation or while the motor is running. Otherwise, unexpected operation may be caused.

Do not reverse the polarity of the 24-V power supply. The polarity Must be correct. Otherwise, the motor may start running unexpectedly and may not stop.

When positioning is performed using Teaching function, positioning specification in the motion program must be [Absolute specification].

If [Incremental specification] is specified, positioning will be executed at the different point from where Teaching conducted.

xxi

Application Precautions 4

4 Application Precautions

Observe the following precautions when using the MC Unit or the PLC.

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

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

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

• Assembling the Units.

• Setting Rotary switches.

• Connecting Cables or wiring the system.

• Connecting or disconnecting the connectors.

• Confirming that no adverse effect will occur in the system before attempting any of the following. Not doing so may result in an unexpected operation.

• Changing the operation mode of the PLC (including the setting of the startup operating mode).

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

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

• Always connect to a ground of 100 of100

Ω or less may result in electric shock.

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

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

• Tighten the mounting screws at the bottom of the Unit to a torque of 0.4 N·m. Incorrect tightening torque may result in malfunction.

• Perform wiring according to specified procedures.

• Leave the label attached to the Unit when wiring. Removing the label may result in malfunction if foreign matter enters the Unit.

• Remove the label after the completion of wiring to ensure proper heat dissipation. Leaving the label attached may result in malfunction.

• Check the pin numbers before wiring the connectors.

• Use crimp terminals for wiring. Do not connect bare stranded wires directly to terminals. Connection of bare stranded wires may result in burning.

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

• Always use the power supply voltage specified in this manual. An incorrect voltage may result in malfunction or burning.

• Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied. Be particularly careful in places where the power supply is unstable. An in correct power supply may result in malfunction.

• Do not apply voltages to the Input Units in excess of the rated input voltage. Excess voltage may result in burning.

• Do not apply voltages or connect loads to the Output Units in excess of the maximum switching capacity. Excess voltages or loads may result in burning.

• Check carefully all wiring and switch setting before turning ON the power supply. Incorrect wiring may result in burning.

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

• Do not place objects on the top of the cables or other wiring lines. Doing either of these may break the cables.

Ω or less when installing the Units. Not connecting to a ground

xxii

Operating Environment Precautions 5

• Do not pull on the cables or bend the cables beyond their natural limit. Doing so may break the cables.

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

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

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

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

• Resume operation only after transferring to the new CPU Unit the contents of the DM Area, HR Area, and other data required for resuming operation. Not doing so may result in an unexpected operation.

• After transferring the system parameters, servo parameters, programs, position data, and CAM data to the MC Unit, be sure to save the data in flash memory within the MC Unit (using the data save command from support tool or CPU Unit) before turning OFF the power supply to the Unit. Transferring the data to the MC Unit will simply save the data in the internal memory (S-RAM) of the MC Unit and this data will be deleted when the power supply to the Unit is turned OFF.

• After transferring the system parameter data to the MC Unit and saving the data to flash memory, be sure to reset the power supply to the unit or restart the Unit. Otherwise, some of the unit parameters and machine parameters will not be changed.

• The Machine lock function is enabled in each axis, for the effects on the operations with multiple axes such as interpolation operation be sure to machine lock all of relative axes in order to prevent the interference with other axes or devices.

• If axes are stopped during a synchronized operation, however, the synchronization of the master axis and slave axes positions will be cancelled. For that reason, be aware of the interference with other axes or devices when restarting up.

• When the load OFF status is occurred in the CPU Unit during manual operation such as JOG, which is performed by operating input variables from the MC Unit's program, the operation will be continued for one-cycle of the Unit. Using the WHILE command to repeat until given condition is satisfied, however, it continues to operate even load-OFF has occurred, be aware of the interference with other axes or devices.

• Parameters and programs for MC Units with unit version 2.0 or later can be transferred to pre-Ver. 2.0 MC Units, but the new and upgraded functions for unit Ver. 2.0 will be disabled.

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

5 Operating Environment Precautions

• The installation must be conducted correctly.

• Do not operate the control system in the following places.

• Locations subject to direct sunlight

• Locations subject to temperatures or humidity outside the range specified in the specifications

• Locations subject to condensation as the result of severe changes in temperature.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust (especially iron dust) or salts.

• Locations subject to exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

• Take appropriate and sufficient countermeasures when installing systems in the following locations. Inappropriate and insufficient measures may result in malfunction.

• Locations subject to static electricity or other sources of noise.

• Locations subject to strong electromagnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

xxiii

Conformance to EC Directives 6

6 Conformance to EC Directives

6-1 Applicable Directives

EMC Directives

6-2 Concepts

EMC Directives

OMRON devices that comply with EC Directives also conform to the related EMC standards to that they can be more easily built into other devices or machines. The actual products have been checked for conformity to EMC standards (see the following note). The customer, however, must check whether the products conform to the standard in the system used by the customer.

EMC related performance of the OMRON devices that comply with EC Directives would vary depending on the configuration, wiring, and other conditions of the equipment or control panel in which the OMRON devices are installed.

The customer must, therefore, perform final checks to confirm that devices and the overall machine conform to EMC standards.

Note Applicable EMC (Electro-Magnetic Compatibility) standards are as follows:

EMS (Electro-Magnetic Susceptibility): EN61000-6-2, EMI (Electro-Magnetic Interference): EN55011 EN55011 Radiated emission 10-m regulations

6-3 Conformance to EC Directives

The CS1W-MCH71 “MC Unit” comply with EC Directives. To ensure that the machine or device in which an MC Unit is used complies with EC Directives, the MC Unit must be installed as directed below:

1. The MC Unit must be installed within a control panel.

Use a control panel like SA20-712 (Nitto Electronics) or similar to this.

2. Reinforced insulation or double insulation must be used for the DC power supplies used for the

communications and I/O power supplies.

3. MC Units complying with EC Directives also conform to the Common Emission Standard

(EN50081-2). With regard to the radiated emission (10-m regulations), countermeasures will vary depending on the devices connected to the control panel, wiring, the configuration of the system, and other conditions. The customer must, therefore, perform final checks to confirm that devices and the overall machine conform to EC Directions.

6-4 Installation within Control Panel

Unnecessary clearance in cable inlet or outlet ports, operation panel mounting holes, or in the control panel door may cause electromagnetic wave leakage or interference. In this case, the product may fail to meet EC Directives. In order to prevent such interference, fill clearances in the control panel with conductive packing. (In places where conductive packing comes in contact with the control panel, ensure electrical conductivity by removing the paint coating or masking these parts when painting.)

xxiv

SECTION 1

Features and System Configuration

The section introduces the features and system configuration of the CS1W-MCH71 CS-series Motion Control Unit. It also describes product operating principles and provides product specifications.

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

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

1-1-2 Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

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

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

1-2-2 Peripheral Devices (Models and Specifications) . . . . . . . . . . . . . . . 5

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-3-1 Applicable Machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-3-2 Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-3-3 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1-3-4 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1-3-5 Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1-3-6 Other Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1-4 Control System Configuration and Principles. . . . . . . . . . . . . . . . . . . . . . . . . 10

1-4-1 Control System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1-4-2 Control System Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1-4-3 Feedback Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1-5 Performance Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1-5-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1-5-2 Functions and Performance Specifications. . . . . . . . . . . . . . . . . . . . 12

1-6 Command List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

1-7 Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Fe at ur e s Section 1-1

1-1 Features

1-1-1 Overview

The CS1W-MCH71 model is a CS-series Motion Control Unit that can control thirty axes. An internal motion language programming is mounted, so that it can perform the advanced motion control operations.

1. Position Control

• Point-to-Point Control: With point-to-point (PTP) control, positioning is controlled independently for each axis. The pathway varies according to the travel distances, the feed rates, and so on.

• Continuous Path Control:With continuous path (CP) control, not only the

start position and target position are controlled but also the path between those points. Functions such as linear interpolation, circular interpolation, helical circular interpolation, and traverse can be performed.

2. Speed Control

It makes the motor run at the specified speed, it also specifies the rate of speed change.

3. Torque Control

It generates specified Torque and specifies the rate of Torque change.

4. Synchronous Control

• Electronic Shaft: Functions the same as for the rolls connected to the

gearbox with a gearshift.

• Electronic Cam: Functions the same as for the Machine CAM.

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/unload-

ers, etc. (Palletizers and depalletizers are devices used for loading goods onto pallets or for unloading them from pallets. Loaders and unloaders are devices that have shelves corresponding with the steps of a multi-step press and used for inserting or removing all the materials at one time.)

• Assembling Systems: Simple robots (including orthogonal robots), simple

automated assembling machines (such as coil winding, polishing, hole punching), etc.

Note The MC Unit is not designed to perform the interpolation movement like a lin-

ear interpolation, a circular interpolation, or a helical circular interpolation with horizontal articulated robots or cylindrical robots, because it does not support coordinate conversions (cylindrical coordinate rotation function). The MC Unit can, however, perform PTP control with these robots.

Fe at ur e s Section 1-1

1-1-2 Features

Simple System Architecture

Easiest Information Management

Various motion controls ~Distributed control system~

High-speed and flexibility • It is possible to realize variety of applications because of its availability for

• Independent control of multiple axes (Up to 30 physical axes; including

virtual axes total is 32)

• Each axis can be set as either a physical or virtual axis.

• Additional unit is not required.

• High-speed channel with servo driver enables parameters' setting of

servo driver, status monitoring. These functions are possible from computer support tool or PT.

• Backup using Memory Card in CPU Unit.

• Besides CPU Unit of PLC, executes motion program for motion control.

• Regarding to motion task, up to 8 motion programs can be simultaneously

executed. In each of these 8 programs, programs can be executed in parallel.

Synchronous Controls (Electric Shaft, Electronic cam, Trailing Synchronization), Speed Control, Torque Control, and Position Control.

• The minimum length of servo communication cycle is 1 ms.

• It is possible to switch position, speed, and Torque command during axis

movement (there are few restrictions).

• The accurate controls of MC Unit and Servo driver or dispersion module

are possible conducting a completely synchronized processing at fixed intervals.

Combination of basic functions makes variety of synchronizations possible

• Electronic Shaft function

• Electronic cam function (Time, position)

• Virtual axis function

• Axis movement function for superimposed axis, ADDAX

• Resist function (with present position hardware latch and window func-

tion).

• Electronic link operation

• Trailing synchronization

• Target position change function

• Speed command

• Torque command

• Time-fixed positioning

System Configuration Section 1-2

1-2 System Configuration

1-2-1 System Configuration Example

The MC Unit is adopted a high-speed communication pathway to simplify its wiring. It makes it possible to have up to 30 axes for controls.

Sensor/ Valve

MCH71

CW Limit/CCW Limit

Computer

Memory

W-series Servo + I/F unit

card

Max.30 axes (nodes)/total length 50 m

CounterDI/O DI/O Pulse output

Stepping

Note (1) The MECHATROLINK is registered trademark of YASKAWA ELECTRIC

CORPORATION.

(2) W-series servo driver requires YASKAWA MECHATROLINK-II I/F unit

model JUSP-NS115.

(3) Each of the products of the following version can be used. The version

name is identified on the nameplates of each product. W-series servo driver: VER.39 or Later I/F unit: VER ***03 Later, or Equal

(4) When MECHATROLINK-II devices are connected up to 16 nodes (within

30 m) or 15 nodes (within 50 m), a repeater unit is not required. A repeater unit is required to connect MECHATROLINK-II devices more than the cases above.

(5) Attach a terminator to the termination slave of MECHATROLINK devices.

System Configuration Section 1-2

Terminato

1-2-2 Peripheral Devices (Models and Specifications)

Support Tool

Name Cat. No. Specification Overview

Support Tool for Motion Control Unit MC-Miel for MCH

SBCE-023B Support Tool for computers

Japanese version

I809-E1-02 Support tool for computers

English version

Note When ordering support tools, please contact our sales representatives indi-

cating the Cat. No.

MECHATROLINK-II Devices and Cables

Name YASKAWA Model OMRON Model Specification Overview

MECHATROLINK-II I/F Unit JUSP-NS115 FNY-NS115 For W-series servo driver DC24V I/O Module JEPMC-IO2310 FNY-IO2310 Input: 64

Counter Module JEPMC-PL2900 FNY-PL2900 Reversing Counter 2CH Pulse Output module JEPMC-PL2910 FNY-PL2910 Pulse Positioning MECHATROLINK-II Cables for W-Series

(With USB connectors and Ring Core)

Terminating resistance for MECHATROLINK-II

Repeater for MECHATROLINK-II JEPMC-REP2000 FNY-REP2000 Repeater

JEPMC-W6003-A5 FNY-W6003-A5 0.5 m JEPMC-W6003-01 FNY-W6003-01 1.0 m JEPMC-W6003-03 FNY-W6003-03 3.0 m JEPMC-W6003-05 FNY-W6003-05 5.0 m JEPMC-W6003-10 FNY-W6003-10 10.0 m JEPMC-W6003-20 FNY-W6003-20 20.0 m JEPMC-W6003-30 FNY-W6003-30 30.0 m JEPMC-W6022 FNY-W6022 Terminating resistance

Output: 64

Note MECHATROLINK-related products are manufactured by YASKAWA ELEC-

TRIC CORPORATION. We, OMRON, can take orders for them. When ordering them through OMRON, follow OMRON's ordering format. (The delivered products will be of YASKAWA BRAND.) Ask our sales representatives about the price at when ordering them through OMRON.

Basic Operations Section 1-3

1-3 Basic Operations

1-3-1 Applicable Machines

The MC Unit was developed for the purpose of motion control using servomotors.

Even though it depends on the machine accuracy, use an encoder, which is capable to detect 5-10 times more accurate than the machine accuracy.

Applicable machines

1,2,3... 1. Assembling Systems

Simple robots, package machinery (horizontal type forming and vertical type forming), filling machine, grinder, drilling machinery, simple automated assembling machines, etc.

2. Conveyor Systems XY tables, palletizers/depalletizers, loaders/unloaders, etc.

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

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

1-3-2 Position Control

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

•PTP Control

• CP Control (linear interpolation and circular interpolation)

• Interrupt Feeding

Control programs are created in the Motion language.

PTP Control PTP control is used to control each axis (J01 and J02 axis) independently.

Positioning time depends on the travel distance and speed of each axis. Example: Moving from the origin to the J01-axis coordinate of 100 and J02-

axis coordinate of 50 at the same speed. Positioning is executed separately for each axis, so travel between the two

points is carried out as shown in the diagram below:

J02

J01

0 50 100

Basic Operations Section 1-3

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

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

Circular interpolation

Center

Starting point

Linear interpolation

If [axis name 3] is added, helical interpolation is added to the linear interpolation. (The linear interpolation portion for multiple revolutions specifies the total travel distance.)

Axis 3

Radius

Target point

J01

Target point

Linear

Axis 1

Axis 2

Center

Starting point

interpolation

Circular interpolation

Interrupt Feeding Interrupt feeding is used to perform position control for a fixed distance when

the external signal is input. Positioning with no interrupt signal is also possible.

Speed

Position control (Fixed distance)

Speed

External signal

Counter latch completed

Basic Operations Section 1-3

1-3-3 Speed Control

Make the motor run at a specified speed. It is also possible to specify the speed change rate.

Speed

Speed change rate

Speed command value

1-3-4 Torque Control

The designated torque can be generated. It is also possible to specify the torque change rate.

Torque

Torque change rate

Torque command value

1-3-5 Synchronous Control

Listed below are the synchronous controls of this unit.

• Electronic Shaft

• Electronic cam

• Linking motions

• Trailing synchronization

• Super position control

Each of above controls is programmed by motion language.

Electronic Shaft This function can be used like rolls connected to gearbox with gearshift.

The slave axis synchronizes with the master axis at a specified ratio.

Electronic cam This function can be used like the cam mechanism of a machine.

The slave axis synchronizes with the master axis according to the cam table.

Basic Operations Section 1-3

Link operation This function can be used like the link mechanism of a machine.

The slave axis synchronizes with the master axis following the specified acceleration, constant speed, and deceleration areas. (In the diagram below, vertical and horizontal axes indicate speed and time respectively.)

Acceleration Constant speed Deceleration

Speed

Master axis

Speed

Slave axis

Distance when the master axis is accelerated

MOVELINK command (Link operation starts.)

Distance when the master axis is decelerated

Link operation ends.

Amount of travel distance the master axis makes.

Amount of travel distance the slave axis makes.

Trailing Synchronization Trailing is started when the slave axis is standing by and the marker sensor is

turned ON. Once it catches up with the master axis, synchronous operation is initiated.

Marker sensor signal standby

Speed

Master axis

Trailing operation section

Trailing synchronization section

Speed

Slave axis

Trailing operation travel distance

Marker sensor turns ON (Starts trailing)

SYNC command (Waiting for trail sync)

SYNCR command (Trail sync ends.)

Trailing synchronization starts.

Control System Configuration and Principles Section 1-4

Travel Distance Superimpose

Speed

Master axis (Superimposing axis)

Speed

Slave axis (Specified axis)

The travel distance of the master axis is superimposed on the slave axis. This function can be used like the differential gear of a machine.

Only this section is superimposed.

Superimposed portion travel distance

ADDAX command (Travel distance superimpose starts.)

ADDAXR command (Travel distance superimpose ends.)

1-3-6 Other Functions

Origin Search Establishes the origin for a specified axis.

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

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

pleting a deceleration command.

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

Teaching Obtains the present position to create position data.

Override (Real-time Speed Change)

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

Backlash Correction Compensates errors caused by faulty meshing in the mechanical system.

Unlimited Feeding Controls axes such as turntables and conveyors that are fed only in one direc-

tion unlimitedly.

Debugging It is possible to execute just one line of a program through single block opera-

tion. It is also possible to run programs without operating the machine system through Machine Lock.

Data Storage Backups and restores data using PLC memory cards.

Arithmetical Operation

Performs Simple arithmetic operation, Functions, and Logic Operations.

Command

1-4 Control System Configuration and Principles

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

1-4-1 Control System Configuration

Semi-closed Loop System The MC unit uses the servo system called the semi-closed loop system.

This system is designed to detect actual machine travel distance for a command value using rotations of the motor and the detected value is fed back to the MC unit. The unit computes and compensates the error between the command value and actual travel distance to make it zero.

Performance Specifications Section 1-5

Command

Motion controller

Actual travel distance

Encoder

The semi-closed loop system is the mainstream in modern servo systems applied to positioning devices for industrial applications.

1-4-2 Control System Principles

Internal Operations of the MC Unit

MC Unit CS1W-MCH71

Command value

Communication I/F

Command

Status

I/F board Servo driver

Communication I/F

Servomotor

Decelerator

Error counter

Position feedback

Speed control

Speed feedback

Table

Ball screw

Servomoto

Power amplifier

Encoder

1-4-3 Feedback Pulse

Normal rotation/Counter rotation of a motor

Reverse rotation

Forward rotation

(CCW) is the forward rotation and (CW) is the reverse rotation when viewed from the output shaft side of the motor.

1-5 Performance Specifications

1-5-1 General Specifications

Item Specifications

Model CS1W-MCH71 Power supply voltage DC 5V (from Backplane)

DC24V (from external power supply)

Voltage fluctuation tolerance DC4.75-5.25V (from Backplane)

DC21.6-26.4V (from external power supply)

Internal current consumption DC5V 0.8A or less

DC24V 0.3A or less

Weight (Connectors excluded) 300g or less Dimensions 130 (H) × 35 (H) × 100.5 (D) (single) Altitude At 2,000m elevation or lower.

Performance Specifications Section 1-5

Specifications other than those shown above conform to the general specifications for the SYSMAC CS series.

1-5-2 Functions and Performance Specifications

Item Specifications

Model CS1W-MCH71 Applicable PLC CS series New Version (CS1@-CPU@@H) Type of Unit CS series CPU Bus Unit Mounting CPU unit or CS series expansion rack Method for

data transfer with CPU Unit

Controlled Devices MECHATROLINK-II below supported

Built-in program language Dedicated motion control language Control Control method MECHATROLINK-II

Operating modes RUN mode, CPU mode, Tool mode/System (Depending on the tool) Automatic/Manual Mode Automatic mode: Executing built-in programs of MC Unit controls motion.

Control unit Minimum setting unit 1, 0.1, 0.01, 0.001, 0.0001

Maximum position command value −2147483648 to 2147483647 pulses (signed 32-bit)

CIO Area for CPU Bus Unit

DM Area for CPU Bus Unit

Custom Bit Area For axes: 0-64 words (Depending on the greatest number of the axis used) Custom Data Area For axes: 0-128 words (Depending on the greatest number of the axis used) Custom Data Area For General I/O: 0-1280 words (Depending on setting)

Number of controlled axes

Units mm, inch, deg, pulse

Occupies the area for 1 unit (25 words) For units and tasks: 11 to 25 words (Depending on the number of motion tasks) Occupies the area for 1 unit (100 words) For units and tasks: 32 to 74 words (Depending on the number of motion tasks)

• W-series Servo Driver (OMRON) + I/F Unit (YASKAWA)

• Various I/O units (YASKAWA) Up to 30 nodes * When MECHATROLINK-II devices are connected up to 16 nodes (within 30m) or

15 nodes (within 50m), a repeater unit is not required. A repeater unit is required to connect MECHATROLINK-II devices more than the cases described above.

• Position commands, Speed commands, Torque commands 32 axes max.

Physical axes/Virtual axes: 30 axes max. (Either can be selected for each axis) Dedicated for virtual axes: 2 axes

Manual mode: Executing commands from CPU Unit (PC interface area) controls

motion.

Note The Automatic or Manual Mode is set according to the PC Interface area of the

CPU Unit.

Mode for unlimited axes feeding is possible. Example: With 16-bit encoder (65536 pulse/rev), Minimum setting unit: 0.001mm,

10mm/rev, the position command value range will be from −327679999 to 327679999 command units.

Performance Specifications Section 1-5

Item Specifications

Control operations based on commands from the CPU Unit

Control Operations according to motion program

Acceleration /deceleration curve Trapezoidal or S-shape Accelera-

tion/ deceleration time

Servo lock/unlock Executes Servo driver lock or unlock Jogging Executes continuous feeding independently for each axis, by means of speed set in

STEP operation Feeds a specified distance for a specified axis. Origin search Defines the machines origin according to the search method set in the system

Forced origin Forcibly sets the present position to 0 to establish it as the origin. Absolute origin set-

ting Error counter reset Forcibly resets the error counter to 0. Machine lock Prohibits the output of motion commands to the axes. Single block Executes the motion program one block at a time. Auto/manual change Switches between auto mode and manual mode. Positioning (PTP) Executes positioning independently for each axis at the speed set in the system

Linear interpolation Executes linear interpolation for up to 8 axes simultaneously at the specified interpo-

Circular interpolation Executes clockwise or counterclockwise circular interpolation for two axes at their

Origin search Defines the machine origin according to the search method set in the system param-

Interrupt feeding By means of inputs to the servo driver, moves a specified axis for a specified travel

Time-specified Positioning

Traverse function Performs winding operation (traverse control) with two specified axes. Electronic Cam, Sin-

gle Axis Synchronous Elec-

tronic cam Link operation Executes link operation according to set conditions with reference to the position of

Electronic Shaft Executes synchronous operation at a speed calculated with the speed of the speci-

Trailing synchronous operation

Speed command Outputs speed commands to the specified axis. Torque command Outputs torque commands to the specified axis.

Acceleration/ deceleration time

S-shape time constant

system parameter x override.

parameters.

Sets the origin when an absolute encoder is used. Offset value: Signed 32-bit (pulses)

parameters. Simultaneous specification: 8 axes max. /block Simultaneous execution: 32 blocks max. /unit

lation speed. Simultaneous specification: 8 axes max. /block Simultaneous execution: 32 blocks max. /system

specified interpolation speed. Simultaneous specification: 2 or 3 axes/block Simultaneous execution: 16 blocks max. /system

eters. An offset can be specified for the position after the origin search. The absolute encoder can also execute origin search.

distance to perform positioning. Executes positioning with time specified.

Execute cam operation according to the specified cam table data with reference to elapse of time.

Executes cam operation according to the specified cam table data with reference to the position of the specified axis.

the specified axis.

fied axis and gear ratio. Executes trailing + synchronous operations with reference to the position of the spec-

ified axis.

60000ms max.

30000ms max.

Performance Specifications Section 1-5

Item Specifications

External I/O For high-speed

Feed rate Rapid feed rate 1 to 2147483647 [Command unit/min]

Axis control Backlash compensa-

Program Number of tasks Motion task: 8 tasks max.

Saving program data

Self-diagnostic function Watchdog, FLASH-ROM check, RAM check, etc. Error detection function Deceleration stop input, unit number error, CPU Unit error, software limit over errors,

Error log function The error log is to be read from the CPU Unit by means of the IORD instructions as

Alarm reset Alarm reset

servo communication bus

Servo encoder Incremental rotary encoder

I/O Deceleration stop input: 1pt

External power supply for I/O

Interpolation feed rate

Override Changes the operation speed by applying a given factor to the speed specified by the

tion

In-position This function is used whether a positioning is completed or not.

Position loop gain This is the position loop gain of the servo driver.

Feed forward gain The command values created in the MC Unit are multiplied by this feed forward gain.

Parallel branching in task

Number of programs 256 programs max. /unit

Program numbers 0000 to 0499: Main programs for motion tasks

Program capacity 2 Mbytes

Number of blocks 800 blocks/program Position data capac-

ity Sub-program nesting 5 levels max. Start Starts program operation from program (of another task) Start mode Motion task: Initial, continue, next Deceleration stop Motion task: Executes deceleration stop regardless of block Block stop Motion task: Executes deceleration stop at the end of the block currently being exe-

Single-block mode Motion task: the program is executed one block at a time. MC Unit Flash memory backup

One port for MECHATROLINK-II

Absolute rotary encoder (Unlimited length ABS supported with some conditions)

General input: 2pts General output: 2pts

24V

1 to 2147483647 [Command unit/min]

system parameters or the motion program.

0.00 to 327.67% (Setting unit: 0.01%, can be specified for each axis or task) Compensates mechanical backlash (the mechanical play between driving and driven

axes) with a value registered in advance. This function uses a parameter in the servo driver.

This function uses a parameter in the servo driver.

This function uses a parameter in the MC Unit.

Motion task: 8 branches max.

The program Nos. used for programs are from 0000 to 0999.

0500 to 0999: Sub-programs for motion tasks

8000 blocks max. /unit by motion program conversion.

10240 points/unit

cuted.

etc.

needed.

Note (1) To determine the number of MC Units that can be mounted under one

CPU Unit, examine the followings:

Performance Specifications Section 1-5

• Maximum number of CPU Bus Units that can be allocated words in the CPU Unit being used

• The capacity of the power supply unit used for each rack (CPU Unit and Expansion Rack) and the current consumption of the units mounted on the racks. (Refer to the CPU Unit's operation manual for details on calculation methods.)

(2) The user must prepare the required power supply. (3) The service life for the flash memory is 100,000 writing operations. (4) The model CS1@-CPU@@H is the CPU Unit in which the IOWR/IORD in-

structions can be used. However, the version of the Unit decides whether the Unit has the function or not. See below:

(a) CPU Units before Jan. 7, 2002 (Lot. 020107)

They do not have the function.

(b) CPU Units after April 18, 2003 (Lot. 030418)

They have the function.

The maximum command values and software limit values will be as shown in the following table corresponding to the position command decimal point position.

Position command decimal point

(Setting value for P5AA02)

1(0) −2147483648 to 2147483647

0.1 (1) −214748364.8 to 214748364.7

0.01 (2) −21474836.48 to 21474836.47

0.001 (.3) −2147483.648 to 2147483.647

0.0001 (4) −214748.3648 to 214748.3647

Setting ranges

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

With INC Specification:

Minimum value: −2147483648 Maximum value: 2147483647

With Limited Length Axis ABS Specification:

Minimum value: −(P5AA04 × P5AA06 × 2147483647)/(Encoder resolution × P5AA05) Maximum value: (P5AA04

× P5AA06 × 2147483647)/(Encoder resolution ×

P5AA05)

With Unlimited Length Axis ABS Specification:

Minimum value: −(P5AA04 − 1) Maximum value: P5AA04

− 1

P5AA04: Command unit/1 machine rotation P5AA05: Gear ratio 1 (Motor rotation speed) P5AA06: Gear ratio 2 (Machine rotation speed)

Example: With Limited length axis ABS specification, 1mm/rev, 16384 pulses/

rev with multiplication factor, and Minimum setting unit: 0.0001mm; The value will be from

−131072000 to 131071999.

Additionally, the present positions that can be displayed on support tools are to be within the range described in the above table.

Command List Section 1-6

The basic concept for immediate value: There are integer and decimal immediate values; the applicable numeric value range for the MC Unit is shown below:

Integer: Numeric value without decimal point

−2147483648

−2147483648.

30 digihts

0002147483648

<-------------- ------------->

10 dights

Number of decimals

Negative definite

Positive definite

Maximum number of digits excluding 0

Maximum number of decimals

Minimum value: Maximum value: 2147483647

Decimal: Numeric value with decimal point

Minimum value: Maximum value: 2147483647. Maximum number of decimals: 30 digits Maximum number of digits excluding zero: 10 digits (Negative definite: 2147483648, Positive definite: 2147483647)

<Example> Maximum number of decimals

123456789101112131415161718192021222324252627282930

-0.00000000000000000

+0.000000000000000000002147483647

<---------------------------------------------- ---------------------------------------------------------------------->

1-6 Command List

Item Contents Page

Operating modes The following 2 modes are provided:

Manual Modes: Operation according to commands from CPU Unit PC

interface area.

Automatic Mode: Operation according to commands in program.

Manual mode

JOG STEP Origin Search

Jogging Moves axes continuously by manual operation. 436 Deceleration stop

(Axis) STEP operation Feeds a specified axis for a specified distance. 440 Manual origin search Searches for the machine origin (Possible with either Incremental or

Manual origin return Moves the axis to the origin in the reference coordinate system. 448 Forced origin Forcibly sets the present position to 0 to establish it as the origin. (In the

Absolute origin setting

Decelerates manual mode operations (Jogging, STEP, Origin search) and stop.

Absolute encoder)

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

Note To preset the preset position to any given value, IOWR instruc-

tion is used.

Sets the origin for an absolute encoder. 459

346 469

432

444

457

Command List Section 1-6

Item Contents Page

Automatic Positioning (PTP) Execute positioning independently for each axis at the specified speed

Positioning with linear interpolation

Positioning with circular interpolation

Positioning with helical circular interpolation

Origin search Defines the machine origin according to the search method set in the

Interrupt feeding Moves a specified axis for a specified distance when a general input is

Time-specified positioning

Target position change

Traverse Execute winding (traverse) function. 284 Electronic Shaft

function Electronic cam (Sin-

gle axis) Electronic cam (Syn-

chronous) Link operation Synchronizes the slave axis to the master axis with specified accelera-

Trailing synchronization

Travel distance superimpose

Speed control Rotates the motor at the specified speed. Speed change rate can also

Torque control Generates the specified torque. Torque change rate can also be speci-

Virtual axis This is an axis without an actual axis. It is used as a master axis to per-

Counter latch The present position of an axis can be stored in hardware. 311 Switching to Pass

Mode Dwell timer Pauses positioning for a specified time. 316 Arithmetic command Performs arithmetic, function, and logic operations. 327

Program start Executes a program from the beginning block, resumes a program exe-

Single block Executes programs one block at a time. 419 Block stop Stops program execution at the end of the block being executed. 414

or the speed set in the system parameters. Executes linear interpolation at the specified interpolation feed rate for

up to 8 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.

system parameters.

turned ON. Executes positioning to a specified position with time specified. 282

Changes target position of an operating axis to a specified position. 305

Executes synchronous operation at a speed calculated with the speed of the specified master axis and a specified gear ratio.

Executes cam operation in a specified time period using a specified cam table.

Synchronizes the slave axis to the master axis using cam table. 292

tion, constant speed, and deceleration areas. Slave axis starts trailing master axis at the rise of marker sensor when

standing by. Once it catches up with master, synchronization starts. Superimposes travel distance of the master axis on the slave axis. It

functions like the differential gear.

be specified.

fied.

form an ideal operation.

Changes to Pass Mode, in which operations are executed continuously with no deceleration stop.

cution from the block where it was stopped, or resumes a program from the next block to the one where it was stopped.

271

273

274

278

281

296

286

289

297

298

300

303

256

308

329 331

404

Performance Section 1-7

Item Contents Page

Automatic/ Manual mode

Data transfer and storage

Backlash compensation

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

Unlimited feed mode/ Unlimited present position display

Present position preset

Trapezoid/S-curve acceleration and deceleration

Axis alarm reset Resets alarms occurring on axes. 474 Unit alarm reset Resets alarms occurring on units. 381 Task alarm reset Resets alarms occurring on tasks. 426 Teaching Creates position data for the specified axis. 504 Deceleration stop

(Task) Override Changes the operating speed by applying a specified percentage to the

Servo-lock Establishes the position loop and turns ON the RUN command output

Servo-unlock Releases the position loop and turns OFF the RUN command output to

Machine lock Updates the position display without moving control axes. This is used

Data transfer Transfer data from the CPU to the MC Unit and vice versa in a short

Data link Custom data can be exchanged during I/O refresh by setting custom I/

Saving data Stores programs, CAM data, parameters, position data, etc. in the MC

Backup and restore Backs up or restores all the data in the MC Unit using the easy backup

Compensates mechanical backlash (mechanical play between driving and driven axes) with the value registered in advance. (This is a function of the servo driver.)

(Enabled when no speed reference is given to the servo driver) Moves the axis with no limit. In this mode, data range for updating the

present position can be specified.

Changes the present position to the specified position data. 50

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

Decelerates each task to a stop. 409

speed specified in the system parameters or programs.

to the servo driver.

the servo driver.

for debugging program.

period of time using IOWR/IORD instruction in the ladder program.

O area in the words allocated in the DM area of CPU Unit.

Unit's flash memory.

function of the CPU Unit.

183

452

515

228

423 462

434

465

50 203

343 364

195

522

1-7 Performance

Item Performance data Description

Power ON startup time Approximately (13+0.1×No. of

axes) seconds

PLC scan time Tc Scan time of the PLC Unit cycle Tm This is the time required to execute a motion

Communications cycle Ts Communications cycle of MECHATROLINK-II.

Operation startup time When Tc < Tm:

2Ts+Tm+0.625ms+Tc~2Ts+ Tm+Ts+0.625ms+Tm+Tm

When Tc > Tm: 2Ts+Tm+0.625ms+Tc~2Ts+ Tm+Ts+0.625ms+Tm+Tc

Time from turning ON the power until the MC Unit becomes ready to accept manual operation commands.

task when there is only one motion task. Refer to Calculation Method for Unit Cycle on page 19.

Refer to Calculation Method for Communications Cycle on page 20.

This is the time from enabling the start signal allocated to the input unit of PLC until the operation command is output to the control loop of the servo driver when there is only one motion task and all the axes are operated simultaneously.

Performance Section 1-7

Item Performance data Description

Time lag per axis (Interpolation) 0 Time delay caused when interpolation is per-

Time lag per axis (Independent operation)

Minimum operation time Tm Minimum operation time required to stay in Pass

Minimum traverse reversal time Tm Minimum time required for reversal operation of

External input response time

Synchronization delay

Counter latch startup time

Unit Built-in general input

Unit Built-in deceleration stop input

CW/CCW limit origin proximity input

MECHATROLINK slaves

W + NS115 [(20ms/Tm) ×5+5] ×Tm+

0 Time delay caused when every motion task with

Tm or less Time from accepting the Unit built-in general

2Ts+Tm+0.625ms~2Ts+Tm+ Ts+0.625ms+Tm

4Ts+Tm+0.625ms~4Ts+Tm+ Ts+0.625ms+Tm

Ts×3+4ms~[(20ms/Tm) ×8+5] ×Tm+Ts×3+4ms

Unit Ver. 2.0 or Later When the starting and target positions are not specified: Tm × 3 + Ts × 3 + 4 ms

formed with one motion task. No delay between axes.

one axis is started simultaneously. No delay between axes.

Mode. The same as the Unit Cycle.

traverse command. The same as the Unit cycle.

input until it is reflected to input variables. It is the same or less than Unit cycle.

Time from receiving deceleration stop input until the operation command is output to the control loop of the servo driver

Time from when the servo driver recognizes the input until the operation command is output to the control loop of the servo driver.

Time from when the slave recognizes the input until the operation command is output to the control loop of the servo driver.

Time taken by the MC unit to become able to execute the counter latch after issuing a LATCH command. Refer toCalculation Method for the Counter Latch Startup Time on page 20.

Processing Cycle of MC Unit

Calculation Method for Unit Cycle

The MC Unit holds Control Cycle for the entire Unit and Communication Control Cycle.

The system software calculates each control cycle, and it operates when "Unit cycle: Communications cycle" is "1:1" or "2:1".

Calculation methods for each control cycle are as follows:

• Calculates the Unit Cycle

• Calculates the Communication Cycle

• Adjusts and matches the Unit Cycle and Communications Cycle.

Basic formula for calculating Unit Cycle is shown below:

Unit Cycle [ of parallel branches) + (0.3

µs] = (115.0 × No. of axes)+(165.0 × No. of motion tasks × No.

× No. of general allocated words) + 350.0 --- (1)

• No. of axes:No. of axes allocated in [P1AA01:Physical axis setting] (Sum of virtual and actual axes)

• No. of Motion tasks: P00001 [No. of Motion tasks]

• No. of parallel branches: P00002 [No. of parallel branches]

• No. of general allocated words:

No. of Allocated words to be used as general purpose I/O (Sum of inputs and outputs)

Note for P00003 [Unit Scan time]

When P00003 [Unit Scan time] is greater than the result of the formula (1), the formula (2) below is to be used.

Unit Cycle [

µs] = P00003 × 1000 ---(2)

Performance Section 1-7

Determining Unit Cycle

The Unit Cycle can be determined by rounding up the Unit Cycle [us] that was found by the formula (1) or (2) to 1ms/2ms/3ms/4ms/6ms/8ms.

Calculation Method for Communications Cycle

Adjusting and Matching Unit Cycle and Communications Cycle

Basic formula for calculating Communications Cycle is shown below:

Communications Cycle [

µs]= ((No. of allocated nodes + No. of Retries) ×

133.3 + 26.2) × 1.1 ---(3)

• No. of Allocated Node:No. of MECHATROLINK-II slaves (only physical

axes) allocated in [P1AA01: Physical Axis Setting]

• No. of Retries: No. of retries specified in [P00009: MECHATROLINK No.

of retrial nodes setting] (= 0-7).

Note for W-series Servo Driver

When a W-series Servo Driver and NS115 communications module are allocated as slaves, Minimum communications cycle of MECHATROLINK-II will be 1ms. If the Communications cycle that was found by the formula (3) was less than 1ms, the formula (4) below is to be used.

Communications cycle [

µs] = 1000 ---(4)

Determining Communications Cycle

The Communications Cycle can be determined by rounding up the Communications Cycle [

µs] that was found by the formula (3) or (4) to 1ms/2ms/3ms/

4ms.

Determine the combination of the Unit Cycle and Communications Cycle using the following table:

Control cycle relations Adjusting/matching method

Unit Cycle < Communications Cycle

Unit Cycle = Communications Cycle

Unit Cycle > Communications Cycle

Communications Cycle remains the same, and Unit Cycle is adjusted so that it is the same as Communications Cycle.

Used as they are.

When Unit Cycle is 8ms:

The Communications Cycle is 4ms.

Other cases:

When Unit Cycle/Communications Cycle = 2 or less:

The Unit Cycle remains the same, and the Communications Cycle will be the half of the Unit Cycle.

Besides the above case:

The Unit Cycle remains the same, but the Communications Cycle will be the same as the Unit Cycle.

Calculation Method for the Counter Latch Startup Time

Basic formula for calculating the counter latch startup time is shown below:

1. Pre-Ver. 2.0 MC Units or When Latch Starting and Target Positions Are Specified

When Unit Cycle = 1ms or 2ms:

[(20ms/Tm)

× 5 + 5] × Tm + Ts × 3 + 4ms ~ [(20ms/Tm) × 6 + 5] × Tm + Ts ×

3 + 4ms

When Unit Cycle = 3ms, 4ms, 6ms, or 8ms:

[(20ms/Tm)

× 7 + 5] × Tm + Ts × 3 + 4ms ~ [(20ms/Tm) × 8 + 5] × Tm + Ts ×

3 + 4ms

Note Round up the figures below the decimal place of the value found by

calculations.

According to the calculation methods above, the counter latch startup time will be as follows:

Performance Section 1-7

• Unit Cycle = 1ms: Communication Cycle = 1ms 112 ms ~ 132 ms

• Unit Cycle = 2ms: Communication Cycle = 1ms 117 ms ~ 137 ms

• Unit Cycle = 2ms: Communication Cycle = 2ms 120 ms ~ 140 ms

• Unit Cycle = 3ms: Communication Cycle = 3ms 175 ms ~ 196 ms

• Unit Cycle = 4ms: Communication Cycle = 2ms 170 ms ~ 190 ms

• Unit Cycle = 4ms: Communication Cycle = 4ms 176 ms ~ 196 ms

• Unit Cycle = 6ms: Communication Cycle = 3ms 211 ms ~ 235 ms

• Unit Cycle = 8ms: Communication Cycle = 4ms 224 ms ~ 248 ms

• Unit Cycle = 8ms: Communication Cycle = 8ms 236 ms ~ 260 ms

2. Ver. 2.0 MC Units or When Latch Starting and Target Positions Are Not Specified

× 3 + Ts × 3 + 4ms

Note Round up the figures below the decimal place of the value found by

calculations.

According to the calculation methods above, the counter latch startup time will be as follows:

• Unit Cycle = 1ms: Communication Cycle = 1ms 10 ms

• Unit Cycle = 2ms: Communication Cycle = 1ms 13 ms

• Unit Cycle = 2ms: Communication Cycle = 2ms 16 ms

• Unit Cycle = 3ms: Communication Cycle = 3ms 22 ms

• Unit Cycle = 4ms: Communication Cycle = 2ms 22 ms

• Unit Cycle = 4ms: Communication Cycle = 4ms 28 ms

• Unit Cycle = 6ms: Communication Cycle = 3ms 31 ms

• Unit Cycle = 8ms: Communication Cycle = 4ms 40 ms

Performance Section 1-7

SECTION 2

Basic Procedures

This section provides an overview of the basic procedures required to use the CS1W-MCH71 Motion Control Unit.

2-1 Basic Operation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2-2 Overview and Operating Procedure of MC-Miel . . . . . . . . . . . . . . . . . . . . . . 26

2-2-1 Overview and features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

2-2-2 MC-Miel Function List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

2-2-3 Installing and Uninstalling MC-Miel . . . . . . . . . . . . . . . . . . . . . . . . 27

2-2-4 MC-Miel Operation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Basic Operation Flow Section 2-1

2-1 Basic Operation Flow

This Section gives an overview of the procedures required to use CS1WMCH71.

OPR. Operation Flow Reference

Setup SECTION 3 Installation and Wiring

Connect Support Tool/CX-Programmer

Connect MC Unit with External Input Devices

Connect Servo Driver and Servomotor

Connect Servo Driver and MC Unit

START

Install MC Unit

Set Unit No. for MC Unit

3-2 Installation 3-1 Nomenclature and Functions 3-4 Wiring

MC Unit Setting

Turn ON the Power to the PLC

Create the I/O table of PLC

Set MC Unit Allocation Area in PLC DM Area

Power OFF and ON the PLC

Use MC-Miel to set the system parameters, transfer them to MC Unit, and save them to flash memory.

Use MC-Miel to create motion programs and position data. Transfer them to MC Unit and save them to flash memory.

Turn ON the power to the PLC or restart MC Unit to enable settings.

Users Manual for CS Series CPU Unit

SECTION 7 PC Interface Area 7-3 Allocations for the CPU Unit SECTION 4 MC Unit Internal Data

Configuration and Setting 4-2 System Parameters 4-4 Position Data SECTION 6 Programming

Basic Operation Flow Section 2-1

OPR. Operation Flow Reference

Tr i al OP R SECTION 7 PC Interface Area

Use Manual Mode to execute Servo Lock

Use Manual Mode to execute Jogging

Use Manual Mode to execute Origin Search

Switch to the Automatic Mode to start the motion program from PLC and operate the system.

Debug SECTION 11 Troubleshooting

7-3 Allocations for the CPU Unit 7-4 Interface Specifics SECTION 8 Establishing the Ori-

gin

Error Occurrence

YES

Check LED display on the MC Unit

Read Alarm codes of MC Unit

Eliminate the cause of error and clear it.

Run SECTION 10 Program Example

Run PLC to operate MC Unit

Maintenance

Maintenance and inspection

Replacing CS1W-MCH71

•

Replacing Servo driver

•

Replacing the NS115

•

SECTION 12 Maintenance and Inspection

END

Note For details of the procedure, refer to HELP of the Support Tool.

Overview and Operating Procedure of MC-Miel Section 2-2

2-2 Overview and Operating Procedure of MC-Miel

This section explains the overview, features, and operating procedure of the support tool, MC-Miel for MCH (MC-Miel hereinafter). MC-Miel helps to set various parameters and data for CS1W-MCH71.

For detailed information on the performance and operating procedure, refer to MC-Miel Online Help.

2-2-1 Overview and features

MC-Miel is the software that can help to create various data used on the MC Unit model CS1W-MCH71, (MC Unit hereinafter) and to monitor the status of the MC Unit. Its features are as follows:

Supports eight layers of network

Easy communication settings

Unitary management of data

Possible to edit parameters of servo drivers and motors

Backing up and restoring the data all at once

Tying up with application software on the market

Using MC-Miel with OMRON’s Communication Unit will enable communications with the MC Unit over eight layers of network.

When communicating with MC Unit, it is required only to set the network address and communication speed. Setting data length, stop bit, etc. is not necessary.

MC Unit handles various data such as parameters, position data, programs, etc. MC-Miel manages these data unitarily, i.e. on the basis of one file for one MC Unit.

With MC-Miel, it is possible to edit not only the parameters of MC Unit, but also the ones related to the servo drivers and motors on the same network.

Easy operation will make the data of MC Unit backed up and restored all at once.

Using “Copy and Paste” of the application on the market (Excel) will make it easy to create the position data and parameters.

2-2-2 MC-Miel Function List

Overview of the MC-Miel functions is listed below:

Function

classification

Basic function Create Creates new MCH data.

Read Reads the MCH data stored in external memory device. Save Saves the MCH data that was read or is being edited to external memory

Transfer all at once Transfers various data in MC Unit to personal computer all at once. Trans-

Print Prints out parameters, position data, and programs. Network setting Helps various settings to establish communication with MC Unit. Help Explains the operation method of MC-Miel. Version display Displays the version of MC-Miel.

Function Description

Note Contents of MCH data are as follows:

Parameters, Position data, Programs, and Cam data

device.

fers various data in personal computer to MC Unit all at once.

Overview and Operating Procedure of MC-Miel Section 2-2

Function

classification

Edit function Parameter edit Creates, edits, and transfers parameters.

Program edit Creates, edits, and transfers programs. Position data edit Creates, edits, and transfers position data. Cam data edit Creates, edits, and transfers cam data. Factory default setting Brings the dragged portion of MCH data back to its factory default setting. Copy and paste Copies the dragged portion of MCH data to clipboard.

MC unit supporting function

Tool function Present position/alarm

Flash memory save Saves various data in MC unit to F-ROM of MC Unit.

Memory initialization Initializes various data in MC Unit. Error log Displays or initializes error log in MC Unit. Device information Reads information (model, software version) of MC Unit.

monitor

Variables monitor/setting Monitors and sets different types of variables in MC Unit.

Function Description

Pastes the data in clipboard to the dragged area of MCH data.

Saves parameters of servo driver in MC Unit to EEP-ROM of servo driver.

Monitors present position and alarm information of each axis. Monitors program No. being executed by each task.

2-2-3 Installing and Uninstalling MC-Miel

Installing Procedure

1,2,3... 1. Start Windows.

2. Insert MC-Miel (CD-ROM) into CD-ROM drive.

3. Installer will start automatically. Follow the instruction on the screen to in-

stall. Installing MC-Miel completed

Note To see the operating manual

To see the operating manual of MC Unit provided in the CD-ROM, Acrobat Reader is required.

1,2,3... 1. Double-click “AcroReader51_ENU.exe” in Acrobat\Reader to install Adobe

Acrobat Reader 5.1.

2. After installation, open the operating manual.

Uninstalling Procedure

1,2,3... 1. Start “add/delete application” following the operation below:

Select Start button Then, start “Add/delete application”.

2. Delete “MC-Miel for MCH” after having found it with search.

Uninstalling MC-Miel completed

2-2-4 MC-Miel Operation Flow

When using motion control system (MC System hereinafter), settings for PLC, MC Unit, and Peripherals are required.

The explanation below is provided on the assumption that all the devices required for MC System are prepared. (For details, refer to the MC-Miel Online Help.)

Operating Procedure

→ Setting → Control Panel.

1,2,3... 1. Connect a personal computer to PLC with MC Unit not mounted yet.

2. Turn ON the personal computer.

Overview and Operating Procedure of MC-Miel Section 2-2

3. Turn ON PLC.

4. Set allocation area in DM area corresponding to the unit No. (UNIT No.) of

the MC Unit using CX-programmer or the Programming Console of PLC.

5. Turn OFF PLC.

6. Mount MC Unit on PLC.

7. Set unit No. (UNIT No.) of MC Unit.

8. Connect various peripherals (servo driver, motor, etc.) including the Com-

munication I/F Board to MC Unit.

9. Set Communication I/F Board.

10. Turn ON peripherals.

11. Turn ON PLC.

12. Create I/O table using CX-Programmer or the Programming Console of

PLC. When finished creating I/O table, end CX-Programmer or set it Offline.

13. Start MC-Miel.

14. Set and save parameters that have to be set with MC-Miel.

• Allocate an axis to MC Unit.

• After the allocation, save parameters to F-ROM of MC Unit.

• After saving, turn OFF PLC once, then ON again.

15. Set the initial values of the following parameters and transfer them to MC

Unit and servo driver.

• Set parameters of the servo driver.

• Set parameters of the motor.

16. After transferring the parameters, save them into F-ROM of MC Unit and

EEP-ROM of servo driver.

17. Turn OFF the peripherals including the servo driver once, and then turn

OFF PLC.

18. Turn ON PLC, and then turn ON peripherals including the servo driver.

19. Create and edit other parameters and data.

• Parameters

• Programs

• Position data

• Cam data

20. Transfer and save the parameters and data above to MC Unit and the ser-

vo driver.

21. At last, save all the data into the personal computer.

22. End MC-Miel.

Note CX-Programmer and MC-Miel cannot use the same communication port at

the same time. To use the same communication port, set one Off-line and the other On-line.

SECTION 3

Installation and Wiring

This section describes the names of Unit parts and how to install and wire the CS1W-MCH71 Motion Control Unit.

3-1 Nomenclature and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3-1-1 Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3-1-2 Area Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3-2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3-2-1 System Configuration Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3-2-2 Mounting to the Backplane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3-2-3 Unit Handling Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3-2-4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3-3 External I/O Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-3-1 MECHATROLINK-II Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-3-2 I/O Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-3-3 Wiring Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-3-4 I/O Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3-4-1 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3-5 Connecting MECHATROLINK Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

3-5-1 Method of Connecting MECHATROLINK Devices . . . . . . . . . . . . 38

3-5-2 W-series Servo Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3-5-3 24VDC I/O Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3-5-4 Counter Module, Pulse Output Module . . . . . . . . . . . . . . . . . . . . . . 46

Nomenclature and Functions Section 3-1

3-1 Nomenclature and Functions

3-1-1 Nomenclature

LED Indicators

UNIT No. Setting switch

T.B connector, SSI connector (Cannot be used)

MECHATROLINK-II connector

LED Indicators

Name Color Status Content

RUN (RUN)

ERC (MC Unit Error)

ERH (CPU Unit Error)

ER1 (See note.) (Internal error status)

ER2 (See note.) (Internal error status)

ER3 (See note.) (Internal error status)

ER4 (See note.) (Internal error status)

SSI Yellow Lit Not used.

MLK (MECHATROLINK-II)

Green Lit Motion Control Unit is operating normally.

Not lit Not recognized by PLC, or MC Unit is broken.

Red Lit An error has occurred in the MC Unit.

Not lit MC Unit is operating normally.

Red Lit An error has occurred in the CPU Unit.

Not lit CPU Unit is operating normally.

Yellow Lit An internal error has occurred.

Not lit MC Unit is operating normally.

Yellow Lit An internal error has occurred.

Not lit MC Unit is operating normally.

Yellow Lit An internal error has occurred.

Not lit MC Unit is operating normally.

Yellow Lit An internal error has occurred.

Not lit MC Unit is operating normally.

Not lit Not used.

Yellow Lit MLK is operating normally.

Not lit An error has occurred in the MLK.

I/O connector

Note When the ERC or ERH indicator is lit, these four indicators show the internal

error status.

Nomenclature and Functions Section 3-1

(

)

Unit Number Setting Switch

MCH71

RUN

ERC

ER1 ER2

ERH

ER3

ER4

MLKSSI

Several MC Units can be mounted on one CS series PLC. It is necessary to set the unit numbers to identify these units when several MC

or CPU Bus Units are mounted. The rotary switch located on the forehead of MC Unit can set the unit num-

bers.

(Examples)

Unit Number: 6 Unit Number: 12

Hexadecimal

A maximum of 16 MC Units or other CPU Bus Units can be mounted on one PLC. Therefore, the setting range for the unit number is between 0 to F in hexadecimal.

The same unit number cannot be used in one PLC.

!Caution Please check if the power is OFF when you start the settings.

Piano Switch On the Back Panel of the Unit

←

These switches are used for special purposes like shipping inspection mode, etc. Therefore, do not operate them.

OFF OFF Normal operation ON OFF Reserved for shipping inspection by OMRON (Do not set.) OFF ON Reserved for shipping inspection by OMRON (Do not set.) ON ON Reserved for shipping inspection by OMRON (Do not set.) (See

Note If the power is turned ON under this setting, the MC Unit will be started after

various user settings are set beck to their factory default values.

3-1-2 Area Allocations

Word Allocations Using Unit Numbers

CPU Bus Unit Allocated Bit Area

The bit and DM areas used by the MC Unit are allocated based on the unit number.

The bit area is allocated 25 words for each unit number starting from the word

1500.

12 Status

note.)

Installation Section 3-2

The following table describes the allocations.

Unit number Bit area Unit number Bit area

0 Words 1500-1524 8 Words 1700-1724 1 Words 1525-1549 9 Words 1725-1749 2 Words 1550-1574 10 Words 1750-1774 3 Words 1575-1599 11 Words 1775-1799 4 Words 1600-1624 12 Words 1800-1824 5 Words 1625-1649 13 Words 1825-1849 6 Words 1650-1674 14 Words 1850-1874 7 Words 1675-1699 15 Words 1875-1899

CPU Bus Unit Allocated DM Area (DM Parameter Area)

The DM area is allocated 100 words for each unit number starting from the words D30000.

The following table describes the allocations.

Unit number DM area Unit number DM area

0 Words 30000-30099 8 Words 30800-30899 1 Words 30100-30199 9 Words 30900-30999 2 Words 30200-30299 10 Words 31000-31099 3 Words 30300-30399 11 Words 31100-31199 4 Words 30400-30499 12 Words 31200-31299 5 Words 30500-30599 13 Words 31300-31399 6 Words 30600-30699 14 Words 31400-31499 7 Words 30700-30799 15 Words 31500-31599

3-2 Installation

3-2-1 System Configuration Precautions

I/O bit numbers of the CPU Bus Unit are allocated based on the setting of the Unit Number Setting Switch on the front panel of the Unit, not on the slot number to which the Unit has been mounted.

MC Units can be mounted on the CPU Backplanes model CS1W-BC@@3 or CS1W-BC@@2 and the Expansion Backplanes model CS1W-BI@@3 or CS1W-BI@@2.

When mounting a relay output unit on the very left of the MC Unit, make sure to use the surge absorber for the relay output line.

MC Unit

Make sure to use the surge absorber for the contact output of this relay output unit.

When MECHATROLINK-II devices are connected up to 16 nodes (within 30m) or 15 nodes (within 50m), no repeater unit is required. A repeater unit is required to connect MECHATROLINK-II devices more than the cases above.

Installation Section 3-2

3-2-2 Mounting to the Backplane

Use the following steps to mount or remove MC Units.

1,2,3... 1. Mount the Unit on the Backplane by hooking the top of the unit into the slot

on the Backplane and rotating the Unit downwards.

Hook

Backplane

2. Make sure that the connector on the back of the Unit is property inserted

into the connector on the Backplane.

3. Use a Phillips screwdriver to tighten the screw on the bottom of the Unit.

The screwdriver must be held at a slight angle, so be sure to leave enough space below the rack.

Duct

CPU Unit

I/O Power Supply Unit

Slave Rack

Duct

Phillips screwdriver

20 mm min.

Backplane

20 mm min.

Note Tighten the screw to a torque of 0.4N-m.

To remove the Unit, loosen the screw with a Phillips screwdriver, rotate the Unit upwards, and then remove it.

Installation Section 3-2

3-2-3 Unit Handling Precautions

Always turn OFF the CPU Unit before mounting or removing a MC Unit or connecting or disconnecting cables to or from the MC Unit.

Place the port connecting cables in a different duct from those for high-voltage lines or power lines to prevent the effects of electrical noise from these lines.

Do not remove the protective label from the top of the unit until wiring has been completed. This label prevents wire strands and other foreign matter from entering the Unit during wiring. Remove the label after wiring has been completed to allow air circulation needed for cooling.

Remove label after wiring

3-2-4 Dimensions

CS1W-MCH71

130

100.5

104

External I/O Circuitry Section 3-3

3-3 External I/O Circuitry

3-3-1 MECHATROLINK-II Connector

Item Description

Connector name CN1 MECHATROLINK-II connector Applicable connector USB connector DUSB-ARA41-T11 (DDK) Mating connector USB connector DUSB-APA41-B1-C50 (DDK) *Including shell. Pin arrangement

No. Signal I/O Description

1 (NC) --- --2SRD− I/O Send/Receive Data (−) 3 SRD+ I/O Send/Receive Data (+) 4 SLD --- Shield Ground

MECHATROLINK-II Standard Cable

USB connectors on both ends: JEPMC-W6003-**

3-3-2 I/O Connectors

Item Classification Component and Maker

Connector name CN2 I/O connector Applicable connec-

tor Mating connector Connector

Pin arrangement

MDR connector 10214-52A2JL (3M)

Housing

No. Signal I/O Description No. Signal I/O Description

1 DI_24V P DI common 8 DI_24V P DI common 2 DI_00 I DI input (Decel-

3 DI_02 I DI input 1 10 DI_03 I DI input 2 4 --- --- --- 11 --- --- --5 DO_24V P --- 12 DO_24V P --6 DO_COM P DO common 13 DO_COM P DO common 7 DO_00 O.C. DO00 output 14 DO_01 O.C. DO01 output P: Power supply input

I: Input signal O.C.:Open collector output

10114-3000VE (3M) 10314-52F0-008 (3M)

eration stop)

3-3-3 Wiring Connectors

Instruction:

1,2,3... 1. Pass each wire through heat-shrink tubing.

2. Spot-solder the wires and connector terminals

3. Solder the wires

9 DI_01 I DI input

(Reserved)

External I/O Circuitry Section 3-3

1 mm

Soldering gun

Heat-shrink tube Inner diameter:1.5, r=10

4. Pull the heat-shrink tubing back over the soldered area and heat the tubing

to shrink it.

3-3-4 I/O Circuitry

Connector Interface Circuits

Item Specifications Circuitry

Max. Output Current

Leakage current 1mA or lower Residual Voltage 1.5V or lower External Supply

Vol tage Number of Com-

mon

100mA/24VDC

24VDC ±10%

Heat-shrink tube

• 24VDC Digital Output (2 outputs)

33 kΩ

Internal circuits

33 kΩ

Fuse

DO_00

DO_01

24 VDC

DO_COM

Wiring Section 3-4

• 24VDC Digital Input

Item Specifications Circuitry

Rated Input Voltage

Rated Input Current

ON Voltage Min. ≅9.5V OFF Current Max. ≅4.5V ON Response

Time OFF Response

Time Number of com-

mons

24VDC ±10%

4.06~4.48mA

ι24VDC ϕ

1ms or less

DI_00

DI_01

2.7 kΩ

0.01 µF

2.7 kΩ

0.01 µF

2.7 kΩ

1 kΩ

24 VDC

3-4 Wiring

3-4-1 Wiring Precautions

Heed the following precautions when wiring the MC Unit to the servo drivers and motors.

Electronically controlled equipment may malfunction because of noise generated by power supply lines or external loads. Such malfunctions are difficult to reproduce; hence, determining the cause often requires a great deal of time.

The following tips should aid in avoiding noise malfunction and improving system reliability.

Use electrical wires or cables of designated sizes as specified in the instruction manual for the servo driver.

Separate power cables (AC power supply lines and motor power supply lines) from control cables (pulse output lines and external input signal lines). Do not group the two types of cable together or place them in the same conduit.

Using the laminated ceramic capacitor of 1 supply will improve noise-resistance.

Use shielded cables for control lines. For inductive loads such as relays or solenoid valves, connect surge absorb-

ers. The connecting cable for the servo driver must be the specified cable with ring

core.

DI_02

DI_03

DI_24V

2.7 kΩ

0.01 µF

2.7 kΩ

0.01 µF

2.7 kΩ

1 kΩ

µF for the output of 24VDC power

Internal circuits

Connecting MECHATROLINK Devices Section 3-5

DC Relay AC Relay

Surge-absorbing diode

Solenoid

Surge absorber

Note (1) Connect a surge-absorbing diode or surge absorber close to the relay.

Use a surge absorbing

diode with a voltage tolerance at least five times

greater than the circuit voltage.

(2) Noise may interfere from the power supply line if the same power supply

as the electric welder or spark erosion machine is used for the MC Unit, or if there is a source of high-frequency noise around. If it occurs, insert

the noise filter at the input section of the power supply. (3) Use the twisted pair-cable for the power line. (4) Provide grounding of 100

Ω or less and use the thickest possible wire,

greater than 1.25 square mm.

3-5 Connecting MECHATROLINK Devices

This section explains the method of connecting the MC Unit to devices with MECHATROLINK-II.

(As for the method of setting parameters, refer to 10-2 Slave Modules (page 560).)

Note For details, refer to YASKAWA ELECTRIC CORPORATION’s

SGDH MECHATROLINK-II APPLICATION MODULE USER’S MANUAL MODEL: JUSP-NS115 (MANUAL NO. SIEPC71080001*)”.

3-5-1 Method of Connecting MECHATROLINK Devices

Connection cable To connect MECHATROLINK devices to MC units, use the connecting cables

(sold separately) in the table below.

Name Model (OMRON) Model (YASKAWA) Length

MECHATROLINK-II cable (For W-series) (With ring core and USB connector on both ends)

FNY-W6003-A5 JEPMC-W6003-A5 0.5m FNY-W6003-01 JEPMC-W6003-01 1.0m FNY-W6003-03 JEPMC-W6003-03 3.0m FNY-W6003-05 JEPMC-W6003-05 5.0m FNY-W6003-10 JEPMC-W6003-10 10.0m FNY-W6003-20 JEPMC-W6003-20 20.0m FNY-W6003-30 JEPMC-W6003-30 30.0m

Σ-II SERIES

Connecting MECHATROLINK Devices Section 3-5

The terminating resistance (sold separately) in the table below should be connected to the MECHATROLINK-II termination.

Name Model (OMRON) Model (YASKAWA)

Terminating resistance for MECHA-

FNY-W6022 JEPMC-W6022

TROLINK-II

Repeater unit When MECHATROLINK-II devices are connected up to 16 nodes (within 30m)

or 15 nodes (within 50m), no repeater unit is required. A repeater unit is required to connect MECHATROLINK-II devices more than the cases above.

Name Model (OMRON) Model (YASKAWA)

Repeater for MECHATROLINK-II FNY-REP2000 JEPMC-REP2000

3-5-2 W-series Servo Driver

W-series Servo Driver requires YASKAWA MECHATROLINK-II I/F Unit model JUSP-NS115.

Each version of the following products can be used. The version name is indicated on the nameplates of each product.

W-series Servo Driver: Ver.39 or later I/F Unit: VER.***03 or later

Note Using either a W-series Servo Driver or an I/F Unit of older versions can be

the cause of abnormal operations. Make sure to use the versions mentioned above.

Attaching I/F Unit NS115

OMRON R88D-W****

(3)

(2)

(1)

(1) Remove the connector cover of

the option connector (CN10) on W-series Servo Driver.

(2) Attach NS115.

(3) For grounding, connect the

ground wire of NS115 to the part indicated as "G" on the top surface of the Servo Driver.

Connecting MECHATROLINK Devices Section 3-5

Communications setting Set MECAHTROLINK communications using SW1and SW2.

Transmission setting

MECHATROLINK communications can be specified using the DIP switches (SW2). See the table below. Any change of the settings becomes valid after turning OFF the power once,

then ON again.

SW2 Name Setting Content Default setting

Bit 1 Baud rate OFF 4 Mbps ON (Do not

ON 10 Mbps

Bit 2 No. of Transmitted bytes OFF 17 bytes ON (Do not

ON 30 bytes

Bit 3 Station address OFF Refer to Station

address setting

Bit 4 Reserved OFF --- OFF

change.)

OFF

OFF 1 2 3

SW2 (Default setting)

Station address setting

The station address can be set as shown in the table below using the rotary switch (SW1) and piano switch (SW2 bit 3).

The piano switch 3 of SW2 specifies the number of 10s and SW1 specifies the number of units.

Do not change the setting while the power is being supplied.

Bit 3 of SW2 SW1 Station No. SW1 default setting

OFF 0 Do not set. 1

1 to F 1 to 15 (1 to FH)

ON 0 to F 16 to 30 (10H to 1EH)

SW1

Connecting MECHATROLINK Devices Section 3-5

Example of connecting I/O signals

Backup battery (See note 2.)

+24V

Origin return deceleration LS (LS is valid when ON) (See note 3.)

Forward run prohibited (Prohibited when OFF)

Reverse run prohibited (Prohibited when OFF)

External latch 1 (Latch when ON) (See note 3.)

External latch 2

(Latch when ON) (See note 3.) External latch 3 (Latch when ON) (See note 3.)

A typical connecting example with standard settings (default settings) is shown here.

W driver, NS115

CN1

BAT

−

+24VIN

−

DEC

P-OT

N-OT

EXT1

EXT2

EXT3

3.3 KΩ

Connector shell

Connect shield to connector shell.

ALO1

Alarm code output

ALO2

Max. operating voltage DC30V Max. operating current DC20mA

ALO3

Positioning completed

COIN+

(ON when P. completed)

COIN−

BK+

BK output (ON when brake released) (See note 3.)

BK−

S-RDY+

Servo ready output (ON when ready)

S-RDY−

ALM+

Servo alarm output (OFF with alarm)

ALM−

Photo coupler output Max. operating voltage DC30V Max. operating current DC50mA

Note (1) P indicates twisted-pair wires.

(2) When using an ABS encoder, connect a backup battery only when there

is no battery connected to CN8.

(3) Allocate signals using user constants.

Connecting MECHATROLINK Devices Section 3-5

CN1 terminal layout

2 SG

SG GND

1 2

1 4

1 6

1 8

2 0

BAT(−)

2 4

GND

Battery (−)

1 1

1 3

1 5

1 7

1 9

2 1

2 3

2 5

BAT(+)

/COIN

GND

Battery (+)

Positioning completed output

2 7

(See note 3.)

2 9

3 1

3 3

3 5

3 7

3 9

4 1

(See note 3.)

4 3

(See note 3.)

4 7

4 9

/BK+

/S-RDY+

ALM+

ALO1

ALO3

/DEC

N-OT

/EXT2

+24VIN

Brake interlock output

Servo ready output

Servo alarm output

Alarm code output (Opencollector output)

Origin return deceleration LS input

Reverse run prohibited input

External latch signal 2 input

External power supply input

2 6

2 8

(See note 3.)

3 0

3 2

3 4

3 6

3 8

4 0

4 2

(See note 3.)

4 8

5 0

/COIN-

/BK-

/S-RDY-

ALM-

ALMO2

P-OT

/EXT1

/EXT3

Positioning complete output

Brake interlock output

Servo ready output

Servo alarm output

Alarm code output

Forward run prohibited input

External latch signal 1 input

External latch signal 3 input

Note (1) Connector shell: Connected to FG (Frame ground)

(2) Do not use unused terminals for relays. (3) Allocate the signal using user constants. (4) For details, refer to YASKAWA ELECTRIC CORPORATION’s

RIES SGDH MECHATROLINK-II APPLICATION MODULE USER’S MANUAL MODEL: JUSP-NS115 (MANUAL NO. SIEPC71080001*)”.

3-5-3 24VDC I/O Module

Communications setting Set MECAHTROLINK communications using SW1 and SW2.

OFF 1 2 3 4

SW1 (Default setting)

Σ-II SE-

Connecting MECHATROLINK Devices Section 3-5

Transmission settings

MECHATROLINK communications can be specified using the DIP switch (SW1). See the table below.

Note Any change of the settings becomes valid after turning OFF the power once,

and then ON again.

SW2 (Default setting)

SW1 Name Setting Content Default setting

1 Baud rate OFF 4 Mbps ON (Do not set to

2 No. of Transmitted bytes OFF 17 bytes OFF

3 Station address OFF Refer to Station

--- Reserved OFF --- OFF

ON 10 Mbps

OFF.)

ON 30 bytes

OFF

address setting

Station address setting

Station address can be set as shown in the table below using the rotary switch (SW2) and piano switch (SW1 bit 3).

The bit 3 of SW1 specifies the number of 10s while the SW2 specifies the number of units.

Do not change the setting while the power is being supplied.

Bit 3 of SW1 SW2 Station address SW2 default setting

OFF 0 Do not set. 0

1 to F 1 to 15 (1 to FH)

ON 0 to F 16 to 30 (10H to 1EH)

64-point I/O module (IO2310) connector pin layout, signal names, and wiring example

For details, refer to YASKAWA ELECTRIC CORPORATION’s “Machine Controller MP900 Series MECHATROLINK System USER’S MANUAL (MANUAL NO. SIEZ-C887-5.1*)”.

Connecting MECHATROLINK Devices Section 3-5

(IN1 connector)

24 VDC

Reserved

DCPWR DCPWR

Input 32

Input 30

Input 28

Input 26

Input 24

Input 22

Input 20

Input 18

Input 16

Input 14

Input 12

Input 10

Input 8

Input 6

Input 4

Input 2

Reserved Reserved

DCPWR DCPWR

Reserved

Input 31

Input 29

Input 27

Input 25

Input 23

Input 21

Input 19

Input 17

Input 15

Input 13

Input 11

Input 9

Input 7

Input 5

Input 3

Input 1

(IN2 connector)

24 VDC

Reserved

DCPWR DCPWR

Input 64

Input 62

Input 60

Input 58

Input 56

Input 54

Input 52

Input 50

Input 48

Input 46

Input 44

Input 42

Input 40

Input 38

Input 36

Input 34

Reserved Reserved

DCPWR DCPWR

Reserved

Input 63

Input 61

Input 59

Input 57

Input 55

Input 53

Input 51

Input 49

Input 47

Input 45

Input 43

Input 41

Input 39

Input 37

Input 35

Input 33

Connecting MECHATROLINK Devices Section 3-5

(OUT1 connector)

24 VDC

Load Fuse

24 VDC

DCGND2

DCPWR2 DCPWR2

Output 32

Output 30

Output 28

Output 26

Output 24

Output 22

Output 20

Output 18

Output 16

Output 14

Output 12

Output 10

Output 8

Output 6

Output 4

Output 2

DCGND1 DCGND1

DCPWR1 DCPWR1

DCGND2

Output 31

Output 29

Output 27

Output 25

Output 23

Output 21

Output 19

Outut 17

Output 15

Output 13

Output 11

Output 9

Output 7

Output 5

Output 3

Output 1

Fuse Load

(OUT2 connector)

24 VDC

Load Fuse

24 VDC

Reserved

DCPWR DCPWR

Output 64

Output 62

Output 60

Output 58

Output 56

Output 54

Output 52

Output 50

Output 48

Output 46

Output 44

Output 42

Output 40

Output 38

Output 36

Output 34

Reserved Reserved

DCPWR DCPWR

Reserved

Output 63

Output 61

Output 59

Output 57

Output 55

Output 53

Output 51

Outut 49

Output 47

Output 45

Output 43

Output 41

Output 39

Output 37

Output 35

Output 33

Fuse Load

Connecting MECHATROLINK Devices Section 3-5

3-5-4 Counter Module, Pulse Output Module

Communications setting For counter modules and pulse output modules, MECHATROLINK communi-

cations can be set using the DIP switches.

SW (Default setting)

1 2345678

OFF

Transmission setting

MECHATROLINK communications can be specified using the DIP switches (SW) 6 to 8.

See the table below. Any change of the settings becomes valid after turning OFF the power once,

then ON again.

Pin Name Setting Content Default setting

6 Baud rate OFF 4Mbps OFF

ON 10Mbps

7 Transmission bytes OFF 17byte OFF

ON 30byte

8 Station address OFF Refer to Station

address setting

ON (Do not set to OFF.)

Station address setting

Station address can be set as shown in the table below using the DIP switch 1 to 5 (SW).

The bit 5 of SW specifies the number of 10s while the bit 1 to 4 of SW specifies the number of units.

Do not change the setting while the power is being supplied.

SW Station address

54321

OFF OFF OFF OFF OFF Do not set. OFF OFF OFF OFF ON 1 (01H): Default setting OFF OFF OFF ON OFF 2 (02H) OFF OFF OFF ON ON 3 (03H) ~~ OFFONONONON15 (0FH) ON OFF OFF OFF OFF 16 (10H) ON OFF OFF OFF ON 17 (11H) ON OFF OFF ON OFF 18 (12H) ON OFF OFF ON ON 19 (13H) ~~ ON ON ON ON ON Do not set.

Connecting MECHATROLINK Devices Section 3-5

Counter module (PL2900) Circuit Configuration and signal connection

Counter 1 phase-A pulse

Counter 1 phase-B pulse

+−

24 VDC

Counter 2phase-A pulse

Counter 2 phase-B pulse

+−

PHA1

PHA1+

PHA1

PHB1

2.7 kΩ

180 Ω

4.7 kΩ

2.7 kΩ

Counter module

4.7 kΩ

620 Ω

Counter 1 External latch

8L1

Counter 1

10 RST1

14L2

external current value reset

Counter 2 External latch

Counter 2 external

PHB1+

6PHB1

PHA2

PHA2+

PHA2

180 Ω

4.7 kΩ

2.7 kΩ

180 Ω

4.7 kΩ

620 Ω

4.7 kΩ

620 Ω

current value reset

PHB2

PHB2+

PHB2

2.7 kΩ

180 Ω

4.7 kΩ

620 Ω

15RST2

External input common

+−

12IN

24 VDC

+ −

24 VDC

PHA1−5PHB17PHB1+9N1

2 PHA14PHA1+6PHB1−8L1

Signal arrangement of the terminal block

11 OUT−13N2

10 RST112IN−

15 RST217PHA2−19PHB221PHB2+23+24V

14 L2

16 PHA218PHA2+20PHB2−220(24V)

For details, refer to YASKAWA ELECTRIC CORPORATION’s “Machine Controller MP900 Series MECHATROLINK System USER’S MANUAL (MANUAL NO. SIEZ-C887-5.1*)”.

Connecting MECHATROLINK Devices Section 3-5

Pulse output module (PL2910)

Overheat input status

Excitation timing input status

External power

− +

supply +5 VDC

5 VDC

External power supply 0VDC (+5VDC)

Home position signal input status

Generalpurpose input status

External power

− +

supply +24 VDC

5 VDC

External power supply 0 VDC (+24 VDC)

Circuit configuration and signal arrangement

Pulse output module

OVER

TIMING

+5V15

0V(5V)14

ZERO

IN1921

+24V23

0V(24V)22

CCW1 3

CC1 5

C-OFF1 7

B-FREE1 9

+5V

0V(5V)1514

OUT1 17

+24V

0V(24V)2322

CCW

Output current OFF output

Electromagnetic brake release output

General-purpose output

External power supply+24 VDC

External power supply 0 VDC (+24 VDC)

− +

5 VDC

− +

5 VDC

Signal arrangement of the terminal block

1 FG

3 CCW15CW17COFF19BFRE111OVER113TIMG115+5V

17 OUT119ZERO121IN1

2 CCW24CW26COFF28BFRE210OVER212TIMG2140(5V)16OUT218ZERO220IN2

For details, refer to YASKAWA ELECTRIC CORPORATION’s “Machine Controller MP900 Series MECHATROLINK System USER’S MANUAL (MANUAL NO. SIEZ-C887-5.1*)”.

23 +24V

22 0(24V)

SECTION 4

MC Unit Internal Data Configuration and Setting

This section describes the data configuration uses to set up, operate, and monitor the CS1W-MCH71 Motion Control Unit and related devices.

4-1 Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4-1-1 DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4-1-2 Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4-2 System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4-2-1 Description of System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4-2-2 System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4-2-3 Data Configuration and Content of System Parameters. . . . . . . . . . 58

4-2-4 Concept of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

4-2-5 Timing that Enables Transferred System Parameters. . . . . . . . . . . . 91

4-3 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

4-3-1 Overview of Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

4-4 Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4-4-1 Position Data Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4-4-2 Position Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4-4-3 Indirect Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

4-4-4 Methods Used to Read, Write and Transfer Position Data. . . . . . . . 95

4-5 System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

4-5-1 System Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

4-6 I/O Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

4-6-1 I/O Variables Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

4-6-2 List of Input Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

4-6-3 List of Output Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

4-7 Present Position Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

4-8 Servo Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

4-8-1 Servo Parameter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

4-8-2 Data Configuration and Contents of Servo Parameters . . . . . . . . . . 172

4-8-3 Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

4-8-4 Setting Method Using Combination of W-Series and NS115 . . . . . 186

4-9 CAM Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

Data Configuration Section 4-1

4-1 Data Configuration

Data Type There are five different types of date for MC Unit.

1,2,3... 1. System parameter

Unit parameter Motion task parameter Axis parameter (Allocation, Speed, Position, Origin, Machine & Re-

served)

2. Variables System variables Global general variables Input variables Output variables Position data Tas k va ri abl es

3. Present position preset

4. Servo parameter axis specification

5. Servo parameter

Note Neither CAM data nor programs are treated as data. For more details, see 4-9

CAM Data (page 190) and SECTION 6 Programming.

4-1-1 DATA

Classification IORD/IOWR Control

Address

Variables

Position data 0000h-27FFh PLhhhh 10240 Data indicating positions, Total

System variables 3000h-33FFh S*hhhh 1024 Statuses such as the operating

Global general Variables

Input variables Nil I*hhhh 2048 Input status from CPU Unit or

Output variables Nil O*hhhh 2048 Executes outputs from programs to

Task variables Nil D*hhhh 128 × 9 tasks Variables that can be used only in

Present position preset 4000h-401Fh Nil 32 Sets each axis's preset value for

Nil M*hhhh 8192 Variables that can be accessed

Var iable s WO RD Content s

number is 10240.

mode, error log, etc. of MC Unit

from all tasks.Use for data communications between tasks and operations.

MECHATROLINK-II devices

CPU Unit or MECHATROLINK-II devices

each task. Use as works in operation.

present position.

Data Configuration Section 4-1

Classification IORD/IOWR Control

System parameter

Unit 5000h-501Fh Nil 4096 • System parameters are consisted Motion task 5020h-511Fh Reserved 5120h-513Fh Reserved 5140h-533Fh Axis: Allocations 5340h-55BFh Axis: Speed 55C0h-583Fh Axis: Position 5840h-5ABFh Axis: Origin 5AC0h-5D3Fh Axis: Machine 5D40h-5FBFh Reserved 5FC0h-5FFFh

Servo parameter axis Specification

Servo parameter 7000h-78FFh Nil 4096 Parameters of servo driver.

Address

6000h 6000h 1 Specifies the axis to access.

Var iable s WO RD Content s

of unit parameters, task parameters and axis parameters.

• The system information used by the MC Unit, such as number of axes and tasks, feed rate, operating range etc.

* The letters to identify data access type, hhhh: 4 digits hexadecimal address

Data Access Method The following methods are used to access to each data. For further details,

refer to SECTION 5 Data Transfer and Storage (page 194).

1,2,3... 1. Use the support tool (MC-Miel).

2. Execute IOWR/IORD instructions (Intelligent I/O Write/Read) from the ladder program.

3. Variables can be used in the MC Unit's programs.

"IORD/IOWR Control Address" is the internal address to identify data when IORD/IOWR instructions are executed from the ladder program. Global variables, input variables, output variables, or task variables cannot be accessed. See 4-3 Variables (page 91) for details.

Basic Data Usage System parameters:Created with the support tool (MC-Miel), and transferred

to the MC Unit. Using the IOWR instruction during CPU Unit's operation can change the system parameters as needed.

Position data: Created with the support tool (MC-Miel), and transferred

to the MC Unit. Using the IOWR instruction during CPU Unit's operation can change the position data as needed. It is possible to change the position data also by using MC Unit's program.

System variables: Read with the IORD instruction from the ladder program

while the CPU Unit is running. It is also possible to read it from MC Unit's programs.

Servo parameters: Created with the support tool (MC-Miel), and transferred

to the MC Unit. Using the IOWR instruction during the CPU Unit's operation can change the system parameters as needed. To use the IOWR instruction, the axis whose parameters are to be changed has to be specified in advance.

Other variables: Global general variables, input variables, output vari-

ables, and task variables can be used in MC Unit's programs.

System Parameters Section 4-2

4-1-2 Data Configuration

When IORD instruction is executed

Position data

System parameter

When IOWR instruction is executed

At unit Scanning

Servo parameter

System variable

When END refresh

Global general variable

Input variable

At unit scanning

<MECHATROLINK-II devices>

Output variable

Task variable

Cam data

4-2 System Parameters

The system parameters are consisted of the following three different parameters.

• Unit parameters

• Motion task parameters

• Axis parameters (Allocations, Speed, Position, origin, Machine)

4-2-1 Description of System Parameters

The following table describes the functions of each parameter group.

Parameters Number IORD/IOWR

Addresses (See

note 3.)

Unit P00001-P00010 5000h-5009h Specifies information inherent to the Unit, such as the

number of axes used and the number of tasks.

Motion task P00M01-P00M20

(See note 1.)

5020h-5113h Specifies usage of each motion task such as max. inter-

polation feed rate.

Functions

System Parameters Section 4-2

Parameters Number IORD/IOWR

Addresses (See

note 3.)

Axes Allocations P1AA01-P1AA09

5340h-55B4h Specifies axis type and device to be used for each axis.

(See note 2.)

Speed P2AA01-P2AA12

55C0h-5837h Specifies max. rapid feed rate and type of acceleration

(See note 2.)

Position P3AA01-P3AA09

5840h-5AB4h Specifies the methods regarding to position such as

(See note 2.)

Origin P4AA01-P4AA12

5AC0h-5D37h Specifies the method of origin search for each axis.

(See note 2.)

Machine P5AA01-P1AA09

5D40h-5FB4h Specifies the machine information such as unit sys-

(See note 2.)

Note (1) The task number 1 to 8 is to be inserted in M.

(2) The axis number 1 to 32 is to be inserted in AA. (3) The IORD/IOWR addresses in this table are the actual address range

(excluding reserved ones).

(4) The parameter number is notated in 5-digit decimal in this manual.

Detail number For the Unit: 1-32 For motion tasks: 1-32

Functions

and deceleration etc. for each axis.

software limit, error counter warning etc. for each axis.

tems, gear ratio, etc. to be used for each axis.

Axis allocations: 1-20 Axis-speed: 1-20 Axis-position: 1-20 Axis-origin: 1-20 Axis-machine: 1-20

Group number

Unit Motion task Axis: Allocations Speed Position Origin Machine

000 001-008 100+Axis No. 200+Axis No. 300+Axis No. 400+Axis No. 500+Axis No.

“00M” (M=1 to 8) “1AA” (AA=1 to 32) “2AA” (AA=1 to 32) “3AA” (AA=1 to 32) “4AA” (AA=1 to 32) “5AA” (AA=1 to 32)

4-2-2 System Parameters

Unit Parameters

Number Address Name Function Page

P00001 5000h No. of motion tasks Sets how many motion tasks are to be used. 58 P00002 5001h No. of parallel

branches

P00003 5002h Unit scan time Specifies the unit scan time. 59

Specifies the numbers of both parallel branching and simultaneous execution commands in each motion task.

System Parameters Section 4-2

Number Address Name Function Page

P00004 5003h Unit function select • Specifies method of specifying the speed in helical circu-

P00005 5004h Reserved P00006 5005h General I/O Dis-

P00007 5006h Input control 1 from

P00008 5007h Input control 2 from

P00009 5008h Setting for the No. of

P00010 5009h MECHATROLINK-II

P00011

P00032

500Ah

501Fh

abled/Enabled

PLC

MECHATROLINK-II Retrial Nodes, With/ without C2 master

Delay in Communication Start

Reserved ---

lar interpolation under MOVEC command.

• Specifies center-positioning method for MOVEC command

• Specifies the speed command unit for SPEED command/feedback speed.

• Specifies the operation when maximum speed parameter is clamped due to servo driver's specification, whether to activate alarm or to keep operating in clamp status.

• Select output method for positioning completed / positioning completed 2 signals.

• Specifies the method for changing the direction for JOG operation.

• Specifies support for 3-ms communications cycle.

• Specifies the type of continuous operation for multi-turn operation for an infinite axis

• Specifies behavior when an overtravel alarm occurs

Specifies general I/O signals disable/enable for MC unit. 60

Specifies whether input signals from CPU to the Unit or motion tasks are enabled or disabled.

Specifies whether input signals from CPU to axes are enabled or disabled.

• No. of retrial nodes: Specifies the number of nodes to be retried within MECHATROLINK-II communication cycle.

• With/without C2 master: Set this parameter when there is a master unit other than MC unit. (reserved)

Specifies the time to make the communication start delayed in order to wait for slave startup.

Motion Task Parameters

Note Abbreviation in the No. column: M=1-8 (motion task number)

No.

M=1-8

P00M01 5020h +

P00M02 5021h +

P00M03 5022h +

P00M04 5023h +

P00M05 5024h +

P00M06 5025h +

P00M07 5026h +

Address

M=0-7

(M * 20h)

Abbreviation in the address column: M=0-7 (motion task number

Name Function Page

Max. interpolation feed rate

Interpolation feed acceleration time

Interpolation feed deceleration time

Interpolation S-curve filter enabled

Interpolation S-curve time constant

Pass mode select Sets the combination of the interpolation Accel/decel time

Initial modal data 1 MOVE command value select

Sets the maximum feed rate (F command) in interpolation operation

Sets the time required to accelerate from zero to max. interpolation feed rate.

Sets the time required to decelerate from max. interpolation feed rate to zero in interpolation.

Select enable /disable of S-curve filter at the interpolation feed rate.

Sets the S-curve filter time constant at the interpolation feed rate.

and Pass mode with fixed acceleration disabled/enabled. Specifies the initial value if ABL/INC specification has

been omitted in a motion program.

−1)

System Parameters Section 4-2

No.

M=1-8

P00M08 5027h +

P00M09 5028h +

P00M10 5029h +

P00M11

P00M20

P00M21

P00M32

Address

M=0-7

(M * 20h)

502Ah + (M * 20h)

5033h + (M * 20h)

5034h + (M * 20h)

503Fh + (M * 20h)

Initial modal data 2 operating mode select

Initial model data 3 interpolation feed rate

Interpolation feed decimal point position

Interpolation feed acceleration/deceleration bank 1

Interpolation feed acceleration/deceleration bank 10

Reserved ---

Axis-Allocation Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

Name Function Page

Specifies the initial value if PASSMODE/STOPMODE specification has been omitted in a motion program.

Specifies the initial value if interpolation feed rate (F command) has been omitted in a motion program.

Sets the method of interpreting the speed command value specified by an immediate value with a decimal point.

Specify the acceleration/deceleration times to use during interpolation. Banks are used to enable quickly switching acceleration/deceleration times with the PARAM command.

Abbreviation in the address column: AA=0-31 (axis number

−1)

No.

AA=1-32

P1AA01 5340h +

P1AA02 5341h +

P1AA03 5342h +

P1AA04 5343h +

P1AA05 5344h +

P1AA06 5345h +

P1AA07 5346h +

P1AA08 5347h +

P1AA09 5348h +

P1AA10

P1AA20

Address AA=0-31

(AA * 14h)

(AA * 14h) 5349h +

(AA * 14h)

5353h + (AA * 14h)

Name Function Page

Physical axis setting Specifies the usage of physical axis. 70

MECHATROLINK-II device classification

Input allocation points

Output allocation points

Axis allocation first address

MECHATROLINK-II communications error detection

Reserved ---

Sets classification of devices connected as MECHATROLINK-II slave nodes.

Specifies the No. of points for input signals of MECHATROLINK-II slave nodes allocated to input variables of MC Unit.

Specifies the No. of points for output signals of MECHATROLINK-II slave nodes allocated to output variables of MC Unit.

This is the setting for the counter input/pulse output count values of MECHATROLINK-II output to the present position of MC Unit.

Sets the No. of allowable times of communications errors on MECHATROLINK-II device.

System Parameters Section 4-2

Axis-Speed Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

Abbreviation in the address column: AA=0-31 (axis number

−1)

No.

AA=1-32

P2AA01 55C0h +

P2AA02 55C1h +

P2AA03 55C2h +

P2AA04 55C3h +

P2AA05 55C4h +

P2AA06 55C5h +

P2AA07 55C6h +

P2AA08 55C7h +

P2AA09 55C8h +

P2AA10 55C9h +

P2AA11 55CAh +

P2AA12 55CBh +

P2AA13

P2AA20

Address AA=0-31

(AA * 14h)

(AA * 14h) 55CCh +

(AA * 14h)

55D3h + (AA * 14h)

Name Function Page

Max. rapid feed rate Sets the maximum speed on machine's side for MOVE

Max. manual feed rate

Rapid feed rate Sets the speed on machine's side for MOVE command,

Manual feed rate Sets the speed on machine's side in JOG, STEP opera-

Rapid feed acceleration time

Rapid feed deceleration time

Manual feed acceleration time

Manual feed deceleration time

Rapid feed S-curve filter enabled

Manual feed S-curve filter enabled

Rapid feed S-curve time constant

Manual feed S-curve time constant

Reserved ---

Command, etc. Sets maximum speed on machine's side in JOG, STEP,

DATUM operations.

etc.

tions. Sets the time required to accelerate from zero to max.

rapid feed rate. Sets the time required to decelerate from the max. rapid

feed rate to zero. Sets the time required to accelerate from zero to maxi-

mum manual feed rate Sets the time required to decelerate from max. manual

feed rate to zero. Select the S-curve filter enable/ disable at rapid feed rate. 75

Select the S-curve filter enable/ disable at manual feed rate.

Sets the S-curve filter time constant at raid feed rate. 76

Sets the S-curve filter time constant at manual feed rate. 76

Axis-Position Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

No.

AA=1-32

P3AA01 5840h +

P3AA02 5841h +

P3AA03 5842h +

P3AA04 5843h +

P3AA05 5844h +

P3AA06 5845h +

P3AA07 5846h +

Address AA=0-31

(AA * 14h)

STEP operation travel distance

Positive direction software limit

Negative direction software limit

Software limit enabled/disabled

Error warning value Sets enabled/disabled of warning and the No. of error

Position error alarm detection value

No. 2 in-position range

Abbreviation in the address column: AA=0-31 (axis number

Name Function Page

Sets travel distance for STEP operation. 76

Sets positive direction software limit value. 77

Sets negative direction software limit value. 77

Sets whether software Limit is enabled/disabled. 78

pulses that causes warning. Sets enabled/disabled of alarm and the No. of error

pulses that causes alarm. Sets the range for turning ON the positioning completed

signal of interpolation feed in Stop mode.

−1)

System Parameters Section 4-2

No.

AA=1-32

P3AA08 5847h +

P3AA09 5848h +

P3AA10

P3AA20

Address AA=0-31

(AA * 14h)

5849h + (AA * 14h)

5853h + (AA * 14h)

Axis-Origin Parameters

No.

AA=1-32

P4AA01 5AC0h +

P4AA02 5AC1h +

P4AA03 5AC2h +

P4AA04 5AC3h +

P4AA05 5AC4h +

P4AA06 5AC5h +

P4AA07 5AC6h +

P4AA08 5AC7h +

P4AA09 5AC8h +

P4AA10 5AC9h +

P4AA11 5ACAh +

P4AA12 5ACBh +

P4AA13

P4AA20

Address AA=0-31

(AA * 14h)

(AA * 14h) 5ACCh +

(AA * 14h)

5AD3h + (AA * 14h)

Name Function Page

Feed forward gain enabled/disabled

Position control switching speed

Reserved ---

Sets enabled/disabled of feed forward gain specified with input variable.

Specifies the speed to switch from torque control to position control or from speed control to position control as a percentage of the rated speed.

Note Abbreviation in the No. column: AA=1-32 (axis number)

Abbreviation in the address column: AA=0-31 (axis number

Name Function Page

Origin search method

Origin search start direction

Phase-Z (Phase-C) detection direction

Origin deceleration method

Reserved ---

Origin determine signal

Origin search feed rate

Origin search approach speed

Origin search creep speed

Reference (Machine) origin offset

Origin search final travel distance

ABS origin offset Sets offset amount for ABS origin setting. 83

Reserved ---

Sets the origin search method. 80

Sets origin search start direction for origin search method "1".

Sets phase-Z (phase-C) detection direction for origin search methods "1, 2, and 3".

Sets whether to use origin proximity or limit input signal as origin deceleration input signal for origin search method "1" and "3".

Specifies signal to determine (latch) an origin. 81

Sets the speed of the 1st level for 3-level speed origin search.

Sets the speed of the 2nd level for 3-level speed origin search, or sets the speed of the 1st level for 2-level speed origin search.

Sets the speed of the 3rd level for 3-level speed origin search, or sets the speed of the 2nd level for 2-level speed origin search.

Sets the offset amount (except for DATUM command) in origin search.

Sets the additional travel distance starting from the origin signal input position towards the detection direction.

−1)

System Parameters Section 4-2

Axis-Machine Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

Abbreviation in the address column: AA=0-31 (axis number

−1)

No.

AA=1-32

P5AA01 5D40h +

P5AA02 5D41h +

P5AA03 5D42h +

P5AA04 5D43h +

P5AA05 5D44h +

P5AA06 5D45h +

P5AA07 5D46h +

P5AA08 5D47h +

P5AA09 5D48h +

P5AA10 5D49h +

P5AA11 5D4Ah +

P5AA12

P5AA20

Address AA=0-31

(AA * 14h)

(AA * 14h) 5D4Bh +

(AA * 14h)

5D53h + (AA * 14h)

Name Function Page

Units Sets the units for present positions. 83

Position command decimal point position

Speed command decimal point position

Command unit/one machine rotation

Gear ratio 1 (Motor rotation speed)

Gear ratio 2 (Machine rotation speed)

Axis feed mode Sets whether a concerned axis is operated as limited

External input signal select 1

External input signal select 2

Reserved ---

Sets the method of interpreting the position command specified by an immediate value with decimal point.

Sets the method of interpreting the speed command specified by an immediate value with a decimal point.

Sets the command unit (travel distance) per one machine rotation.

Sets the No. of motor rotations related to the gear ratio between motor and machine.

Sets the No. of machine rotations related to the gear ratio between motor and machine.

length or unlimited length.

• Sets the latch input signal for MOVEI command (interrupt feeding).

• Sets the latch input signal for MOVELINK command (link operation start).

• Sets the latch input signal for CAMBOX command (electronic cam synchronous start).

• Sets the latch input signal for SYNC command (trail synchronization start).

Sets the latch input signal for LATCH command (present position latch).

4-2-3 Data Configuration and Content of System Parameters

Parameters with "Yes" in "Immediate updating" column are updated without switching OFF the Unit once, and then ON again.

In the setting range and initial value columns, the upper value is in hexadecimal while the lower value in parenthesis is in decimal.

Unit Parameters

No. Address in MC

Unit

P00001 5000h No. of motion tasks Data Task No Data configuration Setting range

31 00

No. of motion tasks

Name Type Unit Immediate

00000001 to 00000008 Hex (1 to 8)

Initial value 00000001 (1)

updating

System Parameters Section 4-2

Explanation Specifies the upper limit for No. of tasks to be used. Task No. up to the value set here can be used.

Note This setting closely relates to the Unit's processing time. For details, see 1-7

Performance Calculation Method for Unit Cycle on page 19.

No. Address in MC

Unit

P00002 5001h No. of parallel branches Data --- No Data configuration Setting range

31 00

No. of parallel branches

Name Type Unit Immediate

00000001 to 00000008 Hex (1 to 8)

Initial value 00000001 (4)

Explanation Specifies the numbers of both parallel branching and simultaneous execution commands in each motion task.

This setting affects the maximum number of branches for PARALLEL (parallel execution) command. (It is limited by the value set here.) When the number of parallel branches in a motion program is smaller than the value set in this parameter, the value obtained from dividing the value in the parameter by the actual number of branches becomes the number of commands that can be executed simultaneously for each row of each branched program.

The number of multiple execution commands in each unit cycle is applied to the simultaneous execution.

(For details, see 6-1-3 Advancement of the Motion Program (page 222))

Note This setting closely relates to the Unit's processing time. For details, see 1-7

Performance Calculation Method for Unit Cycle on page 19.

No. Address in MC

Unit

P00003 5002h Unit scan time Data ms No Data configuration Setting range

31 00

Unit scan time

Name Type Unit Immediate

Initial value 00000001 to 00000010 Hex (0 to 16)

00000000 (0)

updating

Explanation

• Sets the unit scan time.

• Only setting the longer time than the time set automatically is valid.

• The time set automatically will be reflected in the system variable SW0000. (See 4-5 System Variables for details.)

For details of the enabling condition, see 1-7 Performance Calculation Method for Unit Cycle on page 19.

No. Address in MC

P00004 5003h Unit function select Bit --- No Data configuration Initial value

28 24 20 16 12 08 04 00

0 0 0 0 0 0 0 0 0 0 0 0 0 00000000000

Unit

Name Type Unit Immediate

updating

00000000 (0)

System Parameters Section 4-2

Explanation This parameter is used for setting the following functions. Set the bits corresponding to each function.

Bit Function and explanation

00 Helical circular interpolation speed

01 Circular interpolation center position

02 Speed command value

03 Communications cycle support (Unit Ver. 2.0 or later only)

04 Positioning completed signal select

05 Direction switching method for JOG operation (Unit Ver. 2.0 or later only)

06 Continuing operation for multi-turn operation with infinite axis (Supported by MC Units manufactured 2

07 Behavior for overtravel (Supported by MC Units manufactured 2 February 2004 or later (Lot No.

08 to 31Reserved

(Sets the method for specifying the speed in helical circular interpolation executed with MOVEC command.)

0: Speed on the circumference 1: Tangential speed

(Sets the method for specifying the center position for MOVEC command.) Refer to the description of the MOVEC command for details.

0: Always specify relative positions. 1: Specify relative or absolute positions.

(Specifies the speed command unit for SPEED command and the unit for feedback speed 2 in present value monitoring.)

0: Rated % specified 1: r/min specified

Specifies the communications cycle. Normally set this parameter to 1. A setting of 0 is provided for compatibility with Pre-Ver. 2.0 Units.

0: Support 1 ms, 2 ms, and 4 ms communications cycles. 1: Support 1 ms, 2 ms, 3 ms, and 4 ms communications cycles.

(Specifies the condition for turning OFF the positioning completed signal.)

0: Turns OFF when starting the position command output 1: Turns OFF when moving out of the in-position range

Specifies the direction for switching the direction for the JOG operation. Refer to JOG Operation on page 436 for details.

0: Switch direction when stopped using the JOG/STEP direction bit. 1: Switch direction when stopped or when moving using the JOG/STEP direction bit.

February 2004 or later (Lot No. 040202xxxx or later).

Specifies the behavior when continuing operation after is has been stopped for an infinite length axis with a command position greater than 1 turn. Refer to When a program is stopped in the middle of a block for an infinite length axis on page 350 for details. This function is effective for three commands: MOVE, MOVEL, and MOVET.

0: Cancel part of operation greater than one turn and continue operation to a position within one

turn.

1: Continue operation toward command position.

040202xxxx or later).

Specifies the behavior for when overtravel is detected during axis operation.

0: Stop according to Pn001.1 in the Servo Driver. 1: Stop according to Pn001.0 in the Servo Driver and then turn OFF the servo.

If this parameter is set to 1 and Pn001.0 is set to 2, the motor will be placed in free-run status and then the servo will be turned OFF. Caution is required when using these settings because the braking distance may increase.

No. Address in MC

P00006 5005h General I/O disabled/enabled Bit --- No Data configuration Initial value

31 28 24 20 16 12 08 04 00

0 0 0 0 0 0 0 0 0 0 0 0 0 0 000000000000

Unit

Name Type Unit Immediate

updating

00000000 (0)

System Parameters Section 4-2

Explanation Sets whether the general I/O of MC Unit is enabled or disabled. Set the bits corresponding to each input or output.

Bit Function and explanation

00 Deceleration stop input

01 Reserved 02 General input 1

03 General input 2

04 to 15Not used

Sets whether deceleration stop input signal is enabled or disabled.

0: Disabled 1: Enabled

Sets whether general input 1 signal is enabled or disabled.

0: Disabled 1: Enabled

Sets whether general input 2 signal is enabled or disabled.

0: Disabled 1: Enabled

16 General output 1

17 General output 2

18 to 31Not used

No. Address in MC

P00007 5006h Input control 1 from PLC Bit --- No Data configuration Initial value

31 28 24 20 16 12 08 04 00

0 0 0 0 0 0 0 0 0000000 00000 0 0 0

Sets whether general output 1 signal is enabled or disabled.

0: Disabled 1: Enabled

Sets whether general output 2 signal is enabled or disabled.

0: Disabled 1: Enabled

Name Type Unit Immediate

Unit

Motion task setting

updating

00000000 (0)

Explanation Sets whether the input from CPU to MC Unit is enabled or disabled. By setting 1 (ignored), no input from CPU can be accepted by the area. Set the bits corresponding to the Unit or each motion task.

Bit Function and explanation

00 Unit

Sets whether the input to the Unit control bit area (n+0 to n+2) and the Unit control data area (m+20) are enabled or disabled.

0: Normal

1: Ignored 01 Reserved 02 to 15Not used

16 Motion task 1

Sets whether the input to the Motion task 1 control area (n+4) and the Motion task 1 control data area (m+22 to 23) are enabled or disabled.

0: Normal

1: Ignored

System Parameters Section 4-2

Bit Function and explanation

17 Motion task 2

18 Motion task 3

19 Motion task 4

20 Motion task 5

21 Motion task 6

22 Motion task 7

23 Motion task 8

24 to 31Not used

Sets whether the input to the Motion task 2 control area (n+5) and the Motion task 2 control data area (m+24 to 25) are enabled or disabled.

0: Normal

1: Ignored

Sets whether the input to the Motion task 3 control area (n+6) and the Motion task 3 control data area (m+26 to 27) are enabled or disabled.

0: Normal

1: Ignored

Sets whether the input to the Motion task 4 control area (n+7) and the Motion task 4 control data area (m+28 to 29) are enabled or disabled.

0: Normal

1: Ignored

Sets whether the input to the Motion task 5 control area (n+8) and the Motion task 5 control data area (m+30 to 31) are enabled or disabled.

0: Normal

1: Ignored

Sets whether the input to the Motion task 6 control area (n+9) and the Motion task 6 control data area (m+32 to 33) are enabled or disabled.

0: Normal

1: Ignored

Sets whether the input to the Motion task 7 control area (n+10) and the Motion task 7 control data area (m+34 to 35) are enabled or disabled.

0: Normal

1: Ignored

Sets whether the input to the Motion task 8 control area (n+11) and the Motion task 8 control data area (m+36 to 37) are enabled or disabled.

0: Normal

1: Ignored

No. Address in MC

Unit

P00008 5007h Input control 2 from PLC Bit --- No Data configuration Initial value

31 28 24 20 16 12 08 04 00

Name Type Unit Immediate

updating

00000000 (0)

Explanation Sets whether the input from CPU to MC Unit is enabled or disabled. By setting 1 (Ignored), no input from CPU can be accepted by the area. Set the bits corresponding to each axis.

System Parameters Section 4-2

Bit Function and explanation Bit Function and explanation

00 Axis 1

Sets whether input to Axis 1 control bit area (x+0) and Axis 1 control data area (d+0) are enabled or disabled.

0: Normal

1: Ignored 01 Axis 2

Sets whether input to Axis 2 control bit area (x+1) and Axis 2 control data area (d+1) are enabled or disabled.

0: Normal

1: Ignored 02 Axis 3

Sets whether input to Axis 3 control bit area (x+2) and Axis 3 control data area (d+2) are enabled or disabled.

0: Normal

1: Ignored 03 Axis 4

Sets whether input to Axis 4 control bit area (x+3) and Axis 4 control data area (d+3) are enabled or disabled.

0: Normal

1: Ignored 04 Axis 5

Sets whether input to Axis 5 control bit area (x+4) and Axis 5 control data area (d+4) are enabled or disabled.

0: Normal

1: Ignored 05 Axis 6

Sets whether input to Axis 6 control bit area (x+5) and Axis 6 control data area (d+5) are enabled or disabled.

0: Normal

1: Ignored 06 Axis 7

Sets whether input to Axis 7 control bit area (x+6) and Axis 7 control data area (d+6) are enabled or disabled.

0: Normal

1: Ignored 07 Axis 8

Sets whether input to Axis 8 control bit area (x+7) and Axis 8 control data area (d+7) are enabled or disabled.

0: Normal

1: Ignored 08 Axis 9

Sets whether input to Axis 9 control bit area (x+8) and Axis 9 control data area (d+8) are enabled or disabled.

0: Normal

1: Ignored 09 Axis 10

Sets whether input to Axis 10 control bit area (x+9) and Axis 10 control data area (d+9) are enabled or disabled.

0: Normal

1: Ignored

16 Axis 17

Sets whether input to Axis 17 control bit area (x+16) and Axis 17 control data area (d+16) are enabled or disabled.

0: Normal 1: Ignored

17 Axis 18

Sets whether input to Axis 18 control bit area (x+17) and Axis 18 control data area (d+17) are enabled or disabled.

0: Normal 1: Ignored

18 Axis 19

Sets whether input to Axis 19 control bit area (x+18) and Axis 19 control data area (d+18) are enabled or disabled.

0: Normal 1: Ignored

19 Axis 20

Sets whether input to Axis 20 control bit area (x+19) and Axis 20 control data area (d+19) are enabled or disabled.

0: Normal 1: Ignored

20 Axis 21

Sets whether input to Axis 21 control bit area (x+20) and Axis 21 control data area (d+20) are enabled or disabled.

0: Normal 1: Ignored

21 Axis 22

Sets whether input to Axis 22 control bit area (x+21) and Axis 22 control data area (d+21) are enabled or disabled.

0: Normal 1: Ignored

22 Axis 23

Sets whether input to Axis 23 control bit area (x+22) and Axis 23 control data area (d+22) are enabled or disabled.

0: Normal 1: Ignored

23 Axis 24

Sets whether input to Axis 24 control bit area (x+23) and Axis 24 control data area (d+23) are enabled or disabled.

0: Normal 1: Ignored

24 Axis 25

Sets whether input to Axis 25 control bit area (x+24) and Axis 25 control data area (d+24) are enabled or disabled.

0: Normal 1: Ignored

25 Axis 26

Sets whether input to Axis 26 control bit area (x+25) and Axis 26 control data area (d+25) are enabled or disabled.

0: Normal 1: Ignored

System Parameters Section 4-2

Bit Function and explanation Bit Function and explanation

10 Axis 11

Sets whether input to Axis 11 control bit area (x+10) and Axis 11 control data area (d+10) are enabled or disabled.

0: Normal

1: Ignored 11 Axis 12

Sets whether input to Axis 12 control bit area (x+11) and Axis 12 control data area (d+11) are enabled or disabled.

0: Normal

1: Ignored 12 Axis 13

Sets whether input to Axis 13 control bit area (x+12) and Axis 13 control data area (d+12) are enabled or disabled.

0: Normal

1: Ignored 13 Axis 14

Sets whether input to Axis 14 control bit area (x+13) and Axis 14 control data area (d+13) are enabled or disabled.

0: Normal

1: Ignored 14 Axis 15

Sets whether input to Axis 15 control bit area (x+14) and Axis 15 control data area (d+14) are enabled or disabled.

0: Normal

1: Ignored 15 Axis 16

Sets whether input to Axis 16 control bit area (x+15) and Axis 16 control data area (d+15) are enabled or disabled.

0: Normal

1: Ignored

26 Axis 27

Sets whether input to Axis 27 control bit area (x+26) and Axis 27 control data area (d+26) are enabled or disabled.

0: Normal 1: Ignored

27 Axis 28

Sets whether input to Axis 28 control bit area (x+27) and Axis 28 control data area (d+27) are enabled or disabled.

0: Normal 1: Ignored

28 Axis 29

Sets whether input to Axis 29 control bit area (x+28) and Axis 29 control data area (d+28) are enabled or disabled.

0: Normal 1: Ignored

29 Axis 30

Sets whether input to Axis 30 control bit area (x+29) and Axis 30 control data area (d+29) are enabled or disabled.

0: Normal 1: Ignored

30 Axis 31

Sets whether input to Axis 31 control bit area (x+30) and Axis 31 control data area (d+30) are enabled or disabled.

0: Normal 1: Ignored

31 Axis 32

Sets whether input to Axis 32 control bit area (x+31) and Axis 32 control data area (d+31) are enabled or disabled.

0: Normal 1: Ignored

No. Address in MC

Unit

P00009 5008h Setting for the No. of MECHA-

Data configuration Initial value

31 16 00

0 0 0 0 0 0

TROLINK-II retrial nodes

Name Type Unit Immediate

updating

Data --- No

00000000 (0)

Explanation

Bit Function and explanation

00 to 15Not used

16 to 19No. of retrial nodes

20 to 31Not used

This setting decides how many retries are performed within a communication cycle in the case of a MECHATROLINK-II communications error. (Not for each and every node, but for a maximum of 7 nodes in a system) 0 to 7 Hex (0 to 7)

System Parameters Section 4-2

• Operation with the number of retrial nodes set

After a command is transmitted to all the nodes, the command is transmitted again to the nodes where the communications error occurred.

Command

Re-

sponse

Command

Response

Command

Communications error!

Response

Note (1) Setting the number of retrial nodes makes MC Unit reserve the time in the

cycle time for the specified number of retries. (Even without any communications error or retries, the processing time for them is added to the cycle time.)

(2) This setting closely relates to the communications cycle. For details, see

1-7 Performance Calculation Method for Communications Cycle on page 20.

No. Address in MC

Unit

P00010 5009h MECHATROLINK-II delay in com-

munication start

Data configuration Setting range

31 00

Delay in communications start

Name Type Unit Immediate

00000000 to 0000EA60 Hex (0 to 60000)

Explanation

• Specifies the time to make the communication start delayed in order to wait for slave startup.

• A period of time set here is waited for after the MC Unit has started up, and then starts communications with the slaves.

Command

Response

Command

Response

Data --- No

updating

Initial value 00000000 (0)

Motion Task Parameters

Note Abbreviation in the No. column: M=1-8 (motion task number)

Abbreviation in the address column: M=0-7 (motion task number

No. Address in MC

Unit

P00M01 5020h +

Max. interpolation feed rate Data Command unit/

(M * 20h)

Data configuration Setting range

31 00

Max. interpolation feed rate

Name Type Unit Immediate

00000001 to 7FFFFFFF Hex (1 to 2147483647)

Explanation

• This parameter sets the max. interpolation feed rate. (Operand F) The max speed is limited by (32767 command unit/unit scan).

P00M01 [command unit/min] Ts [s]: Unit scan time

This indicates the unit cycle time of MC Unit determined by the numbers of tasks, axes, parallel branches, and refreshed words.

−1)

updating

Ye s

min

Initial value 00002710 (10000)

≤ 1966020000/Ts [ms]

System Parameters Section 4-2

1966020000: The upper limit of speed resolution is 32767 [command unit/unit scan]. The value 1966020000 is obtained by converting 32767 [command unit/unit scan] to the unit of minutes (32767

Note The setting of this parameter limits the speed changed with override and the

speed specified with Operand F.

× 60 × 1000).

No. Address in MC

P00M02 5021h +

Data configuration Setting range

31 00

Acceleration time

Unit

(M * 20h)

Interpolation feed acceleration time

Name Type Unit Immediate

00000000 to 0000EA60 Hex (0 to 60000)

Explanation

• Pass Mode (P00M06) = 0 or 1 Sets the time required to accelerate from zero to the feed rate specified in the interpolation command.

• Pass Mode (P00M06) = 2 or 3 Sets the time required to accelerate from zero to the maximum interpolation feed rate (P00M06).

Note (1) Enabling S-curve filter causes the delay for the S-curve time constant.

(2) This parameter cannot be changed during operation. (3) For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

No. Address in MC

P00M03 5022h +

Data configuration Setting range

31 00

Deceleration time

Unit

(M * 20h)

Interpolation feed deceleration time

Name Type Unit Immediate

00000000 to 0000EA60 Hex (0 to 60000)

updating

Data ms Yes

Initial value 00000064 (100)

updating

Data ms Yes

Initial value 00000064 (100)

Explanation

• Pass Mode (P00M06) = 0 or 1 Sets the time required to decelerate from the feed rate specified in the interpolation command to zero.

• Pass Mode (P00M06) = 2 or 3 Sets the time required to decelerate from the maximum interpolation feed rate (P00M06) to zero.

Note (1) Enabling S-curve filter causes the delay for the S-curve time constant.

(2) This parameter cannot be changed during operation. (3) For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

System Parameters Section 4-2

No. Address in MC

Unit

P00M04 5023h +

(M * 20h)

Data configuration Setting range

31 00

S-curve filter enabled

Interpolation S-curve filter enabled Data --- Yes

Name Type Unit Immediate

00000000 to 00000001 Hex (0 to 1)

Explanation Select enabled/disabled of S-curve filter at the interpolation feed rate.

0: Disabled (Symmetrical) 1: Enabled (S-curve)

Note For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

No. Address in MC

P00M05 5024h +

Data configuration Setting range

31 00

S-curve time constant

Unit

Interpolation S-curve time constant Data ms Yes

(M * 20h)

Name Type Unit Immediate

00000000 to 00007530 Hex (0 to 30000)

updating

Initial value 00000000 (0)

updating

Initial value 00000064 (100)

Explanation Sets the S-curve filter time constant at the interpolation feed rate.

No. Address in MC

P00M06 5025h +

Data configuration Setting range

31 00

Pass mode select

Unit

Pass mode select Data --- No

(M * 20h)

Name Type Unit Immediate

00000000 to 00000003 Hex (0 to 3)

Explanation Sets the combination of the interpolation Accel/decel time and Pass mode with fixed acceleration enabled/disabled.

0: Interpolation acceleration time + Pass mode with fixed acceleration

disabled

1: Interpolation deceleration time + Pass mode with fixed acceleration

disabled

2: Interpolation acceleration time + Pass mode with fixed acceleration

enabled

3: Interpolation deceleration time + Pass mode with fixed acceleration

enabled

Note (1) 2 and 3 are enabled when specifying only 1 axis with MOVEL command.

(2) Interpolation override in Pass mode with fixed acceleration is disabled

during deceleration caused by insufficient remaining travel distance.

(3) Pass mode with fixed acceleration cannot complete the passing opera-

tion under the following condition. After a deceleration stop, the next operation is executed.

updating

Initial value 00000000 (0)

System Parameters Section 4-2

Distance required for deceleration stop from current speed > Travel distance of the next block

(4) There are several acceleration/deceleration times that can be used in the

pass operation. For details, see 6-1-5 Axis Movement Operation (page 228).

No. Address in MC

P00M07 5026h +

Data configuration Setting range

31 00

MOVE command value select

Unit

(M * 20h)

Initial modal data 1 MOVE command value select

Name Type Unit Immediate

00000000 to 00000001 Hex (0 to 1)

Explanation Specifies the initial value if ABS/INC specification has been omitted in a motion program.

0: ABL (Operation is executed defining the target position as the abso-

lute position.)

1: INC (Operation is executed defining the target position as the relative

position.)

No. Address in MC

P00M08 5027h +

Data configuration Setting range

31 00

Operating mode select

Unit

(M * 20h)

Initial modal data 2 Operating mode select

Name Type Unit Immediate

00000000 to 00000001 Hex (0 to 1)

updating

Data --- No

Initial value 00000000 (0)

updating

Data --- No

Initial value 00000000 (0)

Explanation Specifies the initial value if PASSMODE/STOPMODE specification has been omitted in a motion program.

0: Operation is executed in Pass mode. 1: Operation is executed in Stop mode.

No. Address in MC

P00M09 5028h +

Data configuration Setting range

31 00

Interpolation feed rate

Unit

(M * 20h)

Initial modal data 3 Interpolation feed rate

Name Type Unit Immediate

00000001 to 7FFFFFFF Hex (1 to 2147483647)

Explanation

• Specifies the initial value if interpolation feed rate (F command) has been omitted in a motion program. The max speed is limited by (32767 command unit/unit scan).

P00M09 [command unit/min] Ts[s]: Unit scan time

This indicates the unit cycle time of MC Unit determined by the numbers of tasks, axes, parallel branches, and refreshed words.

Data Command unit/

min

≤ 1966020000/Ts [ms]

updating

Initial value 00002710 (10000)

System Parameters Section 4-2

1966020000: The upper limit of speed resolution is 32767 [command unit/unit scan]. The value 1966020000 is obtained by converting 32767 [command unit/unit scan] to the unit of minutes (32767

× 60 × 1000).

No. Address in MC

P00M10 5029h +

Data configuration Setting range

31 00

Interpolation feed decimal point position

Unit

(M * 20h)

Interpolation feed decimal point position

Name Type Unit Immediate

00000000 to 00000004 Hex (0 to 4)

Explanation Sets the method of interpreting the speed command value specified by an immediate value with a decimal point.

×1

×10

×100

×1000

×10000

Ex) When controlling X-axis with task 1 and selecting ×10 of interpolation feed

decimal point position (P00M10) for task 1, MOVEL [J01]100.00 F100.; is processed as, MOVEL [J01]100.00 F1000;

Note The following notations have the same meaning when Interpolation feed deci-

mal point position (P00M10) is Please note that they are treated differently from position command values. MOVEL [J01]100.00 F1000; MOVEL [J01]100.00 F100.; MOVEL [J01]100.00 F100.0;

updating

Data --- No

Initial value 00000000 (0)

×10.

No. Address in MC

Unit

P00M11 to P00M20

Data configuration Setting range

31 00

Interpolation feed acceleration/deceleration bank 1 to 10

502Ah + (M * 20h) to 5033h + (M * 20h)

Interpolation feed acceleration/ deceleration bank 1 to Interpolation feed acceleration/deceleration bank 10

Name Type Unit Immediate

00000000 to 0000EA60 Hex (0 to 60000)

Explanation These parameters are supported by unit version 2.0 or later. They set the acceleration/deceleration times for interpolation feeding (MOVEL, MOVEC, and MOVETRAV). The following variables are provided and the bank number for each task can be specified by substituting it for the variable to switch the acceleration/deceleration time to be used.

Variable Bits Name

IW0A00 00 to 15 Acceleration/deceleration bank selection for motion task 1 (initial value: 0) IW0A01 00 to 15 Acceleration/deceleration bank selection for motion task 2 (initial value: 0) IW0A02 00 to 15 Acceleration/deceleration bank selection for motion task 3 (initial value: 0)

updating

Data ms Yes

Initial value 00000064 (100)

System Parameters Section 4-2

Variable Bits Name

IW0A03 00 to 15 Acceleration/deceleration bank selection for motion task 4 (initial value: 0) IW0A04 00 to 15 Acceleration/deceleration bank selection for motion task 5 (initial value: 0) IW0A05 00 to 15 Acceleration/deceleration bank selection for motion task 6 (initial value: 0) IW0A06 00 to 15 Acceleration/deceleration bank selection for motion task 7 (initial value: 0) IW0A07 00 to 15 Acceleration/deceleration bank selection for motion task 8 (initial value: 0)

Setting range for acceleration/deceleration bank selections:

1 to 10: Select the acceleration/deceleration time in banks 1 to 10. Other: Selects P00M02 (interpolation feed acceleration time) and P00M03 (interpolation feed deceleration time).

The setting of system parameter P00M06 (pass mode select) determines whether the value is used as the acceleration time or as the deceleration time.

P00M06 = 0 or 2: Used as acceleration time. P00M06 = 1 or 3: Used as deceleration time.

Refer to Operating Mode under 6-1 Program and Task Configuration (page 232) for details.

Axis-Allocation Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

Abbreviation in the address column: AA=0-31 (axis number

−1)

No. Address in MC

P1AA01 5340h +

Data configuration Setting range

31 00

Physical axis setting

Unit

Physical axis setting Data --- No

(AA * 14h)

Name Type Unit Immediate

00000000 to 00000020 Hex (0 to 32)

Explanation Sets the usage of the physical axes (J01 to J32) to be used with MCH.

Setting Description

00000000 Hex (0) Not used as physical axes. 00000001

to0000001E Hex (1 to 30)

00000020 Hex (32) This axis is used as a virtual axis. Other than the above Reserved

These axes are used as real axes. MECHATROLINK-II devices are used for real axes. Sets the node addresses of MECHATROLINK-II devices. Node addresses of MECHATROLINK-II devices 1 to 30 correspond to the setting values 1 to 30.

Do not set.

Note (1) For details of the differences between the virtual axis and the actual axis,

see 6-1-13 Virtual Axis (page 256).

(2) This setting relates to the unit cycle and communications cycle.

For details, see 1-7 Performance Calculation Method for Unit Cycle, Cal- culation Method for Communications Cycle on page 20.

updating

Initial value 00000000 (0)

System Parameters Section 4-2

No. Address in MC

Unit

P1AA02 5341h +

(AA * 14h)

Data configuration Setting range

31 00

Classification

MECHATROLINK-II device classification

Name Type Unit Immediate

00000000, 00000064 Hex (0, 100)

Explanation Sets the types of devices connected as MECHATROLINK-II slaves.

Setting Explanation

00000000 Hex (0) W-series Driver is used with NS115 as the option. 00000064 Hex (100) I/O, counter, and pulse output modules are used as an I/O

Other than the above Reserved

axis.

Do not set.

Note For details of differences between axes allocated as I/O and servo axes, see

6-1-14 I/O Axis (page 257).

No. Address in MC

Unit

P1AA03 5342h +

(AA * 14h)

Data configuration Setting range

31 00

Input allocation points

Input allocation points (No. of words)

Name Type Unit Immediate

00000000 to 0000000F Hex (0 to 15)

updating

Data --- No

Initial value 00000000 (0)

updating

Data 16 points (word) No

Initial value 00000000 (0)

Explanation 00 to 03 bit: Specifies the No. of points (words) for input signals of MECHATROLINK-II slave nodes allocated to input variables of MC Unit.

Note With only 1 axis, words for the No. of words specified in the input variable

IW0010 are allocated and they link with the inputs of MECHATROLINK-II slave nodes.

No. Address in MC

Unit

P1AA04 5343h +

(AA * 14h)

Data configuration Setting range

31 00

Output allocation points

Output allocation points (No. of words)

Name Type Unit Immediate

00000000 to 0000000F Hex (0 to 15)

Explanation 00 to 03 bit: Specifies the No. of points (words) for output signals of MECHATROLINK-II slave nodes allocated to output variables of MC Unit.

Note With only 1 axis, words for the No. of words specified in the output variable

OW0010 are allocated and they link with the outputs of MECHATROLINK-II slave nodes.

updating

Data 16 points (word) No

Initial value 00000000 (0)

System Parameters Section 4-2

No. Address in MC

Unit

P1AA05 5344h +

(AA * 14h)

Data configuration Initial value

31 16 15 00

Variable type Address

Axis allocation first address Data --- No

Name Type Unit Immediate

updating

00000000 (0)

Explanation

• When using MECHATROLINK-II counter module or pulse output module as a physical axis, the present position of these counters can be output to the present position of the applicable physical axis.Some modules have 2 counters, however, only 1 counter can be specified.

• Sets the address of the "Counter present position" to be output to the present position.

• The "Counter present position" is stored in the input variable area allocated in "Input allocation points".

Bit Explanation

00 to 15 Specifies the first address.

16 to 31 Specifies whether the present position is imported or not.

0000 to 0FFF Hex (0 to 4095)

0000 Hex (0): Counter's present positions are not imported into the physical axes. 0001 Hex (1): Counter's present positions are imported.

No. Address in MC

P1AA06 5345h +

Data configuration Setting range

31 00

Communications error detection

Unit

(AA * 14h)

MECHATROLINK-II communications error detection

Name Type Unit Immediate

Data --- No

00000000 to 00000005 Hex (0 to 5)

updating

Initial value 00000000 (0)

Explanation Sets the No. of allowable times of communications errors on MECHATROLINK-II device. The setting of this parameter is valid only for "I/O" (specified in "P1AA02: MECHATROLINK-II device classification"). When the allowable times set here are exceeded, [300Bh: Communications alarm] will occur.

No. Address in MC

P1AA07 5346h +

Data configuration Initial value

31 00

Unit

Reserved Data --- No

(AA * 14h)

Reserved

Name Type Unit Immediate

updating

00000000 (0)

Explanation Reserved

System Parameters Section 4-2

Axis-Speed Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

Abbreviation in the address column: AA=0-31 (axis number

−1)

No. Address in MC

Unit

P2AA01 55C0h +

(AA * 14h)

Data configuration Setting range

31 00

Max. rapid feed rate

Max. rapid feed rate Data Command unit/

Name Type Unit Immediate

00000001 to 7FFFFFFF Hex (1 to 2147483647)

Explanation

• Sets the maximum speed on machine's side for when operating with commands, such as MOVE, MOVEL commands, etc., that include interpolation. The maximum rapid feed rate can be set using the following calculation formula:

P2AA01 [command unit/min]= P5AA04 [command unit/1 machine rotation]

× Max. No. of motor rotations [rotation/min] × P5AA06 [machine rotation

speed]/P5AA05 [motor rotation speed] The maximum speed is limited by (32767 command unit/unit scan).

P2AA01 [command unit/min] Ts[s]: Unit scan time

This indicates the unit cycle time of MC Unit determined by the numbers of tasks, axes, parallel branches, and refreshed words.

1966020000: The upper limit of speed resolution is 32767 [command unit/unit scan]. The value 1966020000 is obtained by converting 32767 [command unit/unit scan] to the unit of minutes (32767

updating

Ye s

min

Initial value 00002710 (10000)

≤ 1966020000/Ts [ms]

× 60 × 1000).

Note The setting of this parameter limits the speed changed by override, the speed

specified by Operand V of MOVEI command, the speed changed by override in MOVET command.

No. Address in MC

P2AA02 55C1h +

Data configuration Setting range

31 00

Max. manual feed rate

Unit

Max. manual feed rate Data Command unit/

(AA * 14h)

Name Type Unit Immediate

00000001 to 7FFFFFFF Hex (1 to 2147483647)

Explanation Sets the maximum speed on machine's side when operating with JOG, STEP operations, and DATUM command. The max speed is limited by (32767 command unit/unit scan).

Note The setting of this parameter limits the speed changed by override.

updating

Ye s

min

Initial value 00002710 (10000)

System Parameters Section 4-2

No. Address in MC

Unit

P2AA03 55C2h +

(AA * 14h)

Data configuration Setting range

31 00

Rapid feed rate

Rapid feed rate Data Command unit/

Name Type Unit Immediate

00000001 to 7FFFFFFF Hex (1 to 2147483647)

Explanation Sets the speed (a value with override 100%) on machine's side for when operating with MOVE, MOVEI commands. The max speed is limited by (32767 command unit/unit scan).

Note Speed can be changed during operation using override.

No. Address in MC

P2AA04 55C3h +

Data configuration Setting range

31 00

Manual feed rate

Unit

Manual feed rate Data Command unit/

(AA * 14h)

Name Type Unit Immediate

00000001 to 7FFFFFFF Hex (1 to 2147483647)

Explanation Sets the speed (a value with override 100%) on machine's side for when performing JOG and STEP operations. The max speed is limited by (32767 command unit/unit scan).

updating

Ye s

min

Initial value 00002710 (10000)

updating

Ye s

min

Initial value 00002710 (10000)

Note Speed can be changed during operation using override.

No. Address in MC

Unit

P2AA05 55C4h +

(AA * 14h)

Data configuration Setting range

31 00

Acceleration time

Rapid feed acceleration time Data ms Yes

Name Type Unit Immediate

00000000 to 0000EA60 Hex (0 to 60000)

Explanation Sets the time required to accelerate from zero to max. rapid feed rate.

Note (1) Enabling S-curve filter causes the delay for the S-curve time constant.

(2) This parameter cannot be changed during operation.

No. Address in MC

P2AA06 55C5h +

Data configuration Setting range

31 00

Deceleration time

Unit

Rapid feed deceleration time Data ms Yes

(AA * 14h)

Name Type Unit Immediate

00000000 to 0000EA60 Hex (0 to 60000)

updating

Initial value 00000064 (100)

updating

Initial value 00000064 (100)

Explanation Sets the time required to decelerate from max. rapid feed rate to zero.

Note (1) Enabling S-curve filter causes the delay for the S-curve time constant.

System Parameters Section 4-2

(2) This parameter cannot be changed during operation.

No. Address in MC

P2AA07 55C6h +

Data configuration Setting range

31 00

Acceleration time

Unit

Manual feed acceleration time Data ms Yes

(AA * 14h)

Name Type Unit Immediate

00000000 to 0000EA60 Hex (0 to 60000)

Explanation Sets the time required to accelerate from zero to max. manual feed rate.

Note (1) Enabling S-curve filter causes the delay for the S-curve time constant.

(2) This parameter cannot be changed during operation. (3) For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

No. Address in MC

Unit

P2AA08 55C7h +

(AA * 14h)

Data configuration Setting range

31 00

Deceleration time

Manual feed deceleration time Data ms Yes

Name Type Unit Immediate

00000000 to 0000EA60 Hex (0 to 60000)

updating

Initial value 00000064 (100)

updating

Initial value 00000064 (100)

Explanation Sets the time required to decelerate from max. manual feed rate to zero.

Note (1) Enabling S-curve filter causes the delay for the S-curve time constant.

(2) This parameter cannot be changed during operation. (3) For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

No. Address in MC

P2AA09 55C8h +

Data configuration Setting range

31 00

S-curve filter enabled

Unit

Rapid feed S-curve filter enabled Data --- No

(AA * 14h)

Name Type Unit Immediate

00000000 to 00000001 Hex (0 to 1)

Explanation Selects the S-curve filter enable/disable at rapid feed rate.

0: Disabled 1: Enabled

Note For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

updating

Initial value 00000000 (0)

System Parameters Section 4-2

No. Address in MC

Unit

P2AA10 55C9h +

(AA * 14h)

Data configuration Setting range

31 00

S-curve filter enabled

Manual feed S-curve filter enabled Data --- Yes

Name Type Unit Immediate

00000000 to 00000001 Hex (0 to 1)

Explanation Selects the S-curve filter enable/disable at manual feed rate.

0: Disabled 1: Enabled

Note For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

No. Address in MC

P2AA11 55CAh +

Data configuration Setting range

31 00

S-curve time constant

Unit

Rapid feed S-curve time constant Data ms Yes

(AA * 14h)

Name Type Unit Immediate

00000000 to 00007530 Hex (0 to 30000)

updating

Initial value 00000000 (0)

updating

Initial value 00000064 (100)

Explanation Sets the S-curve filter time constant at rapid feed rate.

Note For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

No. Address in MC

P2AA12 55CBh +

Data configuration Setting range

31 00

S-curve time constant

Unit

Manual feed S-curve time constant Data ms Yes

(AA * 14h)

Name Type Unit Immediate

00000000 to 00007530 Hex (0 to 30000)

Explanation Sets the S-curve filter time constant at manual feed rate.

Note For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

Axis-Position Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

Abbreviation in the address column: AA=0-31 (axis number

No. Address in MC

Unit

P3AA01 5840h +

(AA * 14h)

Data configuration Setting range

31 00

Travel distance

STEP operation travel distance Data Command unit Yes

Name Type Unit Immediate

00000000 to 7FFFFFFF Hex (0 to 2147483647)

updating

Initial value 00000064 (100)

−1)

updating

Initial value 000003E8 (1000)

System Parameters Section 4-2

Explanation Sets the travel distance for STEP operation.

No. Address in MC

Unit

P3AA02 5841h +

(AA * 14h)

Data configuration Setting range

31 00

+ direction software limit

Positive direction software limit Data Command unit No

Name Type Unit Immediate

80000000 to 7FFFFFFF Hex (−2147483648 to 2147483647)

Explanation Sets the software limit value in the positive direction. An error will occur when the command value created in every unit scan exceeds this software limit. The value has to satisfy the following conditions: P3AA02 [command unit] = + direction upper limit/minimum setting unit P3AA03 [command unit] = P3AA03 < P3AA02

Ex) When positioning X-axis (ball screw) in 0.01mm unit (P5AA01, P5AA2)

−100 to 100mm, the following values are to be set:

within P3AA02 = 100mm/0.01mm = 10000 [command unit] P3AA03 =

−100mm/0.01mm = −10000 [command unit]

Note The setting of this parameter is ignored in the following cases:

• When Software limit enabled/disabled (P3AA04) is set to either "0" or "2".

• When an origin has not been defined.

• When Axis feed mode (P5AA07) is set to 0010h (unlimited length).

updating

Initial value 7FFFFFFF

(2147483647)

− direction upper limit/minimum setting unit

No. Address in MC

P3AA03 5842h +

Data configuration Setting range

31 00

− direction software limit

Unit

Negative direction software limit Data Command unit No

(AA * 14h)

Name Type Unit Immediate

80000000 to 7FFFFFFF Hex (−2147483648 to 2147483647)

Explanation Sets the software limit value in the negative direction. An error will occur when the command value created in every unit scan is smaller than this software limit. (See the setting example of P3AA02: + direction software limit on page 77.)

Note The setting of this parameter is ignored in the following cases:

• When Software limit enabled/disabled (P3AA04) is set to either "0" or "2".

• When an origin has not been defined.

• When Axis feed mode (P5AA07) is set to 0010h (unlimited length).

updating

Initial value 80000000

(−2147483648)

Omron CS1W-MCH71 OPERATION MANUAL

Specifications and Main Features

Frequently Asked Questions

User Manual

CS1W-MCH71 Motion Control Unit

About this Manual:

PRECAUTIONS

1 Intended Audience

2 General Precautions

3 Safety Precautions

4 Application Precautions

5 Operating Environment Precautions

6 Conformance to EC Directives

6-1 Applicable Directives

6-2 Concepts

6-3 Conformance to EC Directives

6-4 Installation within Control Panel

1-1 Features

1-1-1 Overview

1-1-2 Features

1-2 System Configuration

1-2-1 System Configuration Example

1-2-2 Peripheral Devices (Models and Specifications)

1-3 Basic Operations

1-3-1 Applicable Machines

1-3-2 Position Control

1-3-3 Speed Control

1-3-4 Torque Control

1-3-5 Synchronous Control

1-3-6 Other Functions

1-4 Control System Configuration and Principles

1-4-1 Control System Configuration

1-4-2 Control System Principles

1-4-3 Feedback Pulse

1-5 Performance Specifications

1-5-1 General Specifications

1-5-2 Functions and Performance Specifications

1-6 Command List

1-7 Performance

2-1 Basic Operation Flow

2-2 Overview and Operating Procedure of MC-Miel

2-2-1 Overview and features

2-2-2 MC-Miel Function List

2-2-3 Installing and Uninstalling MC-Miel

2-2-4 MC-Miel Operation Flow

3-1 Nomenclature and Functions

3-1-1 Nomenclature

3-1-2 Area Allocations

3-2 Installation

3-2-1 System Configuration Precautions

3-2-2 Mounting to the Backplane

3-2-3 Unit Handling Precautions

3-2-4 Dimensions

3-3 External I/O Circuitry

3-3-1 MECHATROLINK-II Connector

3-3-2 I/O Connectors

3-3-3 Wiring Connectors

3-3-4 I/O Circuitry

3-4 Wiring

3-4-1 Wiring Precautions

3-5 Connecting MECHATROLINK Devices

3-5-1 Method of Connecting MECHATROLINK Devices

3-5-2 W-series Servo Driver

3-5-3 24VDC I/O Module

3-5-4 Counter Module, Pulse Output Module

4-1 Data Configuration

4-1-1 DATA

4-1-2 Data Configuration

4-2 System Parameters

4-2-1 Description of System Parameters

4-2-2 System Parameters

4-2-3 Data Configuration and Content of System Parameters