Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004, SYSMAC CS User Manual

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

iv

v

Notice:

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.

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.

 OMRON, 2003

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, o

r

by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission o

f

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.

vi

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.

vii

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

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.

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.

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.

CS-series Advanced Motion Control Unit

Product nameplate

Unit version
Example for Unit version 2.0

OMRON CS1W-MCH71

MC UNIT

Lot No. 031001 0000 Ver.2.0

Attach the unit version label here.

Method for confirming the
internal system software
version

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

Corresponds to the unit
version

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

viii

Unit Version Notation

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

Functions Supported by Advanced Motion Control Unit Ver. 2.0

Unit Versions and Lot Numbers

Product nameplate Notation used in this manual Special remarks

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

Blank to the right of lot
number

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

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

CS1W-MCH71 CS1W-MCH71

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

Not supported Supported

Acceleration/deceleration time during
pass operation

Not supported Supported

Deceleration time during pass opera­tion

Not supported Supported

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

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

Network Levels

Communications Cycle/Unit Cycle

LATCH Command Processing Time

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.

• 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.

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

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

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.

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

• 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.

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

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)

x

Latch Status Refresh Time

Using Interpolation Commands in Pass Operations

Acceleration/Deceleration Time During Pass Operation

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

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.

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)

xi

Deceleration Time During Pass Operation

Switching from Torque to Position Control

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;

• 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;

• 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;

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.

• 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%)

Ta Ta Td

Speed

Time

Ta Ta Ta

Speed

Time

Ta Ta Td

Speed

Time

xii

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%)

xiii

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

xiv

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

xv

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

xvi

TABLE OF CONTENTS

xvii

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.

xviii

xix

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

xx

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.

xxi

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.

xxii

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

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

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.

xxiii

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.

xxiv

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.)

1

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

2

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.

3

Fe at ur e s Section 1-1

1-1-2 Features

Simple System
Architecture

• 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.

Easiest Information
Management

• 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.

Various motion controls
~Distributed control
system~

• 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.

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

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

4

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.

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.

MCH71

PT

Sensor/
Valve

W-series Servo
+
I/F unit

Memory
card

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

CW Limit/CCW Limit

CounterDI/O DI/O Pulse output

Stepping

Computer

5

System Configuration Section 1-2

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

Support Tool

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

cating the Cat. No.

MECHATROLINK-II Devices and Cables

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.

Terminato

r

Name Cat. No. Specification Overview

Support Tool for Motion Control Unit
MC-Miel for MCH

SBCE-023B Support Tool for computers

Japanese version

Support Tool for Motion Control Unit
MC-Miel for MCH

I809-E1-02 Support tool for computers

English version

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

Output: 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)

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

Terminating resistance for MECHA­TROLINK-II

JEPMC-W6022 FNY-W6022 Terminating resistance

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

6

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:

50

J02

0 50 100

J01

7

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.

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.)

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.

J

02

J01

Center

Starting
point

Linear interpolation

Radius

Target point

Circular interpolation

Axis 3

Axis 2

Axis 1

Target point

Linear
interpolation

Center

Starting point

Circular interpolation

Speed

Speed

Position control
(Fixed distance)

t

External signal

Counter latch completed