Omron CX-MOTION-MCH User Manual

Cat. No. W448-E1-05

SYSMAC CXONE-AL_C-V4/ CXONE-AL_D-V4

CX-Motion-MCH

OPERATION MANUAL

CXONE-AL@@C-V4/ CXONE-AL@@D-V4

CX-Motion-MCH

Operation Manual

Revised December 2009

Notice:

r f

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. Additionally, there may be severe property damage.

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

serious injury. Additionally, there may be severe property damage.

!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, 2005

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.

TABLE OF CONTENTS

PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvii

1 Intended Audience. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xviii

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xviii

3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xviii

4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix

5 Application Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xix

SECTION 1

Overview of the CX-Motion MCH . . . . . . . . . . . . . . . . . . . . 1

1-1 What is the CX-Motion-MCH? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1-3 Function List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1-4 Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

SECTION 2

Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2-1 Installing and Uninstalling the Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2-2 Connecting to a PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

SECTION 3

Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3-1 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3-2 Operations Listed by Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

SECTION 4

Creating Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

4-1 Creating a New Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

4-2 Adding and Deleting MC Units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4-3 Adding and Deleting Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

4-4 Adding and Deleting Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

4-5 Adding and Deleting Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

4-6 Adding and Deleting Subprograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

4-7 Adding and Deleting CAMs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

SECTION 5

Editing Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

5-1 Editing Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

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TABLE OF CONTENTS

SECTION 6

Saving and Reading Projects . . . . . . . . . . . . . . . . . . . . . . . . . 43

6-1 Saving a Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

6-2 Reading a Project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

6-3 Importing Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

6-4 Exporting File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

SECTION 7

Transferring and Comparing Data . . . . . . . . . . . . . . . . . . . . 53

7-1 Initial Settings for Online Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

7-2 Setting/Changing Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

7-3 Transferring, Comparing, and Saving Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

SECTION 8

Monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

8-1 Status Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

8-2 General Watch Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64

SECTION 9

Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

9-1 Switching to Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

9-2 Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

9-3 Debugging the Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69

SECTION 10

Data Traces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

10-1 Data Traces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

SECTION 11

Backup and Restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

11-1 Backup from MC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

11-2 Restoring to MC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

11-3 Verifying Backup File with MC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

SECTION 12

Read Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

12-1 Read Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

12-2 Setting and Changing Passwords. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

12-3 Setting and Releasing Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

12-4 Switching the User. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

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TABLE OF CONTENTS

SECTION 13

Printing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

13-1 Printing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

SECTION 14

Error Log. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

14-1 Error Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

14-2 Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

SECTION 15

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

15-1 Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

15-2 Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

TABLE OF CONTENTS

About this Manual:

This manual provides information required to use the CX-Motion-MCH software, including specifications and operating methods. The CX-Motion-MCH runs on Windows 2000, XP, Vista, or 7 and is used to set data used by CS1W-MCH71 and CJ1W-MCH71 Motion Control Units (also referred to as MC Units), create the required programs, and monitor the MC Unit’s operating status.

Please read this manual carefully and be sure you understand the information provided before attempting to use the CX-Motion-MCH. Be sure to read the precautions provided in the following section.

Please read the MC Unit Operation Manual carefully and be sure you understand the information provided before setting up or using an application for a Motion Control Unit.

Name Contents Cat. No.

SYSMAC CX-Motion-MCH Operation Manual

SYSMAC CS1W/CJ1WMCH71 Motion Control Unit Operation Manual

For details on procedures for installing the CX-Motion-MCH from the CX-One FA Integrated Tool Package, refer to the CX-One Setup Manual provided with CX-One.

Cat. No. Model Name Contents

W463 CXONE-AL@@C-

V4/AL@@D-V4

Describes the specifications and operating procedures for the CX-Motion-MCH.

Describes the installation and operation of the CS1W/ CJ1W-MCH71 Motion Control Unit.

CX-One Setup Manual Installation and overview of CX-One FA

Integrated Tool Package.

(suffixes omitted)

W448 (this manual)

W435

Precautions provides general precautions for using the CX-Motion-MCH, Programmable Controller, and related devices.

Section 1 provides an overview of the CX-Motion-MCH, and describes the functions and system configuration required to operate the CX-Motion-MCH. Be sure to read this section before using the CXMotion MCH.

Section 2 provides information on installing the CX-Motion-MCH and CX-Server, and connecting to the PLC.

Section 3 describes each of the windows and basic operations.

Section 4 provides information on creating projects and adding MC Units, tasks, axes, programs, sub-

programs, and CAM tables.

Section 5 describes the operations used to edit data.

Section 6 describes the operations used to save and read new projects.

Section 7 describes the operations used to transfer or compare data between the personal computer

and Motion Control Unit/Servo Driver, and to write data transferred to the Motion Control Unit to the Motion Control Unit's flash memory.

Section 8 provides information on monitoring the MC Units. The MC Unit's communications status, error status, and axis's present position and status are displayed in the Monitor Windows.

Section 9 describes various operations on the axes of the MC Unit, including test run operations and program debugging.

Section 10 describes the data trace function.

Section 11 describes the operations used to back up data from MC Units and restore data to MC

Units.

Section 12 describes the operations used to set and release protection on programs or cam data in MC Units, set and change primary and secondary passwords, and switch the user.

Section 13 describes the operations used to print project data.

Section 14 provides information on the error log generated by the MC Unit.

Section 15 provides information on the troubleshooting methods for the MC Unit.

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Read and Understand this Manual

Please read and understand this manual before using the product. Please consult your OMRON representative if you have any questions or comments.

Warranty and Limitations of Liability

WARRANTY

(1) The warranty period for the Software is one year from either the date of purchase or the date on which

the Software is delivered to the specified location.

(2) If the User discovers a defect in the Software (i.e., substantial non-conformity with the manual), and

returns it to OMRON within the above warranty period, OMRON will replace the Software without charge by offering media or downloading services from the Internet. And if the User discovers a defect in the media which is attributable to OMRON and returns the Software to OMRON within the above warranty period, OMRON will replace the defective media without charge. If OMRON is unable to replace the defective media or correct the Software, the liability of OMRON and the User's remedy shall be limited to a refund of the license fee paid to OMRON for the Software.

LIMITATIONS OF LIABILITY

(1) THE ABOVE WARRANTY SHALL CONSTITUTE THE USER'S SOLE AND EXCLUSIVE REMEDIES

AGAINST OMRON AND THERE ARE NO OTHER WARRANTIES, EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO, WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT WILL OMRON BE LIABLE FOR ANY LOST PROFITS OR OTHER INDIRECT, INCIDENTAL, SPECIAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF USE OF THE SOFTWARE.

(2) OMRON SHALL ASSUME NO LIABILITY FOR DEFECTS IN THE SOFTWARE BASED ON

MODIFICATION OR ALTERATION OF THE SOFTWARE BY THE USER OR ANY THIRD PARTY.

(3) OMRON SHALL ASSUME NO LIABILITY FOR SOFTWARE DEVELOPED BY THE USER OR ANY

THIRD PARTY BASED ON THE SOFTWARE OR ANY CONSEQUENCE THEREOF.

Application Considerations

SUITABILITY FOR USE

THE USER SHALL NOT USE THE SOFTWARE FOR A PURPOSE THAT IS NOT DESCRIBED IN THE ATTACHED USER MANUAL.

xiii

Disclaimers

CHANGE IN SPECIFICATIONS

The software specifications and accessories may be changed at any time based on improvements or for other reasons.

EXTENT OF SERVICE

The license fee of the Software does not include service costs, such as dispatching technical staff.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

xiv

Version Upgrade Information

Improvements from Version 2.2 to Version 2.24

New functions are listed in the following table.

Ver. 2.2 Ver. 2.24

Applicable OS: Windows 2000, XP, or Vista

Improvements from Version 2.1 to Version 2.2

New functions are listed in the following table.

Ver. 2.1 Ver. 2.2

Motion Control Units in CS/CJseries PLCs (excluding CJ2 PLCs) were supported.

Version Upgrade from Version 2.0 to Version 2.1

New functions are listed in the following table.

Ver. 2.0 Ver. 2.1

The CX-Motion-MCH could not backup data from MC Units, restore data to MC Units and verify backup files with MC Units.

The CX-Motion-MCH could not provide read protection.

The CX-Motion-MCH could not search in programs.

The CX-Motion-MCH could compare data with MC Units in detail.

Applicable OS: Windows 2000, XP, Vista, or 7

Motion Control Units in CS/CJ-series PLCs (including CJ2 PLCs) are supported.

The CX-Motion-MCH can execute Backup from MC Units, Restore to MC Units and Verify backup files with MC Units.

The CX-Motion-MCH can set/release Read Protection.

The CX-Motion-MCH can set passwords and switch user status.

The CX-Motion-MCH can find words in all programs.

The CX-Motion-MCH can compare data with MC Units in detail.

The CX-Motion-MCH can display comparison results in Overview/Detail View.

The CX-Motion-MCH can save results of comparing programs.

Note All new functions can be used with Motion Control Units with unit version 3.1

or later.

Version Upgrade from Version 1.0 to Version 2.0

New functions are listed in the following table.

Ver. 1.0 Ver. 2.0

The CX-Motion-MCH could not execute data traces.

The CX-Motion-MCH could not execute test runs.

The CX-Motion-MCH can execute data traces. The results of a trace are displayed graphically.

The CX-Motion-MCH can execute the test run operations, such as the following: Servo locks, JOG operations, STEP operations, origin searches, origin returns, forced origins, setting an absolute origin, teaching, and resetting errors.

Ver. 1.0 Ver. 2.0

The CX-Motion-MCH could not execute motion programs.

The CX-Motion-MCH could be used to set only the previous parameters.

The CX-Motion-MCH can execute motion programs. Motion programs can be debugged by setting break points and by using single step execution.

New parameters have been added to use the following functions.

• Zones

• A setting for the number of the parallel branches in each motion task

• Establishing the origin using the present position preset

• Changing the motor to Servo OFF state using an external input signal.

Note All new functions can be used in Motion Control Units with unit version 3.0 or

later.

xvi

PRECAUTIONS

This section provides general precautions for using the CX-Motion-MCH software package.

The information contained in this section is important for the safe and reliable application of the CX-Motion-MCH. You must read this section and understand the information contained before attempting to set up or operate the CXMotion-MCH.

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xviii

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xviii

3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xviii

4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix

5 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix

xvii

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 the CX-Motion-MCH and related devices be

used for the specified 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 Motion Control Units and related devices to the above-mentioned applications.

3 Safety Precautions

!WARNING Do not attempt to take any Unit apart while the power is being supplied. Doing

so may result in electric shock.

!WARNING Never touch any of the terminals while power is being supplied. Doing so may

result in serious electric shock.

!WARNING Always back up programs, parameter data, position data, or cam data to the

flash memory after it has been transferred to the Motion Control Unit. If transferred data is not backed up in flash memory, the previous settings may be used the next time the power is turned ON, resulting in a malfunction.

!Caution Check that the axis number is correct before operating an axis from the CX-

Motion-MCH.

xviii

!Caution Confirm safety at the destination node before transferring parameters or other

data to another node. Doing either of these without confirming safety may result in injury.

Operating Environment Precautions 4

!Caution Do not save data (i.e., do not write data to flash memory) while the motion

program is being executed or the motor is operating. Unexpected operation may result.

4 Operating Environment Precautions

!Caution Do not operate the MC Unit in the following locations:

• 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.

!Caution Take appropriate and sufficient countermeasures when installing the MC Unit

in the following locations:

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

• Locations subject to strong electromagnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

5 Application Precautions

Observe the following precautions when using the CX-Motion-MCH.

• Confirm that the correct unit number is specified for the destination node before transferring parameters or other data to the Motion Control Unit.

• Confirm that programs, set parameters, and position data operate properly before using them in actual applications.

• Do not turn OFF the power to the Unit while writing to flash memory. Doing so may result in damage to the flash memory.

• After replacing an MC Unit, restart operation only after saving the required parameters, position data, and other data in the MC Unit.

• After transferring system parameters, servo parameters, programs, position data, or cam data to the MC Unit, always save the data to flash memory in the MC Unit before turning OFF the power supply using either the Support Software or a command from the CPU Unit. If data is transferred to the MC Unit without saving it to flash memory, the data will exist only in S-RAM in the MC Unit and will thus be lost when the power supply to the MC Unit is turned OFF.

• After transferring system parameters to the MC Unit, always save them in flash memory and then either cycle the power supply to the MC Unit or restart the MC Unit as a CPU Bus Unit from the CPU Unit. Some system parameters will not be updated if the MC Unit is not restarted.

xix

Application Precautions 5

• Confirm 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 operating mode of the PLC (including changing the Startup Mode).

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

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

• Do not turn OFF the power to the personal computer while installing or uninstalling CX-Motion-MCH. Doing so may result in corrupted data in the personal computer.

SECTION 1

Overview of the CX-Motion MCH

This section provides an overview of the CX-Motion-MCH, and describes the functions and system configuration required to operate the CX-Motion-MCH. Be sure to read this section before using the CX-Motion MCH.

1-1 What is the CX-Motion-MCH?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1-3 Function List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1-4 Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

What is the CX-Motion-MCH? Section 1-1

1-1 What is the CX-Motion-MCH?

Introduction The CX-Motion-MCH is a software package that can be used to set, create,

and print various data required to control MC Units (such as system parameters, position data, motion task programs, and CAM data), transfer the data to and from the MC Unit, compare the data in the computer with the data in the MC Unit, and monitor the operating status of the MC Unit.

The CX-Motion-MCH runs on Windows 2000, XP, Vista, or 7.

CS1W-MCH71

CJ1W-MCH71

Set and transfer the various data and programs required to control the MC Unit.

Monitor the MC Unit's operating status, e.g., error information or each axis' present position.

Applicable MC Units The CX-Motion-MCH supports the following MC Units.

Model number Applicable PLCs

Applicable Computers

CS1W-MCH71

CJ1W-MCH71 CJ2 CPU Units

Refer to 1-2 System Configuration for details on the system configuration.

Refer to the CX-One Setup Manual (W463) for the computer system require- ments for the CX-Motion-MCH.

Recent versions of CS1 CPU Units (CS1

CJ1H/CJ1M CPU Units with unit version 2.0 or later, CPseries PLCs, and NSJ-series NSJ Controllers

Computer with Windows

operating system

@-CPU@@H)

Checking the Package Refer to the CX-One Setup Manual (W463) for details on the contents of the

CX-One package that includes the CX-Motion-MCH.

Cat. No. Model Manual name Contents

W463

CXONE-AL

@@D-V4

V4/AL

@@C-

CX-One Setup Manual

Installation and overview of CXOne FA Integrated Tool Package.

System Configuration Section 1-2

1-2 System Configuration

The system configuration for Motion Control Units is shown below.

CX-Motion-MCH Editing/Transferring parameters Monitoring File management, etc.

CX-Programmer Creating/Transferring ladder program Monitoring File management, etc.

Toolbus/ Host Link

Power Supply Unit

Servo Driver

Servomotor

Servo Driver

Servomotor

CJ Series CPU Unit

MC Unit (CJ1W-MCH71)

External inputs

Forward rotation limit input signal

Reverse rotation limit input signal

Origin input signal

Origin proximity input signal

Interrupt input signal

24-V DC power supply for interface

External inputs

Forward rotation limit input signal

Reverse rotation limit input signal

Origin input signal

Origin proximity input signal

Interrupt input signal

Servo Driver

MECHATROLINK-II (30 axes max.)

24-V DC power supply for interface

Function List Section 1-3

1-3 Function List

Group Function Details Reference

Editing projects Create project Used to create project files (*.mnh) page 30

Add/delete Motion Control Unit Used to add or delete MC Unit data in a project. page 31 Add/delete motion task Used to add or delete motion tasks in a project. page 32 Add/delete axis Used to add or delete axes in a project. page 33 Add/delete program Used to add or delete programs in a project. page 34 Add/delete subprogram Used to add or delete subprograms in a project page 35 Add/delete CAM table Used to add or delete CAM tables in a project. page 35

Editing data Edit system parameters Used to edit system parameters. (unit settings, tasks,

and settings) Edit servo parameters Used to edit servo parameters. page 42 Edit motor parameters Used to edit motor parameters. page 42 Edit position data Used to edit position data. page 41 Edit program or subprogram Used to edit programs or subprograms. page 42 Edit CAM table Used to edit CAM tables. page 42 Edit symbol Used to edit symbols. page 41

Saving and reading project files

Importing and exporting data

Printing Print Used to print various project data. page 88 Online Initial setting Used to setup CPU Unit or MC Unit. page 54

Data Trace Data Trace Used to set the trigger conditions and trace objects.

Backup and Restore

Save project Used to save data as a project file (*.mnh). page 44 Read project Used to read a project file (*.mnh). page 44 Import Used to import MC-Miel for MCH files, position data,

programs, and CAM data. Export Used to export position data, programs, and CAM

Communications setting Used to make settings for communications with the

Download Upload Compare Write to flash memory Used to write RAM data inside the MC Unit to flash

Status monitor Used to display the error information, program num-

General monitor Used to display and change the MC Unit’s variables,

Test Run Used to execute the following operations: Servo

Debug the Program Used to debug the motion program. Motion programs

Backup from MC Used to backup the MC Unit. page 78 Restore to MC Used to restore the selected backup file to the MC

Verify Backup file with MC Unit Used to verify the backup file with the MC Unit. page 79

data.

PLC.

Used to download, compare, or upload system

parameters, servo parameters, position data, pro-

grams, and CAM data.

memory inside the MC Unit.

ber in progress, and axes’ present positions.

such as the system variables, global variables, input

variables, output variables, position data, and task

variables.

locks, JOG operations, STEP operations, origin

searches, origin returns, forced origins, setting an

absolute origin, teaching, and resetting errors.

can be debugged by setting break points and by

using single step execution.

The results of the trace operation are displayed

graphically.

Unit.

page 40

page 45

page 48

page 54

page 56

page 60

page 64

page 67

page 69

page 74

page 78

Function List Section 1-3

Group Function Details Reference

Read Protection Set/Change Password Used to set/change passwords for read protection. page 83

Set/Release Protection Used to set/release protection on programs and cam

data and select data items that can be read through

the secondary password. Switch User Used to switch the user. page 86

Error Error log Used to display the error log. page 92

Error information Used to display error code and error name. page 92

page 85

Operation Procedure Section 1-4

1-4 Operation Procedure

The following flowchart shows the procedures required to install CX-MotionMCH and CX-Server, create various data, transfer that data to MC Units, and use in actual operations.

Installing CX-Motion-MCH

Installing CX-Server

Connecting to Built-in RS-232C port on CPU Unit

Starting CX-Motion-MCH

Creating a New Project

Adding MC Unit to Project

CX-Motion-MCH Basic Window

Adding Tasks, Axes, Programs,

and CAM Data to MC Unit

Editing/Transferring MC Unit's System

Parameters, Servo Parameters, Position

Data, Programs, and CAM Data

Refer to page 8

Refer to page 14

Refer to page 30

Refer to page 31

Refer to page 33

Refer to SECTION 5 Editing Data and page 56

Writing to Flash Memory

MC Unit Monitoring

Saving Project

Quitting CX-Motion-MCH

Refer to page 60

Refer to SECTION 8 Monitoring

Refer to page 44

Refer to page 15

SECTION 2

Setup

This section provides information on installing the CX-Motion-MCH and CX-Server, and connecting to the PLC.

2-1 Installing and Uninstalling the Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2-2 Connecting to a PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2-2-1 Connecting to CS/CJ-series PLCs . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2-2-2 Connecting to CP-series PLCs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2-2-3 Connecting to CJ2 PLCs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Installing and Uninstalling the Software Section 2-1

2-1 Installing and Uninstalling the Software

Required Software The following software must be installed on the same computer to use the CX-

Motion-MCH.

1. CX-Motion-MCH

2. CX-Server (the communications driver)

Installing CX-Motion-MCH Refer to the CX-One Setup Manual (Cat. No. W463) (supplied with the CX-

One FA Integrated Tool Package) for information on how to install or uninstall the CX-Motion-MCH from the CX-One FA Integrated Tool Package.

Cat. No. Model Manual name Contents

W463 CXONE-AL@@C-V4/

AL@@D-V4

CX-One Setup Manual

An overview of the CXOne FA Integrated Tool Package and the CX-One installation procedure

2-2 Connecting to a PLC

To transfer the project data that was created using CX-Motion-MCH to the Motion Control Unit, the personal computer and PLC (CPU Unit) have to be physically connected with a cable and also connected online.

2-2-1 Connecting to CS/CJ-series PLCs

Connection Format Using either the Host Link (SYSMAC WAY) or Toolbus, connect the personal

computer to the peripheral port or RS-232C port on the PLC.

Personal

computer

IBM PC/ AT or compatible

Note (1) The CS1W-CN118 cable is used as a relay cable to connect the personal

computer to the CPU Unit's peripheral port using the RS-232C cable (model XW2Z-@@@@-@@) as shown below.

(2) There are two network protocols (serial communications modes), SYS-

MAC WAY and Toolbus, that can be used to connect the CX-Motion-MCH

Connecting to Peripheral Port Connecting to RS-232C Port

PC-98

B X

N E

CS1W-CN118 (See note 1.) CS1W-CN226 CS1W-CN626

PC-9801

N E

9-pin male

9-pin female

CS1W-CN118 (0.1 m) (See note 1.) CS1W-CN226 (2.0 m) CS1W-CN626 (6.0 m)

9-pin female

Peripheral port (10-pin female)

10-pin

RS-232C Cable

CS1W-CN118

-9801

B X

N E

XW2Z-200S-CV/200S-V (2.0 m) XW2Z-500S-CV/500S-V (5.0 m)

XW2Z-200S-CV/-200S-V XW2Z-500S-CV/-500S-V

Peripheral Port

9-pin male

9-pin female

9-pin male

RS-232C port (9-pin female)

9-pin female

9-pin male

Connecting to a PLC Section 2-2

to the PLC. The characteristics of the network protocols are as shown below.

Network type Characteristics

Toolbus Faster communications. If possible, use this network type.

• For CS/CJ Series, the baud rate on the peripherals can be detected automatically, and be connected.

• Only 1 on 1 connection possible.

• For CX-Motion-MCH, it can also be connected to a modem.

SYSMAC WAY (Host Link)

Used for communications with general host computers.

• Slower than Toolbus.

• Not only 1 on 1 connection, but also 1-many connection possible.

• Connecting to a modem and optical adaptor possible.

Connection Methods Use one of the following methods to connect the personal computer (CX-

Motion-MCH) and PLC (CPU Unit). It is also possible to connect the personal computer to the port on the CS/CJ Series Serial Communications Unit. In that case, the only network type that can be used is Host Link.

Connecting to Peripheral Port Connecting to RS-232C Port

IBM PC/AT or compatible IBM PC/AT or compatible

9-pin connector

CS1W-CN118 (0.1 m) CS1W-CN226 (2.0 m) CS1W-CN626 (6.0 m)

Connection Cables

Unit Port on Unit Computer Port on

CPU Unit Built-in

peripheral port

Built-in RS232C port (D-SUB, 9pin, female)

Serial Communications

RS-232C port (D-SUB, 9pin, female)

Unit

IBM PC/AT compatible

D-SUB, 9pin, male

computer

Peripheral port on CPU Unit

Network type

(serial commu-

nications

mode)

SYSMAC WAY (Host Link)

9-pin connector

Built-in RS-232C port on CPU Unit or Serial Communications Unit

XW2Z-200S-CV (2.0 m) XW2Z-500S-CV (5.0 m)

9-pin connector

Model number Length Remarks

CS1W-CN226 2 m --CS1W-CN626 6 m

XW2Z-200S-CV 2 m Uses anti-static XW2Z-500S-CV 5 m

connector

XW2Z-200S-CV 2 m Uses anti-static XW2Z-500S-CV 5 m

connector

Note When connecting the connectors of the above cables to the PLC's RS-232C

port, discharge any static build-up (e.g., by touching a grounded metal object) before touching the connectors. Although XW2Z-@@@S-CV Cables use the anti-static XM2S-0911-E Connector Hood (thus reducing the possibility of static build-up), be sure to discharge any static as a safety precaution.

Connecting to a PLC Section 2-2

2-2-2 Connecting to CP-series PLCs

Connecting to USB Port on CPU Unit with Commercially Available US Cable

Unit Port on Unit Computer Port on

computer

CPU Unit USB port

(B connector)

IBM PC/AT compatible

Commercially available USB cable

USB port (A connector)

Serial communi-

cations mode

(network type)

USB Commercially available

IBM PC/AT or compatible

USB port

CP-series CPU Unit

Peripheral USB port

Model number Length Remarks

USB 1.1 or 2.0 cable

5 m max.

---

Connecting to RS-232C Port on Serial Communications Board with RS-232C Cable

Unit Port on

CP1W-CIF01 Serial Communications Board

Unit

RS-232C port, Dsub 9-pin female

Computer Port on

IBM PC/AT compatible

computer

D-Sub, 9pin, male

Serial communi-

cations mode

(network type)

Toolbus (Peripheral) or SYSMAC WAY (Host Link)

SYSMAC WAY (Host Link)

Model number Length Remarks

XW2Z-200S-CV/500S-CV 2 m/5 m Uses anti-

static connector

XW2Z-200S-V/500S-V 2 m/5 m ---

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