Omron NC213, NC113, NC413, C200HW Operation Manual

Cat. No. W334-E1-04

SYSMAC

C200HW-NC113/NC213/NC413

Position Control Units

C200HW-NC113/NC213/NC413
Position Control Units

Operation Manual

Revised July 2003

iv

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

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serious injury.

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

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serious injury.

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

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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 “PC” means Programmable Controller and is not used as an abbreviation for any­thing else.

Visual Aids

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

 OMRON, 1997

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

of the product.

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

v

vi

TABLE OF CONTENTS

PRECAUTIONS xiii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 Intended Audience xiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 General Precautions xiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Safety Precautions xiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Operating Environment Precautions xv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Application Precautions xv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 1

Introduction 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

1-3 Basic Operations 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

1-5 Exchanging Data 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-6 Before Operation 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 2

Specifications and Wiring 17. . . . . . . . . . . . . . . . . . . . . . . . .

2-1 Specifications 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 Components 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3 External I/O Circuitry 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4 Connecting External I/O 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5 Connections in Each Operating Mode 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6 Connection of Unused Axes 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-7 Servo Relay Unit 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 3

Getting Started 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1 Basic Operations 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2 System Configuration and Wiring 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3 Setting Data and Starting 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 4

Data Areas 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1 Overall Structure 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2 Common Parameters 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3 Axis Parameters 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4 Operating Memory Area 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5 Operating Data Area 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-6 Positioning Sequence Details 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7 Setting Data With the SYSMAC-NCT Support Tool 93. . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8 Setting Data for Unused Axes 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 5

Transferring and Saving Data 95. . . . . . . . . . . . . . . . . . . . .

5-1 Transferring and Saving Data 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2 Writing Data with the WRITE DATA Bit 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3 Reading Data with the READ DATA Bit 103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-4 Writing Data with IOWR 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-5 Reading Data with IORD 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-6 Creating and Transferring Data with the Support Tool 113. . . . . . . . . . . . . . . . . . . . . . . . . . .

5-7 Saving Data 114. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

vii

TABLE OF CONTENTS

SECTION 6

Defining the Origin 117. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-1 Setting the Data for an Origin Search 118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2 Executing Origin Search 119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3 Origin Search Timing Charts 130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-4 Origin Return 134. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 7

Direct Operation 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-1 Outline 138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-2 Setting Data for Use With Direct Operation 140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-3 Operations With Direct Operation 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-4 Procedures for Setting Data for Direct Operation 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-5 Direct Operation Timing Charts 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-6 Sample Program 146. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 8

Memory Operation 149. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-1 Outline 150. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-2 Setting Data for Use in Memory Operation 154. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-3 Operations With Memory Operation 155. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-4 Procedures for Setting Data for Memory Operation 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-5 Timing Chart for Memory Operation 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-6 Sample Program 165. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 9

Other Operations 169. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-1 Jogging 170. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-2 Teaching 171. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-3 Interrupt Feeding 173. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-4 Forced Interrupt 175. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-5 Deceleration Stop 177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-6 Changing the Present Position 180. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-7 Override 181. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-8 Releasing Pulse Output Prohibition 182. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-9 Error Counter Reset Output and Origin Adjustment Command Output 184. . . . . . . . . . . . . .

9-10 Backlash Compensation 187. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 10

Program Examples 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-1 Operating Procedures for Program Examples 190. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-2 Memory Operation 192. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-3 Direct Operation 206. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-4 Linear Interpolation 211. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-5 Origin Search 216. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-6 Override 218. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-7 Transferring and Saving Data 221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 11

Troubleshooting 227. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-1 Introduction 228. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-2 LED Error Indicators 230. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-3 Reading Error Codes 231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-4 Error Code Lists 232. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-5 CPU Error Indicators 243. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

viii

TABLE OF CONTENTS

Appendices

A Data Calculation Standards 245. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B Estimating Times and Pulses for Acceleration/Deceleration 251. . . . . . . . . . . . . . . . . . . . . . . . .

C Error Code List 253. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D Effect of Cable Length on Pulse Output 257. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E Parameter Coding Sheets 259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F Using with CS1-series PCs 263. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Index 271. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Revision History 277. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ix

About this Manual:

This manual describes the operation of the C200HW-NC113/NC213/NC413 Position Control Units and
includes the sections described below.

Please read this manual carefully and be sure you understand the information provided before attempting
to install and operate the C200HW-NC113/NC213/NC413 Position Control Units.

Section 1 introduces the features of the Position Control Unit and explains the system configuration in
which it is used.

Section 2 provides the Position Control Unit’s specifications and explains the wiring.

Section 3 explains how to use the RELATIVE MOVEMENT command employing the direct operation

method, and provides examples of how to use a stepping motor.

Section 4 provides information on the data areas used by the Position Control Unit.

Section 5 explains how to transfer and save parameters and data.

Section 6 explains the origin search and origin return operations.

Section 7 provides an outline of direct operation, details about data areas and how to set data, and sam-

ple programs.

Section 8 provides an outline of memory operation, details about data areas and how to set data, and
sample programs.

Section 9 describes the following operations: jogging, teaching, interrupt feeding, forced interrupt, decel­eration stop, changing the present position, override, releasing pulse output prohibition, deviation counter
reset output/origin-adjustment command output, and backlash compensation.

Section 10 provides examples of programs for using the Position Control Unit.

Section 11 describes how to diagnose and correct errors that can occur during operation.

The Appendices provide data calculation standards, information on estimating times and pulses for
acceleration/deceleration, error code list, information on the effect of cable length on pulse output, and
parameter coding sheets.

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

personal 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.

xi

PRECAUTIONS

This section provides general precautions for using the Programmable Controller (PC), Position Control Unit (PCU), and
related devices.

The information contained in this section is important for the safe and reliable application of the Programmable Con­troller and the Position Control Unit. You must read this section and understand the information contained before
attempting to set up or operate a PC system.

1 Intended Audience xiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 General Precautions xiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Safety Precautions xiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Operating Environment Precautions xv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Application Precautions xv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xiii

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 Position Con­trol Unit. Be sure to read this manual before attempting to use the PCU and keep
this manual close at hand for reference during operation.

3Safety Precautions

3 Safety Precautions

WARNING Never attempt to disassemble any Units while power is being supplied. Doing so

!

may result in serious electrical shock or electrocution.

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

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result in serious electrical shock or electrocution.

WARNING Provide safety measures in external circuits (i.e., not in the Programmable

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Controller), including the following items, to ensure safety in the system if an
abnormality occurs due to malfunction of the PC or another external factor
affecting the PC operation. Not doing so may result in serious accidents.

• Emergency stop circuits, interlock circuits, limit circuits, and similar safety

measures must be provided in external control circuits.

• The PC 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 PC 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-V DC output (service power supply to the PC) is overloaded or

short-circuited, the voltage may drop and 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.

xiv

Caution Tighten the screws on the terminal block on the AC Power Supply Unit to the

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torque specified in the C200H, C200HS, or C200HX/HG/HE-(Z)E installation
guide. Loose screws may result in short-circuits, malfunction, or burning.

Caution Confirm safety at the destination node before transferring a program to another

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node or editing the I/O area. Doing either of these without confirming safety may
result in injury.

4 Operating Environment Precautions

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 tempera-

ture.

• Locations subject to corrosive or flammable gases.

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

• Locations subject to shock or vibration.

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

• Take appropriate and sufficient countermeasures when installing systems in

the following locations.

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

• Locations subject to strong electric fields or magnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

5Application Precautions

5 Application Precautions

Observe the following precautions when using the Position Control Unit (PCU)
and Programmable Controller (PC).

WARNING Failure to abide by the following precautions could lead to serious or possibly

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fatal injury. Always heed these precautions.

• Always ground the system to 100 Ω or less when installing the system to pro-

tect against electrical shock.

• Always turn off the power supply to the PC before attempting any of the follow-

ing:

• Mounting or dismounting the Power Supply Unit, I/O Units, CPU Unit,

other Units, or Memory Casettes.

• Assembling the devices.

• Setting DIP switches or rotary switches.

• Wiring or connecting cables.

• Connecting or disconnecting the connectors.

Caution Failure to abide by the following precautions could lead to faulty operation of the

!

PC or the system or could damage the PC or PC Units. Always heed these pre­cautions.

• Fail-safe measures must be taken by the customer to ensure safety in the

event of incorrect, missing, or abnormal signals caused by broken signal lines,
momentary power interruptions, or other causes.

• Interlock circuits, limit circuits, and similar safety measures must be provided

by the customer as external circuits.

• Install external breakers and take other safety measures against short-circuit-

ing in external wiring.

xv

• Tighten the PC mounting screws, terminal block screws, and cable screws to

the torque specified in this manuals.

• Always use the power supply voltage specified in this manual.

• 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.

• Use crimp terminals for wiring. Do not connect bare stranded wires directly to

terminals.

• Leave the dustproof labels affixed to the top of the Unit when wiring. After wir-

ing, remove the labels for proper heat radiation.

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

• Do not apply voltages or connect loads to the Output Units in excess of the

maximum switching capacity.

• Check the user program for proper execution before actually running it in the

Unit.

• Be sure that the terminal blocks, memory units, extension cables, and other

items with locking devices are properly locked.

• Double-check all the wiring before turning on the power supply.

• Disconnect the functional ground terminal when performing withstand voltage

tests.

• Confirm that no adverse effect will occur in the system before performing the

following operations:

• Changing the operating mode of the PC.

• Force-setting/resetting the relay contacts.

• Changing the present values or set values.

• Changing positioning data or parameters.

• Resume operation only after transferring to the new CPU Unit the contents of

the DM and HR Areas required for operation.

• Do not attempt to disassemble, repair, or modify any Units.

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

the cables.

• Do not place heavy objects on top of the cables. Doing so may break the

cables.

• Resume operation only after saving in the Position Control Unit the parameters

and position data required for resuming operation.

• Be sure that the set parameters and data operate properly.

• Be sure to check the pin numbers before wiring the connectors.

5Application Precautions

xvi

SECTION 1

Introduction

This section introduces the features of the Position Control Unit and explains the system configuration in which it is used.

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

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

1-3 Basic Operations 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3-1 Position Control 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3-2 Speed Control 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3-3 Other Operations 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

1-4-1 Data Flow 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4-2 Control System Principles 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4-3 Basic Positioning System Design 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-5 Exchanging Data 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-5-1 Explanation 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-6 Before Operation 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1

1-1 Features

Position Control Unit

1-1SectionFeatures

C200HW-NC413
(4-axis control)

These Position Control Units are C200HX/HG/HE-series and C200H/HS-series
Special I/O Units. The Units receive instructions from the Programmable Con­troller’s IR area and output pulse trains to various motor drivers for positioning.

C200HW-NC213
(2-axis control)

C200HW-NC113
(1-axis control)

Functions

Motor Driver Selectable
by Axis Unit

Number of Control Axes
and Control Capacity

Memory Operation and
Direct Operation

Interrupt Feeding

High-speed Response

Compact Size

The operating mode can be set by axis unit, so it is possible to select the motor
driver by axis unit. The Position Control Unit outputs pulse trains, so it can easily
be connected to the following motor drivers.

• Stepping motor driver

• Servomotor drivers with pulse input.

The Position Control Unit is available with one, two, or four control axes. With the
two-axis model, the two axes can either be used together for linear interpolation
or they can be operated independently. With the four-axis model, up to four axes
can be used together for linear interpolation or the axes can all be operated inde­pendently.

There are two different control methods. The first is memory operation, in which
the data required for positioning is transferred to the Position Control Unit and
then specified for position control, and the second is direct operation, in which
the target position and target speed are set each time from the Programmable
Controller.

When an interrupt is input during pulse output, positioning is continued for only
the specified number of pulses and then stopped.

The Position Control Unit responds to instructions from the Programmable Con­troller within 10 ms. (This applies to the C200HW-NC113.)

The single-axis, two-axis, and four-axis models are all one size, so space effi­ciency can be maximized by using multi-axis control with the two-axis and four­axis models.

Special Support Tool
(SYSMAC-NCT)

2

A special support tool, SYSMAC-NCT, that runs on Windows 95 can be used
with C200HX/HG/HE-series Programmable Controllers. The SYSMAC-NCT
Support Tool can be used for writing data created or edited at a personal com­puter to the PCU, for reading data from the PCU, and for saving or printing out
data. It also enables the monitoring of status such as I/O and positioning
sequence numbers during execution. For details on operating this Support Tool,
refer to the SYSMAC-NCT Support Tool Operation Manual.

1-1SectionFeatures

The SYSMAC-NCT Support Tool can only be used to access PCUs mounted on
a CPU Rack or an Expansion I/O Rack. It cannot access PCUs mounted on
Slave Racks. The SYSMAC-NCT Support Tool cannot be used with
C200H/C200HS CPU Units.

Data Capacity and
Backup

High-speed Data Transfer

The amounts of data that can be set for memory operation are shown in the fol­lowing table:

Type of data Number of data items per axis

Positioning sequences, speeds, positions 100
Acceleration times, deceleration times 9
Dwell times 19
Zones 3

These data items are transferred to the PCU for use. Once they have been trans­ferred to the PCU they can be saved to the PCU’s flash memory, so there is no
need for battery maintenance.

Note There is a limit to the service life of the flash memory. A total of up to 100,000 data

saving operations can be performed.

With C200HX/HG/HE-series Programmable Controllers, not only can data be
transferred by means of data transfer bits and SYSMAC-NCT Support Tool, but
high-speed data transfers can also be performed by means of the Intelligent I/O
Write (IOWR) and Intelligent I/O Read (IORD) instructions.

3

1-2 System Configuration

The Position Control Unit receives control signals (CW limit, CCW limit, origin,
origin proximity, emergency stop, and external interrupt input signals) from
devices and a control panel, and outputs pulse trains to stepping motor drivers
and servomotor drivers.

C200HW-NC413 System Configuration Example

C200HW-NC413
Position Control Unit

C200HX/HG/HE
CPU Unit

1-2SectionSystem Configuration

C200HW-BCjj
Backplane

External input signals

CCW limit
CW limit
Origin

Origin Proximity
Emergency stop
External interrupt

Pulse
output

24-VDC power
supply for I/F

Power Supply Unit

Tool Bus

Host Link

External input signals

Pulse
output

CCW limit
CW limit
Origin

Origin Proximity
Emergency stop
External interrupt

24-VDC power
supply for I/F

SYSMAC Support
Software:
Ladder program
creation and transfer,
monitoring, file
management, etc.

SYSMAC-NCT:
Data creation and
monitoring, PCU
monitoring, file
management, etc.

Number of Usable Units

Item C200H, C200HS, C200HE,

Number of usable
Units

C200HW-NC113 10 max. 16 max.
C200HW-NC213 10 max. 16 max.
C200HW-NC413 5 max. 8 max.

Stepping
Motor
Drivers

Servomotor
Drivers

Or

ServomotorsStepping Motors

Stepping
Motor
Drivers

Or

Stepping Motors

Servomotor
Drivers

Servomotors

The Position Control Unit belongs to the SYSMAC C200H, C200HS, and
C200HX/HG/HE Special I/O Unit group. The numbers of Special I/O Units
(including PC Link Units) that can be mounted to a single CPU Unit are shown in
the following table.

C200HX/HG-CPU5j/6j-(Z)E

C200HX/HG-CPU3j/4j-(Z)E

• For details on the particular Units that belong to each of the Special I/O Unit

groups, refer to the appropriate Programmable Controller operation manual.

4

1-2SectionSystem Configuration

• There are restrictions on the maximum current provided to each Rack and the

the current consumption for each Unit. For details, refer to the appropriate Pro­grammable Controller operation manual.

• There are restrictions on the use of Remote I/O Slave Racks. These restric-

tions are explained in Restrictions on Using Remote I/O Slave Racks below.

Restrictions on Using
Remote I/O Slave Racks

As shown in the following table, the number of Special I/O Units that can be used
on a single Remote I/O Slave Rack is determined by the the particular Special
I/O Unit group (A, B, C, or D).

Group A Group B Group C Group D

Units in
group

Number of
Units that
can be used

High-speed Counter

Units

Position Control Unit

(NC111/112)

(NC113/213)
ASCII Units
Analog I/O Units
ID Sensor Units
Fuzzy Logic Units

4 Units 8 Units 6 Units 2 Units

High-density I/O Units
Temperature Control

Heat/Cool Temperature

PID Control Units
Cam Positioner Unit

• If Special I/O Units from different groups are to be mixed, then use a combina-

tion that satisfies the following two formulas:
3A + B + 2C + 6D x 12
A + B + C + D x 8

• There are restrictions on the number of Units that can be used with particular

CPU Units. For details, refer to Number of Usable Units described previously.

System Configuration Considerations

• The I/O bits allocated to a particular Special I/O Unit are determined by the unit

number that is set by the switch on the front panel of the Unit, and not by the slot
in which the Unit is mounted.

• With the C200H, do not mount a Position Control Unit in the two slots adjacent

to the CPU Unit. If it is mounted in those slots, it will not be possible to mount
tools such as the Programming Console.

• Special I/O Units cannot be used with C200H Remote I/O Slave Racks that are

connected to Remote I/O Master Racks for other SYSMAC Programmable
Controller models (such as C120, C500, C1000H, and C2000H).

Units

Control Units

Temperature Sensor Units
Voice Unit

Position Control Units

(NC211)
(NC413)

Mounting the Unit

Follow the procedure outlined below to mount the Position Control Unit to the
Backplane.

1, 2, 3... 1. Insert the hook on the upper rear of the Unit into the slot in the Backplane.

Hook

Backplane

Lock lever

2. Carefully insert the Unit into the connector on the Backplane.

5

1-2SectionSystem Configuration

3. To remove the Unit. use an implement such as a screwdriver to press down
on the lock lever and then carefully lift the Unit out.

Lock lever

Note When installing Units on a Rack, leave adequate space for mounting and remov-

ing the Units as shown in the following diagram.

20 mm min.

Precautions When Handling the Unit

• Before installing or disconnecting the Unit or connecting cable, be sure to first

turn off both the Programmable Controller and the power supply.

• To minimize any influence from noise, place I/O wiring, high-voltage lines, and

power lines in separate ducts.

• Wire clippings tend to get scattered around during wiring, so leave the label in

place on top of the Unit to prevent any clippings from getting inside the Unit.
Once the wiring has been completed, be sure to remove the label to provide
ventilation.

Backplane

20 mm min.

Flathead screwdriver

Remove the label after
completing the wiring.

6

1-3 Basic Operations

The C200HW-NC113 (one axis), C200HW-NC213 (two axes), and C200HW­NC413 (four axes) Position Control Units are designed for use with C200HX/
HG/HE-series and C200H/C200HS-series systems.

1-3-1 Position Control

Positioning can be executed with either an absolute value (i.e., to an absolute
position from the origin) or with an incremental value (i.e., to a relative position
from the present position).

There are two methods for positioning: memory operation and direct operation.
Interrupt feeding, in which operation proceeds for the specified amount after an
interrupt input, is also possible.

1-3SectionBasic Operations

Memory Operation

Positioning sequence #0

Acceleration time number

Initial speed
number

With memory operation, positioning sequences (i.e., individual positioning
operations, which include data such as positions and speeds) are transferred to
the Position Control Unit in advance, and then positioning is executed from the
Programmable Controller by specifying those positioning sequences by num­ber.

Executed in order

Start Target position

Positioning sequence #99

Target speed number

Deceleration time
number

Position

Position

Terminating Positioning Automatic Positioning Continuous Positioning

Pulse output Pulse output Pulse output

#0 #1

Start Start

Direct Operation

Depending on the completion code that is set, positioning sequences can be
executed using terminating positioning, automatic positioning, or continuous
positioning. In the following illustrations, “#0” and “#1” indicate positioning
sequence numbers.

#0

Time

Start

#1

Time

Pauses for length of
dwell time that is set.

#0

Start Does not stop.

#1

Time

With direct operation, positions and speeds are set in allocated areas in the Pro­grammable Controller’s DM and EM areas, and positioning is executed using
that data.

7

1-3SectionBasic Operations

Interrupt Feeding

1-3-2 Speed Control

When an interrupt input signal is received, positioning is continued for the speci­fied amount of pulses and then stopped.

Interrupt input signal

Speed

Specified amount
of pulses

Time

When a start is executed once, pulses are continuously output at a constant rate.
The pattern depends on the completion code that is set for “memory operation”
positioning sequences. To stop the sequence, use the STOP command.

Speed

STOP

1-3-3 Other Operations

Origin Search

Jogging

Teaching

The origin search operation finds the origin for the designated axis.

The jogging operation moves a specified axis at a designated speed and then
stops it.

The teaching operation takes the present position for the specified positioning
sequence.

Time

Start

Present position

Origin

Specified positioning sequence number

8

1-3SectionBasic Operations

Override

Changing the Present
Position

Backlash Compensation

When the override is enabled during positioning, the target speed is changed to
the override speed.

Speed
A x 1.5

Override enable

A

1

0

Override setting: 150%

Time

The PRESENT POSITION CHANGE command changes the present position to
a specified position.

This operation compensates for the amount of mechanical play, or “looseness,”
present in gears.

Zones

Zone Flag

Deceleration Stop

A zone is a range of positions which can be defined so that flags are turned ON
whenever the present position is within the range.

CCW CW

Zone setting

ON

OFF

The STOP command decelerates positioning to a stop.

STOP

Speed

1

0

Time

9

1-3SectionBasic Operations

The C200HW-NC113/NC213/NC413 Position Control Unit’s operations are as
follows:

PCU operations Position control Memory

operation

Direct operation

Interrupt feeding

Speed control

Other operations Origin search

Independent

Automatic

Continuous

Jogging

Teaching

Override

Present position
change

Backlash
compensation

Zone setting

Deceleration stop

10

1-4 Control System Principles

1-4-1 Data Flow

C200HW-NC113/NC213/NC413 Position Control Unit

Pulse train

1-4SectionControl System Principles

Stepping motor driver

Stepping motor

SYSMAC
C200HX/HG
/HE
C200HS/H­series PC

PC
BUS

MPU

I/F

Memory

Pulse
genera­tor

I/O
interface

Pulse
genera­tor

I/O connector

Magnetizing dis­tribution circuit

External
input

Power
amplifier

I/O
interface

I/O connector

Note For the NC113, the circuitry is for just one axis.

Pulse train

Servomotor driver

Error counter Power amplifier

Servomotor

(Positioning output)

Tachogenerator

Rotary encoder

11

1-4-2 Control System Principles

1-4SectionControl System Principles

Open-Loop System

In an open-loop system, positioning is controlled according to the number of
input pulses that the motor receives, and no position feedback is provided. The
C200HW-NC113/NC213/NC413 PCUs all employ pulse-output-type open-loop
systems, and the most commonly used motor for this type of control system is a
stepping motor. The angle of rotation of a stepping motor can be controlled
through the number of pulse signals supplied to the motor driver. The number of
rotations of the stepping motor is proportional to the number of pulses supplied
by the PCU, and the rotational speed of the stepping motor is proportional to the
frequency of the pulse train.

Angle of
rotation

1 2 n

Positioning pulses

1-4-3 Basic Positioning System Design

The following diagram and parameters illustrate a simplified positioning system.
M : Reduction ratio
P : Feed screw pitch (mm/revolution)
V : Feed velocity of object being positioned (mm/s)

: Stepping angle per pulse (degree/pulse)

θ

s

Angle of rotation

Positioning output

N

Stepping motor

Reduction gear

M

Object being
positioned

V

Feed screw pitch

P

The positioning accuracy in mm/pulse is computed as follows:

Positioning accuracy = P/(pulses per revolution x M)

= P/((360/ θ
= (P x θ

) x M))

s

)/(360 x M)

s

The required pulse frequency from the PCU (pulses/second) is computed as fol­lows:

Pulse frequency = V/Positioning accuracy

= (360 x M x V)/(P x θ

)

s

And the required number of pulses to feed an object by a distance L in mm is
computed as follows:

Number of pulses = L/Positioning accuracy

= (360 x M x L)/(P x θ

)

s

12

1-5 Exchanging Data

The Position Control Unit exchanges data with the Programmable Controller as
shown in the following diagram. This explanation is provided using the
C200HW-NC413 as an example. The size of the allocated areas differs with the
NC113 and NC213. For details regarding the data areas for the various PCUs,
refer to Section 4 Data Areas.

Operating Memory Area

IR area

Parameter area

I/O refresh

(Operation commands, data
transfer commands, etc.)

I/O refresh (PCU status)

1-5SectionExchanging Data

PCU

Command
interpretation

Status

DM area

DM or EM area

DM or EM area

Common
parameters

Axis parameters

Operating Data Area

Data transfer area

Address M data
Address N data

At power-up or restart

(Common parameters)

At power-up or restart

(Axis parameters)

I/O refresh

(Data transfer and operation
command information)

I/O refresh (PCU status)

When data transfer
commands are executed.

When IOWR or IORD is
executed.

Address

Common
parameters

Data transfer and
operation command
information

Status

Internal memory

Axis parameters

(Data for positioning)

When data is transferred

Saving
data

Power-up
or restart

Flash memory

13

1-5-1 Explanation

1-5SectionExchanging Data

Note The axis parameter data stored in addresses 0004 to 0099 can be transferred

from words (m+4) through (m+99) of the DM area, and data can also be trans­ferred for the data transfer area at the Programmable Controller. Moreover, data
can be saved to the flash memory.

The explanations provided here use the C200HW-NC413 PCU as an example.
With the NC213 and NC113, the sizes of the various areas differ depending on
the number of axes. For details, refer to Section 4 Data Areas.

Operating Memory Area
(IR Area)

Parameter Area
(DM Area)

Operating Data Area

The PCU occupies 20 words of the Special I/O area within the Programmable
Controller’s IR area. Of these, eight words are used during I/O refreshing for out­putting information related to instructions for operations such as transferring
data from the Programmable Controller to the PCU. The remaining 12 words are
used for inputting the PCU’s status during I/O refreshing.

The PCU occupies 100 words of the Special I/O Unit data area within the Pro­grammable Controller’s DM area. When the PCU is powered up or restarted,
common parameters and axis parameters related to control are transferred to
the PCU. The axis parameters are stored in the PCU’s internal RAM by address.

It is also possible, when the PCU is powered up or restarted, to use axis parame­ters previously stored in the PCU’s internal flash memory, without having them
transferred from the Programmable Controller. The selection as to which of
these two methods to use is made by a common parameter setting. For details,
refer to 4-2 Common Parameter Area.

Note The common parameter area settings are required when the PCU is used. If

these settings are not made, a common parameter error (error codes 0010 to

0013) will be generated.

Depending on a common parameters setting, 34 words are reserved in the Pro­grammable Controller’s data areas. Of these, 26 words are used during I/O
refreshing for outputting information related to data transfers from the Program­mable Controller to the PCU, and information used for operations. The remain­ing eight words are used for inputting the PCU’s status during I/O refreshing.

Data Transfer Area

Internal Memory and
Flash Memory

14

When data is transferred according to the data transfer information set in the
operating data area, only the portion of data transferred is used. When the data
transfer instructions, Intelligent I/O Write (IOWR) and Intelligent I/O Read
(IORD), are executed, the positioning data is transferred to the PCU.

Data in internal memory can be saved to flash memory by executing a data save
instruction from the Programmable Controller. The saved data is automatically
written to the internal memory when the PCU is powered up or restarted. How­ever, whether axis parameters are read from the parameter area (DM) or from
flash memory is determined by a common parameters setting.

1-6 Before Operation

Wiring external inputs. (Refer to Section 2 Specifications and Wiring.)
Wire the origin input signal, origin proximity input signal, CW and CCW limit input
signals, emergency stop input signal, and interrupt input signal.

Wiring the motor and motor driver.
Wire the motor and motor driver as described in the installation manual.

Wiring the motor driver and PCU. (Refer to Section 2 Specifications and Wiring.)

Setting common parameters. (Refer to 4-2 Common Parameter
Area.) (See note 1.)
Set the operating data area, the mounting position, and the
parameters.

Setting axis parameters. (Refer to 4-3 Axis Parameter Area.) (See
note 2.)
Set the data required for PCU control, the I/O settings, the opera­tion mode, the origin search method, the origin search speed, the
acceleration/deceleration curve, the CW and CCW limit signals, etc.

Re-powering or restarting the PCU. (See note 5.)
The common and axis parameter settings will go into effect.

1-6SectionBefore Operation

Saving axis parameters.
(Refer to 5-7 Saving Data.)
If setting axis parameters by
means of a data transfer, save
the settings to flash memory.

Interrupt feeding and
other operations.
(Refer to Section 9
Other Operations.)

Busy Flag

(See note 6.)

OFF

(When using direct operation.)

Setting the operating data area.
(Refer to 4-1 Overall Structure, 4-5 Operating
Data Area)
Set the positions, speeds, and acceleration/de­celeration times

Creating the ladder program.
(Refer to Section 7 Direct Operation.)

Origin search. (Refer to Section 6 Defining the Origin.)
(See note 4.)
Executing direct operation, memory operation (Refer to
Section 7 Direct Operation, Section 8 Memory Operation.)

Trial operation, debugging. (Refer to Section 11 Trouble-
shooting.) (See note 5.)

ON

(When using memory operation.)

Transferring data. (Refer to Section 5
Transferring and Saving Data.)
Transfer to the PCU the data to be
used for memory operation.

Saving the data (Refer to 5-1 Transfer-

ring and Saving Data, 5-7 Saving
Data.) (See note 3.)

Creating the ladder program.
(Refer to Section 8 Memory Operation.)

Correcting the data and
the ladder program.

NG

Operation. (Refer to Section 11 Troubleshooting.)

Trial operation

(See note 5.)

OK

Note 1. These settings are required when first using the PCU, or when changing the

operating data area, the mounting position, or the parameter settings.

15

1-6SectionBefore Operation

2. The user can select whether to use the axis parameters set in Data Memory
or the axis parameters saved at the PCU.

3. All saved data is automatically read to the PCU’s internal memory when the
PCU is powered up. If the common parameters are set so that data saved at
the PCU is used, then the axis parameters will be automatically read at pow­er-up.

4. For operations that cannot be performed when the origin is not established,
it will be necessary to first execute an origin search or a present position
change to establish the origin.

5. For the operational flow when an error or alarm is generated, refer to Section
11 Troubleshooting.

6. When powering up or restarting the PCU, wait for the X-axis Busy Flag to
turn OFF before executing any commands.

16

Specifications and Wiring

This section provides the Position Control Unit’s specifications and explains the wiring.

2-1 Specifications 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1-1 General Specifications 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1-2 Operations and Performance Specifications 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1-3 I/O Electrical Specifications 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1-4 Dimensions (Unit: mm) 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 Components 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3 External I/O Circuitry 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-1 Connector Pin Arrangement 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-2 External I/O Connector Arrangement 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-3 I/O Circuitry 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4 Connecting External I/O 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-1 Output Connection Examples 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-2 Input Connection Examples 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-3 Connecting Origin and Positioning Completed Input Signals 35. . . . . . . . . . . . . . . .

2-4-4 Wiring Precautions 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5 Connections in Each Operating Mode 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6 Connection of Unused Axes 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-1 C200HW-NC213 – X Axis Only 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-7 Servo Relay Unit 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 2

17

2-1 Specifications

q

p

2-1-1 General Specifications

The general specifications conform to the specifications for the SYSMAC
C200H, C200HS, and C200HX/HG/HE.

2-1-2 Operations and Performance Specifications

2-1SectionSpecifications

Item

C200HW-NC113 C200HW-NC213 C200HW-NC413

Applicable PC models C200HX/HG/HE-series and C200HS/H-series
I/O requirements

Controlled driver Pulse-train input-type servomotor driver or stepping motor driver
Control

Control unit Pulse
Positioning operations Two types: memory operation and direct operation

Positions

Speeds

Acceleration and
deceleration times

Functions and
settings

Words 5 words 10 words 20 words
Slots 1 slot

Control system Open-loop control by pulse train output
Number of control

axes

Independent 1 axis 2 independent axes 4 independent axes
Linear interpolation None 2 axes max. 4 axes max.
Speed control 1 axis 2 independent axes 4 independent axes
Interrupt feeding 1 axis 2 independent axes 4 independent axes
Range –9,999,999 to 9,999,999 pulses
Data items 100/axis
Range 1 pps to 500 Kpps
Data items 100/axis
Range 0 to 250 s, until maximum speed is reached.
Data items 9/axis for acceleration and deceleration each
Origin search Origin proximity input signal: selectable (absent, N.O. or N.C. contact).

Jogging Jogging can be executed at a specified speed.
Dwell times 19/axis can be set from 0 to 9.99 s (unit: 0.01 s).
Acceleration/

deceleration curves
Zones Zone Flag turns ON when present position is within a specified zone.

Software limit Can be set within a range of –9,999,999 to 9,999,999 pulses.
Backlash

compensation
Teaching With a command from the PC, the present position can be taken as the

Deceleration stop The STOP command causes positioning to decelerate to a stop

Emergency stop Pulse outputs are stopped by an external emergency stop command.

1 axis 2 axes 4 axes

Origin input signal: selectable (N.O. or N.C. contact)

Origin compensation: –9,999,999 to 9,999,999 pulses

Origin search speed: High-speed or proximity-speed can be set.

Origin search method: May be set to stop upon origin input signal after
proximity input signal has turned ON, to stop upon origin input signal
after proximity input signal has turned OFF, to stop upon origin input
signal without using proximity input signal, or to stop upon origin input
signal after limit input signal has turned OFF.

N.O. = Normally open
N.C. = Normally closed

Trapezoidal or S-curve (Can be set separately for each axis.)

Three zones can be set for each axis.

0 to 9,999 pulses. Compensation speed can also be set.

position data.

according to the specified deceleration time.

Model

18

Item ModelItem

se gs

s ope co ec o

spec ca o s

0sa

sede

s g a co espo d g o

0sa

C200HW-NC413C200HW-NC213C200HW-NC113

Functions and
settings

External I/O

Pulse output distribution period 4 ms

Response time Refer to Appendix A Data Calculation Standards.

Self-diagnostic function Flash memory check, memory loss check, I/O bus check

Error detection function Overtravel, CPU error, software limit over, emergency stop

Internal current consumption (provided from
Backplane)

Dimensions (one size) 130 (H) x 34.5 (W) x 100.5 (D)

Weight (excluding connectors) 250 g max. 300 g max. 350 g max.

Present position
change

Override When the override enabling command is executed during positioning,

Data saving 1) Saving to flash memory. (Can be written 100,000 times.)

Inputs Prepare the following inputs for each axis:

Outputs Prepare the following outputs for each axis:

The PRESENT POSITION CHANGE command can be used to change
the present position to a specified value.

the target speed is changed by applying the override coefficient.
Possible to set to a value from 1 to 999% (by an increment of 1%)

2) Reading to PC area by data reading instruction.

3) Reading by SYSMAC-NCT Support Tool and saving to personal
computer hard disk or floppy disk.

CW and CCW limit input signals, origin proximity input signal, origin
input signal, emergency stop input signal, positioning completed signal,
interrupt input signal

Pulse outputs (open collector outputs)
CW/CCW pulses, pulse outputs and direction outputs can be switched.
Either error counter reset or origin-adjustment command outputs can
be selected depending on the mode.

5 VDC at 300 mA
max.

5 VDC at 300 mA
max.

5 VDC at 500 mA
max.

2-1SectionSpecifications

2-1-3 I/O Electrical Specifications

Input Specifications

Voltage 24 VDC ±10%

Current 4.3 mA (at 24 V) typ.

ON voltage 17.4 VDC min.

OFF voltage 5.0 VDC max.

ON response time 1 ms max. (0.1 ms max.: Interrupt input)

OFF response time 1 ms max.

Origin-signal Input
Specifications

Item Connection

External signal
is open-collector
signal

External signal
is line-driver
signal

Item Specification

Specification Response

Terminal

X/Z Axis A15

A14

Y/U Axis B15

B14

X/Z Axis A16

A14

Y/U Axis B16

B14

Conform to above input
specifications

Signal is a line-driver output
signal corresponding to
Am26LS31

Time

N.O. contact:

0.1 ms max.
N.C. contact:
1 ms max.

N.O. contact:

0.1 ms max.
N.C. contact:
1 ms max.

19

2-1SectionSpecifications

Output Specifications

CW/CCW Pulse Output
Specifications

Maximum switching
capacity

Minimum switching
capacity

Leakage current 0.1 mA max.
Residual voltage 0.6 V max.
External power supply 24 VDC ±10% NC413: 90 mA max.

The minimum CW/CCW pulse widths are shown below.
The OFF and ON refer to the output transistor.

Item Specification

30 mA at 4.75 to 26.4 VDC (NPN open collector)
(16 mA: Terminals with 1.6-kΩ limit resistance)

7 mA at 4.75 to 26.4 VDC (NPN open collector)

NC213: 50 mA max.
NC113: 30 mA max.

The output transistor is ON at level “L.”

B

OFF

90%

10%

ON

A

Pulse

frequency

50 Kpps 9.7 µs min. 9.7 µs min. 9.8 µs min. 9.8 µs min. 9.7 µs min. 9.7 µs min. 9.7 µs min. 9.7 µs min.
100 Kpps 4.7 µs min. 4.7 µs min. 4.8 µs min. 4.8 µs min. 4.7 µs min. 4.7 µs min. 4.8 µs min. 4.8 µs min.
200 Kpps 2.3 µs min. 2.3 µs min. 2.3 µs min. 2.3 µs min. 2.2 µs min. 2.2 µs min. 2.3 µs min. 2.3 µs min.
500 Kpps 0.76 µs

7 mA/5 VDC±5% 30 mA/5 VDC±5% 7 mA/24 VDC±10%

A B A B A B A B

0.82 µs

min.

min.

Open or close current / Loaded power-source voltage

(1.6-kΩ resistance)

0.77 µs
min.

0.88 µs
min.

0.74 µs
min.

0.72 µs
min.

16 mA/24 VDC±10%

(1.6-kΩ resistance)

0.76 µs
min.

0.85 µs
min.

Note 1. The load in the above table is the net resistance load, and the connecting

cable impedance with the load is not considered.

2. Due to distortions in pulse waveforms as a result of connecting cable imped­ance, pulse widths during actual usage may be smaller than those shown in
the above table.

2-1-4 Dimensions (Unit: mm)

Mounted Dimensions

Backplane

Cable

Approx. 230

20

2-2 Components

Nomenclature

C200HW-NC413 C200HW-NC213 C200HW-NC113

2-2SectionComponents

LED indicators

Show the PCU’s
operating status.

X/Y axis connector

Connects stepping
motor driver or
servomotor driver.
(2-axis control)

Unit number setting switch

Sets the unit number for the
PCU.

Z/U axis connector

Connects stepping motor
driver or servomotor
driver. (2-axis control)

X, Y axis
connector

X axis
connector

21

LED Indicators

g

g

g

g

j j

j j

Name Color Status Explanation

RUN Green

ERR Red

SENS Red

DATA Red

DATA Red Not lit None of the above has occurred.
X Orange

Y Orange

Z Orange

U Orange

Lit Lit during normal operation.
Not lit Hardware error, or PC notified of PCU error.
Lit / flashing An error has occurred.
Not lit No error has occurred.
Lit Either a CW/CCW limit signal or an emergency stop input signal is being input. At

this time the LED indicator for the relevant axis (X to U) will flash.

Flashing Either a parameter loss, a data loss, or an operating data area designation error

has occurred.
Not lit None of the above has occurred.
Flashing The check of all data (parameters, positions, etc.) following power up shows that

data is lost or corrupted.
Lit Data is incorrect (e.g., the parameters or positions transferred are out of the

permissible range). At this time the LED indicator for the relevant axis (X to U)

will flash.

Lit Pulses are being output to the X axis (either forward or reverse).
Flashing An error has occurred, such as incorrect cable type for the X axis or faulty data.
Not lit None of the above has occurred.
Lit Pulses are being output to the Y axis (either forward or reverse).
Flashing An error has occurred, such as incorrect cable type for the Y axis or faulty data.
Not lit None of the above has occurred.
Lit Pulses are being output to the Z axis (either forward or reverse).
Flashing An error has occurred, such as incorrect cable type for the Z axis or faulty data.
Not lit None of the above has occurred.
Lit Pulses are being output to the U axis (either forward or reverse).
Flashing An error has occurred, such as incorrect cable type for the U axis or faulty data.
Not lit None of the above has occurred.

2-2SectionComponents

Unit Number Setting
Switch

Note For details regarding errors, refer to Section 11 Troubleshooting.

• For the C200HW-NC213, this applies only to the X axis; for the C200HW-

NC213, it applies only to the X and Y axes.

• When not all of the axes are used for the C200HW-NC213 or C200HW-

NC413, either connect the CW/CCW limit inputs for the unused axes to the
input power supply and turn them ON or set the contact logic to N.O. Connect
the emergency stop to the input common and turn it ON. If it is not connected,
the ERR indicator will light. Operation will be normal, however, for all axes that
are used.

This switch sets the unit number (i.e., the machine number) for the PCU.

The permissible range of unit number settings depends on the type of Program­mable Controller and the PCU model, as shown in the following table.

PC type PCU model Setting range

C200HX/HG-CPU3j/4j
and all C200HE/HS/H models

C200HX/HG-CPU5j/6j

NC113/NC213 0 to 9
NC413 0 to 8
NC113/NC213 0 to 9, A to F
NC413 0 to 8, A to E

22

Any unit number within the permissible range can be set, as long as it does not
overlap with the unit numbers that are set for any other Special I/O Units
mounted to the same Programmable Controller.

Caution Be sure to turn off the power supply before making the settings.

!

The IR and DM areas are allocated according to the unit numbers that are set.
For details regarding allocated word addresses, refer to the memory area
allocation tables in Section 4 Data Areas.

2-2SectionComponents

23

2-3 External I/O Circuitry

2-3-1 Connector Pin Arrangement

X/Y axis X/Y axis X axisZ/U axis

C20HW-NC413 C20HW-NC213 C20HW-NC113

2-3SectionExternal I/O Circuitry

Connector pin arrangement for X and Z axes Connector pin arrangement for Y and U axes

Pin
No.

A1 IN Output power supply, 24 VDC B1 IN Output power supply, 24 VDC
A2 IN Output GND, 24 VDC B2 IN Output GND, 24 VDC
A3 --- Not used B3 --- Not used.
A4 --- Not used B4 --- Not used.
A5 OUT CW pulse output B5 OUT CW pulse output
A6 OUT CW pulse/pulse output with 1.6 kΩ

A7 OUT CCW pulse/direction output B7 OUT CCW pulse/direction output
A8 OUT CCW pulse/direction output with 1.6 kΩ

A9 --- Not used B9 --- Not used.
A10 OUT Error counter reset output Origin-adjustment

A11 OUT Error counter reset output with 1.6 kΩ

A12 IN Positioning completed input signal B12 IN Positioning completed input signal
A13 --- Not used B13 --- Not used.
A14 IN Origin common B14 IN Origin common
A15 IN Origin input signal (24 V) B15 IN Origin input signal (24 V)
A16 IN Origin input signal (5 V) B16 IN Origin input signal (5 V)
A17 --- Not used B17 --- Not used.
A18 --- Not used B18 --- Not used.
A19 IN Interrupt input signal B19 IN Interrupt input signal
A20 IN Emergency stop input signal B20 IN Emergency stop input signal
A21 IN Origin proximity input signal B21 IN Origin proximity input signal
A22 IN CW limit input signal B22 IN CW limit input signal
A23 IN CCW limit input signal B23 IN CCW limit input signal
A24 IN Input common B24 IN Input common

I/O Designation Pin

No.

B6 OUT CW pulse/pulse output with 1.6 kΩ

resistance

B8 OUT CCW pulse/direction output with 1.6 kΩ

resistance

B10 OUT Error counter reset output Origin-adjustment

command output

B11 OUT Error counter reset output with 1.6 kΩ

resistance
Origin-adjustment command output with

1.6KΩ resistance

I/O Designation

resistance

resistance

command output

resistance
Origin-adjustment command output with

1.6KΩ resistance

24

Note 1. Use either the 24-V origin input signal or the 5-V origin input signal, but not

both.

2. Use 24 ±10% VDC as the pulse output power supply.

3. The leakage current must be less than 1.0 mA when two-wire-type sensors
are used.

4. Be sure to connect a load to the output terminals. If the load is short-cir­cuited, it will damage the PCU’s internal components.

5. The 24-V output power supply (A1/B1) for all axes and the 24-V output
ground (A2, B2) are connected in the PCU, and are shared by all axes.

6. When installing connectors to the PCU, tighten the connector screws to a
torque of 0.34 N S m.

• The commons for all outputs are connected to the 24-V output ground.

• The commons for all inputs except for the 24-V and 5-V origin input signals and

positioning completed input signals are connected to the input common.

• The positioning completed input signal common is connected to the 24-V out-

put power supply through a diode.

• The origin common is used with either the 24-V or the 5-V origin input signal.

2-3-2 External I/O Connector Arrangement

2-3SectionExternal I/O Circuitry

Wiring Power Lines

Connector Pin Numbers

• The connectors that are included with this Unit are solder-type connectors.

• Use wires with cross-sectional areas of 0.2 mm

2

or less.

• Be careful not to short-circuit neighboring terminals when soldering.

• Cover the soldered part of the wire with insulation tubing.

Insulator

Lead

Connector

Outline of connector
(rear panel)

Pin number marks

(View from soldered side)

25

Assembling Connectors Supplied with the Unit

)

M2x8 pan-head screws (two)

Connector

The following connectors (Fujitsu 360 Jack) can be used:

1, 2, 3... 1. FCN-361J048-AU (solder-type)

FCN-360C048-D (connector cover)

2. FCN-363J048 (crimp-type housing)
FCN-363J-AU/S (contact)
FCN-360C048-D (connector cover)

3. FCN-367J048-AU (crimp-type)

2-3SectionExternal I/O Circuitry

M2 nut (four)

M2x6 pan-head screws (two

Cable holder (two)

Case

Screw (two)

Cover Dimensions

Cable holder

26

2-3-3 I/O Circuitry

Outputs

Constant
voltage
circuit

2-3SectionExternal I/O Circuitry

Output power supply, 24 VDC

1.6 kΩ (1/2W)

1.6 kΩ (1/2W)

1.6 kΩ (1/2W)

Output GND, 24 VDC

CW pulse/pulse output
(with 1.6 kΩ resistance)

CW pulse output

See
note.

CCW pulse/direction output
(with 1.6 kΩ resistance)

CCW pulse/direction output

Note Output switching depends on the

axis parameter settings. (Refer to
4-3 Axis Parameters Area.)

Error counter reset output (with 1.6 kΩ
resistance)
Origin-adjustment command output (with

1.6 kΩ resistance)

Error counter reset output
Origin-adjustment command output

Output Circuitry

Open collector output

Output transistor

The pulse output and error counter reset circuitry of the Position Control Unit are
provided with two types of terminals: terminals with 1.6 kΩ (1/2 W) limit resis­tance and terminals with no resistance. Select the terminals in accordance with
the power requirements and the specifications of the motor driver to be used.

Caution Connect a load of 7 to 30 mA (or 7 to 16 mA for terminals with 1.6 kΩ limit resis-

!

tance) to the output section. If a current greater than this is used, it will cause
damage to the PCU’s internal components. Also, be sure to use the CW/CCW
output method when using pulse output terminals with limit resistance.

Open collector output with 1.6 k

Output

7 to 30 mA

7 to 13 mA

Ω series resistance

Output

27

(Circuit example)

PCU

2-3SectionExternal I/O Circuitry

Add bypass resistance for loads less than 7 mA.

24 VDC
power
supply

Driver

7 mA

1 mA

Bypass resistance

6 mA

28

Inputs

680 Ω

680 Ω 4.7 kΩ (1/2W)

680 Ω 4.7 kΩ (1/2W)

680 Ω 4.7 kΩ (1/2W)

4.7 kΩ (1/2W)

2-3SectionExternal I/O Circuitry

Output power supply, 24 VDC

Positioning completed input signal

Input common

External interrupt input (N.O. contact)

Emergency stop (N.C. contact)
(see note)

Origin proximity input
(N.O./N.C. contact) (see
note)

680 Ω 4.7 kΩ (1/2W)

CW limit input (N.O./N.C.
contact) (see note)

680 Ω

680 Ω

4.7 kΩ (1/2W)

4.7 kΩ (1/2W)

150 Ω

CCW limit input (N.O./N.C.
contact) (see note)

Origin input signal (24 V)
(N.O./N.C. contact) (see note)

Origin input signal
(N.O./N.C. contact) (see
note)

Origin common

Line driver output

Note Either N.C. or N.O. can be set by the axis parameters. (Refer to 4-3 Axis Param-

eters Area.)

Connect a switch with a switching capacity of at least 5 mA to the 24-V origin
input signal terminal.

The origin input signal’s operating modes are used as follows:

Mode 0: Response time: 0.1 ms (N.O. contact setting)

Use a sensor such as a photoelectric switch with no chattering.

Modes 1/2: Response time: 0.1 ms (N.O. contact setting)

Use when connecting the encoder’s Z-phase output (line driver
output).

Caution Use either the 24-VDC origin input signal or the 5-VDC origin input signal, but not

!

both. If both are connected it will damage the internal circuitry.
Do not connect the 5-VDC origin input signal input to any output circuit except
the line driver.

29

2-4 Connecting External I/O

This section provides motor driver connection examples. When actually con­necting a motor driver, be sure to first check the specifications of the motor driver
to be used.

2-4-1 Output Connection Examples

Pulses are not output when the output transistor in the pulse output section is
OFF. (For direction output, OFF indicates CCW.)

Do not use a 24-VDC power supply for pulse output in common with the power
supply for other I/O.

Output transistor

CW/CCW Pulse Outputs

CW

2-4SectionConnecting External I/O

ON

OFF

During pulse output

CW CCW

CCW

Pulse and Direction Outputs

Pulses

Direction

CW CCW

Output transistor ON

Output transistor OFF

30

2-4SectionConnecting External I/O

Outputting CW and CCW
Pulses

Position Control Unit

24-VDC
input

CW pulse
output

CCW pulse
output

1.6 kΩ

1.6 kΩ

In this example, a 5-VDC photocoupler input motor driver is used for outputting
CW and CCW pulses.

24-VDC
power
supply

+–

A1/B1

A6/B6

Approx.
12 mA

A8/B8

Approx.
12 mA

A2/B2

Motor driver (for 5-VDC input)

(For example R=220 Ω)

+

–

+

–

Note In this example, the 1.6 kΩ resistors of the Position Control Unit are used to allow

a 24-VDC power supply to be used with a motor driver rated at 5 VDC.
When wiring your system, carefully note the current required by the motor driver
in order to avoid damaging the input circuitry of the motor driver.

31

2-4SectionConnecting External I/O

Outputting CW and CCW
Pulses

Position Control Unit

24-VDC
input

CW pulse
output

CCW pulse
output

1.6 kΩ

1.6 kΩ

In this example, a 5-VDC photocoupler input motor driver is used for outputting
CW and CCW pulses.

24-VDC
power
supply

+–

A1/B1

A5/B5

A7/B7

A2/B2

5-VDC
power
supply

+–

Motor driver (for 5-VDC input)

+

–

+

–

Outputting Pulse and
Direction Signals

Position Control Unit

24-VDC
input

Pulse
(CW+CCW)
output

Direction
output

1.6 kΩ

1.6 kΩ

In this example, a 5-VDC input motor is used for outputting pulse and direction
signals.

24-VDC
power
supply

Motor driver (for 5-VDC input)

Direction input

Pulse input

A1/B1

A5/B5

A7/B7

A2/B2

+

7 to 30 mA

7 to 30 mA

–

32

When voltage-level output is used, the level is L for output ON, and H for output
OFF.

2-4SectionConnecting External I/O

Error Counter Reset
Output

Position Control Unit

24-VDC
power
supply for
output

Position Control Unit

24-VDC
power
supply for
output

1.6 kΩ

There is approximately 20 ms of output when origin search is completed in
modes 1 or 2.

24-VDC

A1/B1

A10/B10

A2/B2

A1/B1

A10/B10

A2/B2

+

power
supply

–

5-VDC
power
supply

+–

24-VDC
power
supply

+–

+ECRST

–ECRST

+ECRST

–ECRST

OMRON R88D-UP
Servomotor Driver

5

6

OMRON R88D-UP
Servomotor Driver

5

6

2-4-2 Input Connection Examples

Caution If the switching capacity is too low it may cause damage to the switch. Connect a

!

switch with a switching capacity of at least 5 mA for each input.

With N.C. inputs, be sure to connect a power supply for unused terminals and
turn them on.

This section shows examples of connecting interrupt, emergency stop, and CW/
CCW limit input signals.

33

The input section has both N.O. and N.C. inputs. Either can be used depending
on the axis parameter settings. For details regarding axis parameters, refer to
4-3 Axis Parameters Area.

External interrupt input signal N.O.

Emergency stop input signal N.C.

Origin proximity input signal N.C. or N.O.

CW limit input signal N.C. or N.O.

CCW limit input signal N.C. or N.O.

C200HW-NC113/213/413 Position Control Unit

2-4SectionConnecting External I/O

Name Connection type

24-VDC
power
supply

External
interrupt
input signal

Emergency
stop input
signal

Origin
proximity
input signal

CW limit
input signal

CCW limit
input signal

680 Ω

680 Ω

680 Ω

680 Ω

680 Ω

4.7 kΩ (1/2W)

Switch (N.O. contact)

4.7 kΩ (1/2W)

Switch (N.C. contact)

4.7 kΩ (1/2W)

Switch
(N.O./N.C. contact)

4.7 kΩ (1/2W)

Switch
(N.O./N.C. contact)

4.7 kΩ (1/2W)

Switch
(N.O./N.C. contact)

34

2-4-3 Connecting Origin and Positioning Completed Input Signals

The examples below show input connections when open collector sensor output
and the encoder’s Z-phase line driver output are used.

Origin Input Signal (24 V)

2-4SectionConnecting External I/O

Position Control Unit

150 Ω

4.7 kΩ

680 Ω

A15/B15

A14/B14

Origin Input Signal (5 V) (Line Driver Input)

Position Control Unit

4.7 kΩ

150 Ω

680 Ω

A16/B16

A14/B14

24-VDC power
supply

+ –

Example:
OMRON E2R-A01 Proximity
Sensor (NPN output type)

+v

Signal

Switch
circuitry

0 V

OMRON R88D-UP
Servomotor Driver

24

+z

25

–z

Positioning Completed
Input Signal

Position Control Unit

The positioning completed input signal is also used as an origin search com­pleted signal in modes 2 and 3. Adjust the setting of the servomotor driver so that
this signal always turns off while the servomotor is operating, and on when the
motor is stopped.

An origin search operation cannot be completed unless the positioning com­pleted input signal turns ON after positioning has been completed.

24-VDC
power supply

OMRON R88D-UP
Servomotor Driver

8

INP

10

OGND

680 Ω

4.7 kΩ
(1/2W)

A1/B1

A12/B12

+

–

35

2-4-4 Wiring Precautions

Operational errors such as dislocation can occur in most electronic control
devices if they are subjected to electronic noise from nearby power lines or
loads. Recovery from such errors is usually very difficult and time consuming. To
avoid such noise-generated operational errors and improve system reliability,
always observe the following precautions in wiring the system.

Be sure to use the sizes and materials indicated in the specifications when con­necting power lines and cables.

Power lines (e.g., AC power supply, motor power line) and control lines (e.g.,
pulse output lines, external I/O signal lines) must be wired separately. Never put
these lines into the same duct or make them into a single bundle.

• Attach a 1-µF multi-layer ceramic capacitor to the pulse output power supply to

improve noise resistance.

• Use shielded cable for control lines.

• Connect the shielded cable to the frame ground at both the Position Control

Unit and the driver.

• Attach a surge absorber to all inductive loads, such as relays, solenoids, and

solenoid valves.

2-4SectionConnecting External I/O

DC relays AC relays

+

DC

–

Solenoids, etc.

Solenoid Surge absorber

Diode for surge
absorption

AC Surge

RYRY

absorber

Note Connect the diode and surge absorber as close as possible to the relay. Use a

diode capable of withstanding a voltage five times higher than the circuit voltage.

36

• Insert a noise filter into the power supply inlet if noise enters the power line

(e.g., when it is connected to the same power supply as an electric welder or an
electric spark machine or when there is any supply generating high frequency
noise).

• Use No. 3 or greater grounding contacts and the thickest possible wire, greater

2

than 1.25 mm

.

• Twisted-pair cable is recommended for power lines.

2-5 Connections in Each Operating Mode

This section provides examples of wiring the X and Y axes. If the Y and U axes
are also to be used, check the connector pin numbers in 2-3 External I/O Cir-
cuitry and wire them in the same way.

Note 1. Be sure to connect a power supply for unused N.C. input terminals and turn

them on.

2. Use shielded wire for connecting to stepping motor drivers and servomotor
drivers. Connect the shielded cable to an FG at both the Position Control
Unit and the driver.

Example 1: Mode 0 Connection

This example shows the use of a stepping motor with an external sensor signal
connected to the origin input signal.

2-5SectionConnections in Each Operating Mode

Position Control Unit

CW output
(with 1.6 kΩ
resistance)

CCW output
(with 1.6 kΩ
resistance)

24-V power supply
for output

24-V GND
for output

Origin proxim­ity input signal

Origin Input
signal

Input common

CCW limit
input signal

CW limit input
signal

Emergency
stop input
signal

A6

A8

A1

A2

A21

A15

A14

A24

A23

A22

A20

FG

+
24 VDC

24 VDC

+

Shield

N.O. contact

Signal
24 V/0 V

N.C. contact

Example:
DFU1507 stepping motor driver, made by Oriental Motor Co.

+CW

–CW

+CCW

–CCW

FG

N.C. contact

N.C. contact

PK543-NAC stepping motor

OMRON E2R-A01
Proximity Sensor
(NPN-output model).

37

Parameter Setting Example

15 0

0 0 6 0

m+4

0 1 0 0

m+5

Word Bits Setting Contents

m+4

m+5

00 0 CW/CCW output
01 to 03 0 --­04 0 Limit input: N.C. contact
05 1 Origin proximity input signal: N.O.

contact
06 1 Origin input signal: N.O. contact
07 0 Pulse output stopped with

emergency stop input signal.
08 to 15 0 --­00 to 03 0 Mode 0
04 to 07 0 Reverse mode 1
08 to 11 1 Takes origin input signal after origin

proximity input signal is received.
12 to 15 0 Search direction: CW

2-5SectionConnections in Each Operating Mode

Note “m” is the beginning DM word allocated when the unit number is set.

Origin Search Operation

The origin search operation is completed with the rising edge of the origin input
signal after the rising edge of the origin proximity input signal.

ORIGIN
SEARCH

Origin proximity
input signal

Origin input
signal

Pulse output

Busy Flag

Time

38

Example 2: Mode 1 Connection

In this example, a servomotor driver is employed and the Z-phase of the encoder
is connected to the origin line driver input terminal and used as the origin input
signal. An OMRON U-Series Servomotor Driver is used.

2-5SectionConnections in Each Operating Mode

Position Control Unit

CW output
(with 1.6 kΩ
resistance)

CCW output
(with 1.6 kΩ
resistance)

24-V power supply
for output

24-V GND for
output

Error counter reset
output

Origin input
signal

Input common

A6

A8

A1

A2

A11

A16

A14

A24

+

FG

24 VDC

Shield

24 VDC

+

N.C. contact

OMRON R88D-UPjjjj
Servomotor Driver

1

+CW

–CW

2

+CCW

3

–CCW

4

13 +24VIN

14 RUN

+ECRST

5

–ECRST

6

+Z

24

–Z

25

36 FG

R88M-U
Servomotor

Origin proximity
input signal

CCW limit
input signal

CW limit input
signal

Emergency stop
input signal

A21

N.O. contact

A23

N.C. contact

A22

N.C. contact

A20

N.C. contact

39

2-5SectionConnections in Each Operating Mode

Parameter Setting Example

This example is explained in terms of the X axis. For more details, refer to 4-3
Axis Parameters Area.

15 0

0 0 E 0

m+4

0 0 0 1

m+5

Word Bits Setting Contents

m+4

m+5

00 0 CW/CCW output
01 to 03 0 --­04 0 Limit input: N.C. contact
05 1 Origin proximity: N.O. contact
06 1 Origin input signal: N.O. contact
07 1 Pulse output stopped by emergency

stop input signal; error counter reset

signal output.
08 to 15 0 ---

00 to 03 1 Mode 1
04 to 07 0 Reverse mode 1
08 to 11 0 Takes origin input signal after rising

and falling edge of origin proximity

signal.
12 to 15 0 Motor direction: CW

Note “m” is the beginning DM word allocated when the unit number is set.

Origin Search Operation

The origin search operation stops on the rising edge of the first Z-phase signal
after the origin proximity signal has turned from ON to OFF, and after decelera­tion has ended.

ORIGIN SEARCH

Origin proximity
signal

Z-phase signal

Pulse output

Error counter
reset output

Approx. 20ms

Busy Flag

Time

40

Example 3: Mode 2 Connection

In this example, as in example 2, a servomotor driver is employed and the
Z-phase of the encoder is connected to the origin line driver input terminal and
used as the origin input signal. An OMRON U-Series Servomotor Driver is used.

In contrast to mode 1, the positioning completed signal (INP) of the servomotor
driver serves as both the origin search completed and the positioning completed
signals.

Set the servomotor driver so that the positioning completed signal turns OFF
during motor operation and ON while the motor is stopped.

An origin search operation cannot be completed if the positioning completed
input signal from the servomotor driver is not properly connected or set.

Note If the positioning monitor time is set to 0, the origin search operation will wait until

the positioning completed signal turns ON but other operations, such as jogging
and memory operation, will ignore the positioning completed signal.

2-5SectionConnections in Each Operating Mode

Position Control Unit

CW output
(with 1.6 kΩ
resistance)

CCW output
(with 1.6 kΩ
resistance)

24-V power
supply for
output

24-V GND
for output

Error counter
reset output

Origin input
signal

Positioning
completed
input signal

Input
common

Origin
proximity
input signal

CCW limit
input signal

CW limit
input signal

Emergency
stop input
signal

A6

A8

A1

A2

A11

A16

A14

A12

A24

A21

A23

A22

A20

24
VDC

FG

24 VDC

+

N.O. contact

N.C. contact

N.C. contact

N.C. contact

Shield

N.C. contact

OMRON R88D-UPjjjj
Servomotor Driver

R88M-U
1
2

3
4

13

14

5

6

24
25

8

10

36

+CW
–CW

+CCW
–CCW

+24
VIN

RUN

+ECRST
–ECRST

+Z
–Z

INP

GND

O

FG

Servomotor

41

2-5SectionConnections in Each Operating Mode

Parameter Setting Example

This example is explained in terms of the X axis. For more details, refer to 4-3
Axis Parameters Area.

15 0

0 0 E 0

m+4

0 0 0 2

m+5

Word Bits Setting Contents

m+4

m+5

00 0 CW/CCW output
01 to 03 0 --­04 0 Limit input: N.C. contact
05 1 Origin proximity: N.O. contact
06 1 Origin input signal: N.O. contact
07 1 Pulse output stopped by emergency

stop input signal; error counter reset

signal output.
08 to 15 0 --­00 to 03 2 Mode 2
04 to 07 0 Reverse mode 1
08 to 11 0 Takes origin input signal after rising

and falling edge of origin proximity

input signal.
12 to 15 0 Search direction: CW

Note “m” is the beginning DM word allocated when the unit number is set.

Origin Search Operation

The origin search operation stops on the rising edge of the first Z-phase signal
after the origin proximity signal has turned from ON to OFF, and after decelera­tion has ended. The Busy Flag turns OFF with the positioning completed signal.

ORIGIN
SEARCH

Origin proximity
signal

Z phase signal

Pulse output

Error counter
reset output

Busy Flag

Positioning completed
input signal

Approx. 20ms

Time

42

Example 4: Mode 3 Connection

This is an example using the origin adjustment function of OMRON’s Servomo­tor Driver. The positioning completed signal (INP) is used as both the origin
search completion and the positioning completed signal.

Be sure to adjust the settings of the servomotor driver so that the positioning
completed signal is OFF when the motor is operating and ON when it is stopped.

Note If the positioning monitor time is set to 0, the origin search operation will wait until

the positioning completed signal turns ON but other operations, such as jogging
and memory operation, will ignore the positioning completed signal.

2-5SectionConnections in Each Operating Mode

Position Control Unit

CW output
(with 1.6 kΩ
resistance)

CCW output
(with 1.6 kΩ
resistance)

24-V power
supply for
output

24-V GND
for output

Origin
adjustment
command
output

Positioning
completed
input signal

Input
common

Origin
proximity
input signal

CCW limit
input signal

A6

A8

A1

A2

A10

A12

A24

A21

A23

24 VDC

FG

+

N.O. contact

N.C. contact

Shield

24 VDC

N.C. contact

N.C. contact

OMRON R88D-UPjjjj
Servomotor Driver

R88M-U

15

34

14
33

19

18
36

13

6

11

28
37

26

+CW
–CW

+CCW
–CCW

+24 VIN

+5 VOUT

+5 VIN

RUN
EM

HRET

INP
24 VG

FG

Servomotor

CW limit
input signal

Emergency
stop input
signal

A22

N.C. contact

A20

N.C. contact

43

2-5SectionConnections in Each Operating Mode

Parameter Setting Example

This example is explained in terms of the X axis. For more details, refer to 4-3
Axis Parameters Area.

15 0

0 0 6 0

m+4

0 0 0 3

m+5

Word Bits Setting Contents

m+4

m+5

00 0 CW/CCW output
01 to 03 0 --­04 0 Limit input: N.C. contact
05 1 Origin proximity: N.O. contact
06 1 Origin input signal: N.O. contact
07 0 Pulse output stopped by emergency

stop input.
08 to 15 0 --­00 to 03 3 Mode 3
04 to 07 0 Reverse mode 1
08 to 11 0 Takes origin input signal after rising

and falling edge of origin proximity

signal.
12 to 15 0 Search direction: CW

Note “m” is the beginning DM word allocated when the unit number is set.

Origin Search Operation

The origin search operation begins after the origin proximity signal has risen and
fallen, and the origin adjustment command is output to the servomotor driver
after deceleration has ended. The positioning completed signal is then input
from the servomotor driver and origin search ends. The driver internally
executes the error counter reset and stops automatically with the first Z-phase
input after it has received the origin adjustment command.

ORIGIN
SEARCH

Origin proximity
signal

Pulse output

Origin adjustment
command output

Positioning com­pleted input signal

Busy Flag

Time

44

2-6 Connection of Unused Axes

This section provides a connection example for the C200HW-NC213/NC413 in
applications where not all axes are used.

2-6-1 C200HW-NC213 – X Axis Only

Based on Example 2: Mode 1 Connection on page 39, the following example
shows the external I/O connections for the C200HW-NC213 when only the X
axis (and not the Y axis) is used. In this example, the limit input signals for both
axes are set to N.C. contacts. With the C200HW-NC413, if the Z axis is used and
the U axis is not used, the connection will be the same with X and Y replaced by Z
and U respectively.

Position Control Unit

2-7SectionServo Relay Unit

Input
common

Origin
proximity
input
signal

CCW limit
input signal

CW limit
input signal

Emergency
stop input
signal

X axis (used)

Y axis
(not used; no wiring required)

X axis (used)

Y axis (not used)

X axis (used)

Y axis (not used)

X axis (used)

Y axis (not used)

24 VDC

N.O. contact

N.C. contact

N.C. contact

N.C. contact

When there is an unused axis, connect the emergency stop input signal (N.C.
contact) and the CW/CCW limit input signals (N.C./N.O. switchable) for that axis
so that they are ON. If the parameters are at their default settings, the CW/CCW
limit input signals are N.C. contact inputs and so connect an input power supply
and keep power ON.

If the emergency stop input signal and the CW/CCW limit input signals for an
unused axis are not ON, a sensor input error (error codes 6000, 6100, or 6101)
will be generated for the axis, and the ERR and SENS indicators as well as the
LED indicator for the axis will light or flash. The used axis, however, will continue
to operate normally even if an error is generated for the unused axis.

Note If the CW/CCW limit input signals for the unused axis are set to N.O contacts

using the parameter settings, it is not necessary to wire the CW/CCW limit
inputs. For details, refer to 4-3 Axis Parameters and 4-8 Setting Data for Unused
Axes.

2-7 Servo Relay Unit

• Wiring requirements can be reduced by connecting Servo Drivers and PCUs

via a Servo Relay Unit, which provide a connector and a terminal block in one
Unit.

45

Connections Diagram

jjj

jjj

jjj

jjj

jjj

jjj

jjj

jjj

XW2Z-jjjJ-Aj
Connecting Cable

• The connecting cable and the type of Servo Relay Unit required will depend on

the Servo Driver model connected. Refer to the tables under Connection Com-
patibility given below.

Position Control Unit

C200HW-NC113
C200HW-NC213
C200HW-NC413

XW2Z-jjjJ-Bj
Connecting Cable

XW2B-jjJ6-j
Servo Relay Unit

Servo Driver

R88D-UPjjj
R88D-MTjj
R88D-Hjjj
R88D-UTjjj
R88D-UEPjjj
R88D-WTjjjj
R7D-APjjj

2-7SectionServo Relay Unit

Connection Compatibility

PCU Cable connected to

PCU

C200HW-NC113

C200HW-NC213
C200HW-NC413

XW2Z-jjjJ-A6

XW2Z-jjjJ-A8

XW2Z-jjjJ-A7

XW2Z-jjjJ-A9

Servo Relay Unit Cable connected to

Servo Relay Unit

XW2B-20J6-1B
(for C200H-NC112)

XW2B-20J6-1B

XW2B-40J6-2B
(for C200H-NC211)

XW2B-40J6-2B

XW2Z-jjjJ-B1 R88D-UPjjj
XW2Z-jjjJ-B2 R88D-MTjjj
XW2Z-jjjJ-B3 R88D-Hjjj
XW2Z-jjjJ-B4

XW2Z-jjjJ-B5

XW2Z-jjjJ-B1 R88D-UPjjj
XW2Z-jjjJ-B2 R88D-MTjjj
XW2Z-jjjJ-B3 R88D-Hjjj
XW2Z-jjjJ-B4

XW2Z-jjjJ-B5

Servo Driver

R88D-UTjjj
R88D-WTjjjj
R88D-UEPjjj
R7D-APjjj

R88D-UTjjj
R88D-WTjjjj
R88D-UEPjjj
R7D-APjjj

• The cable length for PCU Connecting Cables is indicated in the “jjj”.

050: 0.5 m
100: 1 m

• The cable length for Servo Driver Connecting Cables is indicated in the

“jjj”.
100: 1 m
200: 2 m

• When using the C200HW-NC413, 2 Servo Relay Units and 2 PCU Connecting

Cables are required.

• When using in combination with the C200HW-NC213 (2-axis control), 2 Servo

Driver Connecting Cables are required.

• When using in combination with the C200HW-NC413 (4-axis control), 4 Servo

Driver Connecting Cables are required.

46

SECTION 3

Getting Started

This section is directed to first-time users of the Position Control Unit (PCU). It explains how to use the RELATIVE MOVE­MENT command employing the direct operation method, and provides examples of how to use a stepping motor. In order to
keep the explanations simple, the minimum system required for operating the motor is used, and operations from the Program­ming Console are described.

In general, using a PCU requires the creation of ladder programs incorporating various kinds of data, status information,
external input information, and so on, but here the explanations are aimed only at how to operate the motor. For details regard­ing data configuration and allocation, refer to Section 4 Data Areas.

3-1 Basic Operations 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2 System Configuration and Wiring 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3 Setting Data and Starting 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

47

3-1 Basic Operations

3-1SectionBasic Operations

Outline

The examples provided in this section show how to operate a stepping motor
using the direct operation method. It is assumed that a C200HX/HG/HE CPU
Unit and a C200HW-NC113 PCU are employed, and the PCU’s factory settings
are used for the parameters.

Pulse output

1,000 pps

Target
position:
5,000 pulses

0.2 ms 0.2 ms

Target speed: 1,000 pps

Time

The stepping motor rotates for approximately five seconds in the clockwise
(CW) direction (i.e., in the direction that increments the present position), and
then stops.

Use the Programming Console for the required settings and the START com­mand. First set the data required for direct operation and then operate the motor
by turning the RELATIVE MOVEMENT command bit from OFF to ON.

The set values for acceleration and deceleration times and the actual accelera­tion and deceleration times are related to the axis parameters area’s maximum
speed and actual target speed set values. For details, refer to Appendix B Esti-
mating Times and Pulses for Acceleration/Deceleration.

Programming Console

Data settings

RELATIVE
MOVEMENT
command bit ON

PC PCU

RELATIVE
MOVEMENT
command

Pulse output

Stepping motor driver

Stepping motor rotation

The following data must be set for this example.

• Position: 5,000 pulses

• Speed: 1,000 pps

• Acceleration time: 100 ms (factory setting)

• Deceleration time: 100 ms (factory setting)

Set the position and speed in the operating data area which is set by the com­mon parameter area. For the acceleration and deceleration times, use the fac­tory settings saved to the PCU.

For more details regarding the common parameter area and the operating data
area, refer to Section 4 Data Areas.

Operating Procedure

48

Use the following procedure to operate the motor.

1, 2, 3... 1. Mount all of the Units and connect the Programming Console. (Refer to 3-2

System Configuration and Wiring and also refer to the C200HX/HG/HE PCs
Installation Guide.)

2. Set the unit number for the PCU. (Refer to 3-2 System Configuration and
Wiring.)

3. Wire the PCU’s external inputs and wire the PCU to the stepping motor.
(Refer to 3-2 System Configuration and Wiring.)

4. Turn on the power supply and set the common parameter area. (Refer to 3-3
Setting Data and Starting.)

5. Turn on the power again or restart. (Refer to 3-3 Setting Data and Starting.)

6. Set the position, the speed, the acceleration time number, and the decelera­tion time number. (Refer to 3-3 Setting Data and Starting.)

7. Start. (Refer to 3-3 Setting Data and Starting.)

3-2 System Configuration and Wiring

3-2SectionSystem Configuration and Wiring

(1) System Configuration

For this operation, use the configuration shown in the following diagram. In this
example only the motor will rotated, without using the mechanical system.

For the purposes of this example, it is assumed that the CPU is mounted to the
CPU Backplane and that the unit number is set to #0.

Position Control Unit CPU Unit

Set to Unit #0.

24-VDC power
supply

Power Supply
Unit

CPU Backplane

24-VDC power
supply

Stepping motor driver

Connecting cable

Programming Console

Stepping motor

The following Units and devices are used in this example.

CPU Unit SYSMAC C200HX/HG/HE
Position Control Unit C200HW-NC113
Power Supply Unit C200HW-PA204
CPU Backplane C200HW-BC101
Programming Console C200H-PRO27-E
Connecting cable C200H-CN222
Stepping motor driver DFU1507 (Oriental Motor Co.)
Stepping motor PK543-NAC (Oriental Motor Co.)

49

3-2SectionSystem Configuration and Wiring

(2) Rotary Switch Setting

(3) Wiring

Position Control Unit

CW pulse output
(with 1.6 kΩ
resistance)

Use the rotary switch on the front panel of the PCU to set the unit number (i.e.,
the machine No.).

MACHINE No. 0

For details regarding rotary switch settings, refer to 2-2 Components.

Wire the system as shown in the following diagram. The CW limit input, CCW
limit input, and emergency stop input are factory set as N.C. terminals, so short­circuit them.

Stepping motor driver

Stepping motor

PK543-NAC
(Oriental Motor Co.)

CCW pulse output
(with 1.6 kΩ
resistance)

24-V
power
supply
for
output

24-V
GND for
output

Input
common

CCW
limit
output

CW limit
output

Emergency
stop
input
signal

DFU1507
(Oriental Motor Co.)

24-VDC power supply

24-VDC power supply

50

For details on connecting the PCU and the stepping motor driver, refer to the
motor driver specifications and also Section 2 Specifications and Wiring.

3-3 Setting Data and Starting

3-3SectionSetting Data and Starting

(4) Setting the Common
Parameters

(5) Powering-up Again or
Restarting

(6) Setting the Operating
Data Area

The designation of the operating data area and the mounting position of the PCU
are set in the common parameters. Use the Programming Console to write the
following data to DM 1000 through DM 1002. The common parameters area is
automatically specified when the PCU is set as Unit #0, and this data must be
set.

DM 1000

DM 1001

DM 1002

0 0 0 D

0 5 0 0

0 0 0 0

The Data Memory (DM) area is used as the operating
data area. Set the “D” for the DM area.

Set DM 0500 as the beginning word in the operating
data area.

Set the PCU’s mounting position as the CPU
Backplane or the Expansion I/O Backplane. Use the
parameters saved to the PCU.

After making the settings, either turn on the power again or restart (by turning
AR 0100 from OFF to ON and then back OFF again). This will put the data that
has been set in the common parameters into effect.

For details regarding the common parameters area settings, refer to 4-2 Com-
mon Parameters Area.

By a setting in the common parameter area, the beginning word of the operating
data area has been set as DM 0500. Thus the words for the various data items
are as follows:

• Position: DM 0507 and DM 0506

• Speed: DM 0508

• Acceleration/deceleration times: DM 0510

Setting Position Data (DM 0507: Leftmost; DM 0506: Rightmost)

Use the Programming Console to write the following data.

(7) Starting

DM 0506

DM 0507

5 0 0 0

0 0 0 0

Enter 5000 (pulses) in 4 digits BCD, divided into
leftmost and rightmost.

Setting Speed Data (DM 0508)

Use the Programming Console to write the following data.

DM 0508

1 0 0 0

Enter 1000 (pps) in 4 digits BCD.

Setting Acceleration/Deceleration Times (DM 0510)

Use the Programming Console to write the following data.

DM 0519

0 0 0 0

Set acceleration time #0 and deceleration time #0.
When “0” is set, the acceleration/deceleration times
specified in the parameters saved to the PCU are used.

Not used in this example. Set to “00.”

Acceleration time #0

Deceleration time #0

• For details regarding the operating data area, refer to 4-5 Operating Data

Area.

• In this example, the direct operation method is used. For details regarding

direct operation, refer to Section 7 Direct Operation.

Starting is executed by turning ON the RELATIVE MOVEMENT command bit in
the operating memory area (IR area).

The RELATIVE MOVEMENT command is allocated to bit 10004 in the IR area.
Use the Programming Console to turn this bit from OFF to ON.

51

3-3SectionSetting Data and Starting

The operating memory area is the area that is automatically specified when the
PCU’s unit number is set (Unit #0).

04

Wd 100

RELATIVE MOVEMENT

Direct operation is started by the
RELATIVE MOVEMENT command
(i.e., by the turning ON of bit 10004).

• For details regarding the operating memory area, refer to 4-4 Operating

Memory Area.

• In this example, the direct operation method is used. For details regarding

direct operation, refer to Section 7 Direct Operation.

52

This section provides information on the data areas used by the Position Control Unit.

4-1 Overall Structure 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1-1 Flash Memory 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1-2 Waiting for PCU Startup 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1-3 Area Allocation 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1-4 Data Areas 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2 Common Parameters 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3 Axis Parameters 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3-1 Setting the Axis Parameters 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3-2 Axis Parameters Details 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3-3 Operation Modes 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4 Operating Memory Area 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5 Operating Data Area 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-6 Positioning Sequence Details 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7 Setting Data With the SYSMAC-NCT Support Tool 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8 Setting Data for Unused Axes 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-1 Settings Required for Unused Axes 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 4

Data Areas

53

4-1 Overall Structure

The Programmable Controller controls the Position Control Unit (PCU) by
means of the data and memory areas shown below, employing data inputs and
outputs during I/O refreshing and at other times.

For the purposes of this example, the explanation is provided in terms of a
C200HW-NC413 PCU. For details regarding area allocation for NC113 and
NC213 PCUs, refer to 4-1-3 Area Allocation.

IR area

Operating Memory Area

Operating
instructions

Status input

I/O refresh

PCU (NC413)

Instruction
interpretation

Status such as posi­tioning completed,
present position

4-1SectionOverall Structure

Allocated
areas

Setting
areas

DM area

DM or EM
area

Parameter Area

Common
parameters

Axis
parameters

Operating Data Area

Transfer data
and other
operational data

Status input

Data Transfer Area
(See note 2.)

Memory
operation
data

Power up or restart

Power up or restart

(See note 1.)

I/O refresh

Data transfer
instruction execution

IOWR or IORD
execution

Data transfer
instruction execution

0004

0099
1000
1300
1400
1600
1620
1640
1660

4670

Save data

Common
parameters

Interpretation and
execution of set
data

Status such as I/O
signals of each axis,
error codes, etc.

Internal memory

Data areaAddress

Axis parameters

Positioning sequences

Speeds
Positions

Acceleration times

Deceleration times
Dwell times
Zones

Flash
memory

Data for the
X axis

Data for the
Y to U axes

Power up
or restart

54

Note 1. The user can select by means of a common parameters setting whether

data is to be transferred to the PCU for use, or whether the axis parameters
saved at the PCU are to be used. (Refer to 4-2 Common Parameters Area.)

2. The data transfer area is required for transferring data to the PCU (except
when the SYSMAC-NCT Support Tool is used).

4-1SectionOverall Structure

The PCU uses the data and memory areas shown in the following table.

Name Contents Reference

Parameter
areas

Operating
memory
area

Operating
data area

Data
transfer
area

m: 1000+100 x Unit No.
n: 100+10 x Unit No. [Unit No.x9]

l: Beginning word address in DM or EM area, specified by the operating

k: Beginning word address in DM or EM area, specified by transfer source

Allocated to the PC’s DM Area when the PCU’s unit
number is set. The parameters for controlling the PCU
are set in the common parameter area, and the
parameters for controlling individual axes are set in the
axis parameters area.

Note The settings in the axis parameters area must be

made when the PCU is used. If these settings are
not made, a common parameters error will be gen­erated (error codes 0010 to 0013) and the PCU will
not operate normally. Be sure to read 4-2 Common
Parameters.

Allocated to the Programmable Controller’s IR Area
when the PCU’s unit number is set. This area is used
for outputting data such as operational commands to
the PCU and for inputting the PCU status.

This area is set by the common parameters area. It is
used for inputting information related to the transfer of
memory operation data, direct operation settings such
as positions and speeds, and status data from the
PCU.

This area is set by the operating data area. When data
is transferred between the Programmable Controller
and the PCU, only that portion of the area employed
for transferring the data is used.

400+10 x (Unit No. – 10) [Unit No.yA(10)]

data area in the common parameter area.

word or transfer destination word in operating data area.

4-2
Common
Parameters

4-3 Axis
Parameters

4-4
Operating
Memory
Area

4-5
Operating
Data Area

---

4-1-1 Flash Memory

Note The data for the number of axes for the particular Position Control Unit being

The contents of the PCU’s internal memory are lost when the power supply is
turned off or when the PCU is restarted. By saving the contents of the internal
memory to the flash memory, parameters and other data can be retained.

• Axis parameters

• Positioning sequences

• Speeds

• Acceleration and deceleration times

• Dwell times

• Zones

used is all saved at once.

For details regarding saving data, refer to 5-7 Saving Data.
Parameters and other data that have been saved to flash memory are read to the

PCU’s internal memory when the PCU is powered up or restarted. If the parame­ters or other data are corrupted at that time, a parameter destruction error (error
code 0001) or data destruction error (error code 0002) will be generated and the
PCU will be started up using the initial values (i.e., the factory settings) or the
parameters and data that had been saved prior to the last save to flash memory.

If parameters or data are lost, no operation other than data transfer or data
saved can be received. After transferring the data, save the data and turn the
power off and then on again, or restart the PCU.

55

4-1-2 Waiting for PCU Startup

The Position Control Unit performs initial processing when it is powered up or
restarted. During this initial processing, the PCU cannot receive any instructions
or commands from the Programmable Controller and will ignore them. The
PCU’s X-axis Busy Flag remains ON until the initial processing is completed, so
after the PCU has been powered up or restarted, check to make sure that this
Busy Flag has turned OFF before executing a START.

Caution Carefully check to be sure that the parameters and data have been properly set

!

for correct operation.

Caution Before performing any operations that will change the Operating Memory Area,

!

check to be sure that the equipment will operate safely.

4-1-3 Area Allocation

4-1SectionOverall Structure

Parameter Areas
(Data Memory)

C200HW-NC113/NC213 C200HW-NC413
Unit #0

Unit #1
Unit #2
Unit #3
Unit #4
Unit #5
Unit #6
Unit #7
Unit #8
Unit #9
Unit #A
Unit #B
Unit #C
Unit #D
Unit #E
Unit #F

DM 1000 to DM 1099
DM 1100 to DM 1199
DM 1200 to DM 1299
DM 1300 to DM 1399
DM 1400 to DM 1499
DM 1500 to DM 1599
DM 1600 to DM 1699
DM 1700 to DM 1799
DM 1800 to DM 1899
DM 1900 to DM 1999
DM 2000 to DM 2099
DM 2100 to DM 2199
DM 2200 to DM 2299
DM 2300 to DM 2399
DM 2400 to DM 2499
DM 2500 to DM 2599

Each unit number occupies 100 words, allocated from DM 1000 to DM 2599 (or
DM 2499 for NC413 PCUs).

Unit #0
Unit #1
Unit #2
Unit #3
Unit #4
Unit #5
Unit #6
Unit #7
Unit #8
Unit #A
Unit #B
Unit #C
Unit #D
Unit #E

DM 1000 to DM 1099
DM 1100 to DM 1199
DM 1200 to DM 1299
DM 1300 to DM 1399
DM 1400 to DM 1499
DM 1500 to DM 1599
DM 1600 to DM 1699
DM 1700 to DM 1799
DM 1800 to DM 1899
DM 2000 to DM 2099
DM 2100 to DM 2199
DM 2200 to DM 2299
DM 2300 to DM 2399
DM 2400 to DM 2499

Word address Contents
m to m+3
m+4 to m+27
m+28 to m+51
m+52 to m+75
m+76 to m+99

m: 1000+100 x Unit No.

Common parameters

Axis
parame­ters

For X axis
For Y axis
For Z axis
For U axis

56

4-1SectionOverall Structure

p

Operating Memory Area
(IR Area)

C200HW-NC113/NC213 C200HW-NC413

Unit #0
Unit #1
Unit #2
Unit #3
Unit #4
Unit #5
Unit #6
Unit #7
Unit #8
Unit #9
Unit #A
Unit #B
Unit #C
Unit #D
Unit #E
Unit #F

C200HW-NC413

Unit #0
Unit #1
Unit #2
Unit #3
Unit #4
Unit #5
Unit #6
Unit #7
Unit #8
Unit #A
Unit #B
Unit #C
Unit #D
Unit #E

IR 100 to IR 109
IR 110 to IR 119
IR 120 to IR 129
IR 130 to IR 139
IR 140 to IR 149
IR 150 to IR 159
IR 160 to IR 169
IR 170 to IR 179
IR 180 to IR 189
IR 190 to IR 199
IR 400 to IR 409
IR 410 to IR 419
IR 420 to IR 429
IR 430 to IR 439
IR 440 to IR 449
IR 450 to IR 459

IR 100 to IR 119
IR 110 to IR 129
IR 120 to IR 139
IR 130 to IR 149
IR 140 to IR 159
IR 150 to IR 169
IR 160 to IR 179
IR 170 to IR 189
IR 180 to IR 199
IR 400 to IR 419
IR 410 to IR 429
IR 420 to IR 439
IR 430 to IR 449
IR 440 to IR 459

C200HW-NC113/213 PCUs occupy 10 words in the IR Area for Special I/O
Units, and C200HW-NC413 PCUs occupy 20 words in that area.

C200HW-NC213

I/O

Word address Axis

Output

Input

C200HW-NC413

I/O

Output

Input

n to n+1
n+2 to n+4

Word address Axis
n to n+1
n+2 to n+3
n+4 to n+5
n+6 to n+7
n+8 to n+10
n+11 to n+13
n+14 to n+16
n+17 to n+19

X axis
X axis

n: 100+10 x Unit No. (Unit No. x9)

400+10 x (Unit No. - 10) (Unit No. yA(10))

X axis
Y axis
Z axis

U axis
X axis
Y axis
Z axis

U axis

I/O

Output

Input

Word address Axis
n to n+1
n+2 to n+3
n+4 to n+6
n+7 to n+9

X axis
Y axis
X axis
Y axis

Operating Memory Area

Note 1. The C200HW-NC413 occupies the space for two unit numbers, i.e., the unit

number that is set and also the following number. For example, if the unit
number is set to 0, then the area for unit numbers 0 and 1 is allocated.

2. Be sure to set the unit numbers so that they do not overlap with the unit num­bers of other Special I/O Units.

3. Since the C200HW-NC413 occupies the space for two unit numbers, it can­not be set for unit numbers 9 or F.

Depending on the model of the Programmable Controller that is used, it may not
be possible to set PCU unit numbers from A to F (E). Please check the operation
manual of the Programmable Controller.

For details regarding operating memory area settings, refer to Parameter Areas
under 4-1-4 Data Areas and 4-2 Common Parameter Area.

Common Parameter Area

15 00

0

3

x10

x102x101x10

0 0 0

x: D (DM area), E (EM area)

0

Beginning word address

I

m

m+1

C200HW-NC113

I/O Word address Axis

Output

Input I+11 to I+12 X axis

I to I+5 Common
I+6 to I+10 X axis

57

C200HW-NC213

p

p

p

p

I/O Word address Axis

Output

Input

C200HW-NC413

I/O Word address Axis

Output

Input

4-1SectionOverall Structure

I to I+5 Common
I+6 to I+10 X axis
I+11 to I+15 Y axis
I+16 to I+17 X axis
I+18 to I+19 Y axis

I to I+5 Common
I+6 to I+10 X axis
I+11 to I+15 Y axis
I+16 to I+20 Z axis
I+21 to I+25 U axis
I+26 to I+27 X axis
I+28 to I+29 Y axis
I+30 to I+31 Z axis
I+32 to I+33 U axis

Note “I” represents the beginning word address of the area designated by the com-

mon parameter area.

Example

When the common parameter area settings are made as shown in this example,
the operating data area will be allocated to DM 0100 onwards.

There is no EM area for C200H/HS/HE Programmable Controllers, so in that
case the EM area cannot be designated for the operating data area.

Data Transfer Area

For details regarding data transfer area settings, refer to Operating Data Area
under 4-1-4 Data Areas.

4-1-4 Data Areas

Parameter Area

Common Parameters (Data Memory)

Designation of Operating Data Area
Word m

Common Parameter Area

15 00

0

m

m+1

15 00

0

0 0 D

0

1 0 0

0 0 X

Designate the memory area to which the operating memory is to be set.
X = D (DM area)

E (EM area)

Beginning Word of Operating Data Area
Word m+1

15 00

3

x10

58

x10

2

x10

1

x10

0

Designate the beginning word of the operating data area.

Unit Mounting Position and Parameter Designation
Word m+2

4-1SectionOverall Structure

Axis Parameters (Data Memory)

15 00

Mounting position

08 07

Parameter designation

Mounting Position

00: To be mounted on the CPU Rack or Expansion I/O Rack
01: To be mounted to a Remote Slave Rack

Parameter Designation

00: Operate according to the axis parameters saved to the PCU.
01: Operate according to the axis parameters in DM words m+4 to m+99.

Reserved
Word m+3

Set to 0000.

I/O Settings
X axis m+4 (NC113), Y axis m+28 (NC213), Z axis m+52 and U axis m+76
(NC413)

15 00

0000000 000I/O settings

Bit Item Settings

00 Output pulse selection 0: CW/CCW output; 1: Pulse/Direction output
01 to 03 Reserved Set to 0.
04 Limit input signal type 0: N.C input, 1: N.O input
05 Origin proximity input

signal type
06 Origin input signal type 0: N.C input, 1: N.O input
07 Emergency stop input 0: Stop only pulse output

08 Origin undefined

designation

09 to 15 Reserved Set to 0.

08 04

0: N.C input, 1: N.O input

1: Pulse output stop and error counter reset

output (enabled for operation modes 1
and 2)

0: Retain prior status (for emergency stop or

limit inputs)

1: Forcibly change to origin undefined status

59

4-1SectionOverall Structure

Operation Mode Selection
X axis m+5 (NC113), Y axis m+29 (NC213), Z axis m+53 and U axis m+77
(NC413)

15 00

Origin search direction Origin detection method Origin search operation Operation mode

12 11 08 07 04 03

Bit Item Settings

00 to 03 Operation mode 0 (Mode 0): Uses stepping motor, and uses

external sensor signal as origin input signal.

1 (Mode 1): Uses servomotor driver, and
uses encoder’s Z-phase signal for origin
input signal. Does not use positioning
completed signal.

2 (Mode 2): Same as Mode 1, but uses
positioning completed signal.

3 (Mode 3): Uses OMRON H-Series or
M-Series Servomotor Driver. Origin search is
completed by Servomotor Driver’s origin
adjustment command. Uses positioning
completed signal.

04 to 07 Origin search operation 0: Reverse mode 1 (reverse at limit input)

Detects origin in designated origin search
direction.

1: Reverse mode 1 (error stop at limit input)
Detects origin in designated origin search
direction.

2: Single-direction mode (No reverse)

08 to 11 Origin detection

method

0: Takes origin input signal after origin
proximity input signal turns ON (↑) and OFF
(↓).

1: Takes origin input signal after origin
proximity input signal turns ON (↑).

2: Takes origin input signal without using
origin proximity input signal.

3: Takes origin input signal after limit input
signal turns ON (↑) and OFF (↓), or OFF (↓),
without using origin proximity input signal.
(Enabled only for single-direction mode.)

12 to 15 Origin search direction 0: CW direction

1: CCW direction

60

Maximum Speed
X axis m+6 (NC113), Y axis m+30 (NC213), Z axis m+54 and U axis m+78
(NC413)

15 00

14 13 12

Factor x10

3

x10

2

x10

1

x10

0

Factor: 00: x1, 01: x10, 10: x100, 11: x1,000 (pps)

Initial Speed
X axis m+7 (NC113), Y axis m+31 (NC213), Z axis m+55 and U axis m+79
(NC413)

15 00

14 13 12

Factor x10

3

x10

2

x10

1

x10

0

Factor: 00: x1, 01: x10, 10: x100, 11: x1,000 (pps)

4-1SectionOverall Structure

Origin Search High Speed
X axis m+8 (NC113), Y axis m+32 (NC213), Z axis m+56 and U axis m+80
(NC413)

15 00

14 13 12

Factor x10

3

Factor: 00: x1, 01: x10, 10: x100, 11: x1,000 (pps)

Origin Search Proximity Speed
X axis m+9 (NC113), Y axis m+33 (NC213), Z axis m+57 and U axis m+81
(NC413)

15 00

14 13 12

Factor x10

3

Factor: 00: x1, 01: x10, 10: x100, 11: x1,000 (pps)

Origin Compensation (Rightmost Word)
X axis m+10 (NC113), Y axis m+34 (NC213), Z axis m+58 and U axis m+82
(NC413)
Origin Compensation (Leftmost Word)
X axis m+11 (NC113), Y axis m+35 (NC213), Z axis m+59 and U axis m+83
(NC413)

x10

x10

2

2

x10

x10

1

1

x10

x10

0

0

15 00

Sign x10

Leftmost word 00 15 Rightmost word

6

x10

5

x10

4

x10

3

x10

2

x10

1

x10

0

Sign: 0: Positive (CW), 1: Negative (CCW), Setting Range: –9,999,999 to
+9,999,999 (pulses)

Backlash Compensation
X axis m+12 (NC113), Y axis m+36 (NC213), Z axis m+60 and U axis m+84
(NC413)

15 00

x10

3

x10

2

x10

1

x10

0

Setting Range: 0 to 9,999 (pulses)

Backlash Compensation Speed
X axis m+13 (NC113), Y axis m+37 (NC213), Z axis m+61 and U axis m+85
(NC413)

15 00

14 13 12

Factor x10

3

x10

2

x10

1

x10

0

Factor: 00: x1, 01: x10, 10: x100, 11: x1,000 (pps)

Acceleration/Deceleration Curves
X axis m+14 (NC113), Y axis m+38 (NC213), Z axis m+62 and U axis m+86
(NC413)

15 00

0 0 0 Designation

Designation: 0: Trapezoidal Curve, 1: S Curve

61

4-1SectionOverall Structure

Acceleration Time (Rightmost Word)
X axis m+15 (NC113), Y axis m+39 (NC213), Z axis m+63 and U axis m+87
(NC413)
Acceleration Time (Leftmost Word)
X axis m+16 (NC113), Y axis m+40 (NC213), Z axis m+64 and U axis m+88
(NC413)

15 00

0 0 x10

Leftmost word 00 15 Rightmost word

5

x10

4

x10

3

x10

2

x10

1

x10

0

Setting Range: 0 to 250,000 (ms)

Deceleration Time (Rightmost Word)
X axis m+17 (NC113), Y axis m+41 (NC213), Z axis m+65 and U axis m+89
(NC413)
Deceleration Time (Leftmost Word)
X axis m+18 (NC113), Y axis m+42 (NC213), Z axis m+66 and U axis m+90
(NC413)

15 00

0 0 x10

Leftmost word 00 15 Rightmost word

5

x10

4

x10

3

x10

2

x10

1

x10

0

Setting Range: 0 to 250,000 (ms)

Positioning Monitor Time
X axis m+19 (NC113), Y axis m+43 (NC213), Z axis m+67 and U axis m+91
(NC413)

15 00

x10

3

x10

2

x10

1

x10

0

Setting Range: 0 to 9,999 (ms) (Valid when the operation mode is set to 2 or 3.)

CCW Limit (Rightmost Word)
X axis m+20 (NC113), Y axis m+44 (NC213), Z axis m+68 and U axis m+92
(NC413)
CCW Limit (Leftmost Word)
X axis m+21 (NC113), Y axis m+45 (NC213), Z axis m+69 and U axis m+93
(NC413)
CW Limit (Rightmost Word)
X axis m+22 (NC113), Y axis m+46 (NC213), Z axis m+70 and U axis m+94
(NC413)
CW Limit (Leftmost Word)
X axis m+23 (NC113), Y axis m+47 (NC213), Z axis m+71 and U axis m+95
(NC413)

62

CCW Software Limit and CW Software Limit

15 00

Sign x10

Leftmost word 00 15 Rightmost word

6

x10

5

x10

4

x10

3

x10

2

x10

1

x10

0

Sign: 0: Positive (CW), 1: Negative (CCW), Setting Range: –9,999,999 to
+9,999,999 (pulses)

Reserved
X axis m+24 to m+27 (NC113), Y axis m+48 to m+51 (NC213), Z axis m+72 to
m+75 and U axis m+96 to m+99 (NC413)

Set to 0000.

Note I/O settings go into effect with the next powerup or restart after the settings have

been made. Other axis parameters go into effect with the next command when
they are transferred.

Operating Memory Area

p

NC213

n+1

n+3

NC113n+1
NC213

n+4

n+7

NC113n+2

I/O Model

Output NC413

NC213nn

NC113 n

NC413

X

axisYaxisZaxisUaxis

n+1

Words

n+2

n+2

n+3

n+4 n+6

n+5 n+7

Bits Operation

Memory

00

operation

01 START (↑)
02 INDEPENDENT START (↑)

Direct

03

operation

04
05 INTERRUPT FEEDING (↑)
06 ORIGIN SEARCH (↑)
07 ORIGIN RETURN (↑)
08 PRESENT POSITION CHANGE (↑)
09 JOG (speed feeding) (1: Operate; 0: Stop)
10 Direction designation (direction for jogging and interrupt

feeding during direct operation) (1: CCW; 0: CW)

11 TEACH (↑)
12 RELEASE PROHIBIT (↑)
13 Error counter reset output and origin adjustment command

output (1: ON; 0: OFF)

14 Override enable (1: Enabled; 0: Disabled)
15 STOP (↑)
00 to07Sequence numbers: 00 to 99 (BCD)

Sequence number enable

1: Enabled
0: Disabled

ABSOLUTE MOVEMENT (↑)
RELATIVE MOVEMENT (↑)

4-1SectionOverall Structure

Input NC413

n+8

n+11

n+14 n+17

08 FORCED INTERRUPT (↑)
09 to11Reserved

12 WRITE DATA (↑) (enabled only for X-axis bit)
13 READ DATA (↑) (enabled only for X-axis bit)
14 SAVE DATA (↑) (enabled only for X-axis bit)
15 Reserved
00 to03Output code: 0 to F (hexadecimal)

04 Waiting for memory operation (1: Waiting; 0: Not waiting)
05 Positioning completed (↑: Completed; ↓: Starting)
06 No Origin Flag (1: No origin; 0: Origin established)
07 Origin Stop Flag (1: Stopped at origin; 0: Anything else)
08 Zone 0 (1: Within zone; 0: Outside zone)
09 Zone 1 (1: Within zone; 0: Outside zone)
10 Zone 2 (1: Within zone; 0: Outside zone)
11 Teaching completed (↑: Completed; ↓: Starting)
12 Error Flag (1: Error; 0: No error)
13 Busy Flag (X-axis bit is also used as Unit initial processing

flag.)

14 Data transferring (enabled only for X-axis bit)

(↑: Transferring or saving; ↓: Completed)

15 Deceleration stop execution (↑: Completed; ↓: Beginning

63

I/O OperationBitsWordsModelI/O OperationBits

10

3

10

2

10

1

10

0

Specify the following in four digits BCD when reading data.

Transfer source address (the PCU address)

p

Model

U

axis

n+18

n+19

00 to
15

00 to
15

Present position (rightmost digits)

Present position (leftmost digits)

15

15

x10

Sign

3

x10

x10

2

6

Input NC413

NC213

NC113

X

axis

n+9

n+10

n+5

n+6

n+3

n+4

Y

axis

n+12

n+13

n+8

n+9

Z

axis

n+15

n+16

Sign: 0: Plus (CW); 1: Minus (CCW)

Operating Data Area

Common

I/O Words Bits Name Operation

x10

x10

4-1SectionOverall Structure

x10

x10

00

0

00

4

1

5

Output

I 00 to 15 Number of

I+1 00 to 15 Transfer source

I+2 00 to 15 Transfer

I+3 00 to 15 Number of

I+4 00 to 15 Transfer source

I+5 00 to 15 Transfer

For Individual Axes

I/O Model

axisYaxisZaxisUaxis

Information for Writing Data

transfer words

word

15

3

x

2

x

1

x

00

0

x

Specify the following in four digits BCD when writing data.

•Number of words to be transferred.

destination
address

• Transfer source word (DM or EM word at the PC)

(DM 1000 to DM 1999 cannot be set.)

• Transfer destination address (the PCU address)

Information for Reading Data

transfer words

Specify the following in four digits BCD when reading data.

• Number of words to be transferred.

address

• Transfer source address (the PCU address)

• Transfer destination word (DM or EM word at the PC)

destination word

Words

(DM 1000 to DM 1999 cannot be set.)

Bit Name Operation

X

Output NC413

NC213

NC113

I+6

I+7

I+6

I+7

I+6

I+11

I+12

I+11

I+12

I+16

I+17

I+7

64

I+21

I+22

00 to15Position

designation
(rightmost)

Position
designation
(leftmost)

Set the position in this area when executing
ABSOLUTE MOVEMENT, RELATIVE
MOVEMENT, INTERRUPT FEEDING, or
RESET PRESENT POSITION.

15

3

x10

15

Sign x10

x10

2

6

x10

x10

1

5

x10

x10

00

0

00

4

Sign: 0: Plus; 1: Minus
Range: –9,999,999 to +9,999,999 (pulses)

I/O OperationNameBitWordsModelI/O OperationNameBit

NC213

I+10

I+15

NC213

I+16

I+18

NC113

I+11

g

1: ON

Model

U

axis

Output

NC413

NC213

NC113

NC413

NC213

NC113

NC413

NC113

axis

I+8

I+8

I+8

I+9

I+9

I+9

I+10

I+10

X

Y

axis

I+13

Z

axis

I+18 I+23 00 to15Speed

I+13

I+14

I+19 I+24 00 to15Override Specify the override in four digits BCD, from

I+14

I+15

I+20 I+25

designation

00 to07Teaching

address

08 to11Acceleration

time No.

12 to15Deceleration

time No.

4-1SectionOverall Structure

Set the position in this area when executing
ABSOLUTE MOVEMENT, RELATIVE
MOVEMENT, INTERRUPT FEEDING, JOG, or
ORIGIN RETURN.

When the speed in this area is changed during
execution operation, it will be changed to the
following speed.

Feed speed = speed des. x override / 100
(Override value is referenced only when it is
set to Override Enable.)

15

14 13 12

Factor x10

2

3

x10

x10

1

Factor: 00: x1; 01: x 10; 10: x100; 11: x1,000
(Unit: pps)

0001 to 0999 (1% to 999%). This override
value is referenced when the Override Enable
Bit is ON.

Specify the position number for teaching, from
00 to 99 (BCD).

Specify the acceleration time number, from 0 to
9 (BCD) when executing ABSOLUTE
MOVEMENT, RELATIVE MOVEMENT,
INTERRUPT FEEDING, JOG, or ORIGIN
RETURN.

Note: If this is set to “0,” the acceleration time
set in the axis parameters will be used.

Specify the deceleration time number, from 0
to 9 (BCD) when executing ABSOLUTE
MOVEMENT, RELATIVE MOVEMENT,
INTERRUPT FEEDING, JOG, or ORIGIN
RETURN.

Note: If this is set to “0,” the deceleration time
set in the axis parameters will be used.

x10

00

0

Input NC413

I+26

I+28

I+30 I+32

00 to07Sequence

number
08 CW limit
09 CCW limit
10 Origin

proximity
11 Origin input

signal
12 Interrupt

input
13 Emergency

stop
14 Positioning

completed

input
15 Error

counter

reset output

/ Origin

adjustment

command

output

Returns the sequence number during memory
operation in two digits BCD.

Returns the I/O signal status for each axis.

1: ON
0: OFF

65

I/O OperationNameBitWordsModelI/O OperationNameBit

Model

U

axis

Input NC413

NC213

NC113

axis

I+27

I+17

I+12

X

Y

axis

I+29

I+19

Z

axis

I+31 I+33 00 to15Error code Returns the error code in four digits BCD. This

Data Transfer Area

Position Control Unit storage locations are indicated by address.
For details regarding data transfer, refer to Section 5 Transferring and Saving

Data. For details regarding positioning sequences, refer to 4-6 Positioning
Sequence Details.

I/O Settings
X axis 0004 (NC113), Y axis 0028 (NC213), Z axis 0052 and U axis 0076
(NC413)

4-1SectionOverall Structure

value is normally 0000 (when there is no error).

15 00

0000000 000I/O settings

Bit Item Settings

00 Output pulse selection 0: CW/CCW output

01 to 03 Reserved Set to 0.
04 Limit input signal type 0: N.C. input 1: N.O. input
05 origin proximity input signal

type
06 Origin input signal type 0: N.C. input; 1: N.O. input
07 Emergency stop input 0: Only stop pulse output.

08 Origin undefined

designation

09 to 15 Reserved Set to 0.

08 04

1: Pulse/Direction output

0: N.C. input; 1: N.O. input

1: Stop pulse output and output the error
counter reset signal (enabled for
operation modes 1 and 2).

0: Retain prior status (for emergency

stop or limit inputs)

1: Forcibly change to origin undefined

status

Default Setting: 0060

66

4-1SectionOverall Structure

Operation Mode Selection
X axis 0005 (NC113), Y axis 0029 (NC213), Z axis 0053 and U axis 0077
(NC413)

15 00

Origin search direction Origin detection method Origin search operation Operation mode

12 11 08 07 04 03

Bit Item Settings

00 to 03 Operation mode 0 (Mode 0): Uses stepping motor, and uses

external sensor signal as origin input signal.

1 (Mode 1): Uses servomotor driver, and
uses encoder’s Z-phase signal for origin
input signal. Does not use positioning
completed signal.

2 (Mode 2): Same as Mode 1, but uses
positioning completed signal.

3 (Mode 3): Uses OMRON H-Series or
M-Series Servomotor Driver. Origin search is
completed by Servomotor Driver’s origin
adjustment command. Uses positioning
completed signal.

04 to 07 Origin search operation 0: Reverse mode 1 (reverse at limit input)

Detects origin in designated origin search
direction.

1: Reverse mode 2 (error stop at limit input)
Detects origin in designated origin search
direction.

2: Single-direction mode (No reverse)

08 to 11 Origin detection

method

0: Takes origin input signal after origin
proximity input signal turns ON (↑) and OFF
(↓).

1: Takes origin input signal after origin
proximity input signal turns ON (↑).

2: Takes origin input signal without using
origin proximity input signal.

3: Takes origin input signal after limit input
signal turns ON (↑) and OFF (↓), or OFF (↓),
without using origin proximity input signal.
(enabled only for single-direction mode.)

12 to 15 Origin search direction 0: CW direction

1: CCW direction

Default Setting: 0000

Note Once the I/O settings have been specified, they are enabled by turning on the

power or restarting the Unit. If the settings have been specified by data transfer,
save the data and then turn on the power or restart the Unit.
The other parameters for each axis are enabled at the point of transfer and from
the following command operations.

Maximum Speed
X axis 0006 (NC113), Y axis 0030 (NC213), Z axis 0054 and U axis 0078
(NC413)

15 00

14 13 12

Factor x10

3

x10

2

x10

1

x10

0

Factor: 00: x1, 01: x10, 10: x100, 11: x1,000 (pps)
Default Setting: C500

67

4-1SectionOverall Structure

Initial Speed
X axis 0007 (NC113), Y axis 0031 (NC213), Z axis 0055 and U axis 0079
(NC413)

15 00

14 13 12

3

Factor

x10

Factor: 00: x1, 01: x10, 10: x100, 11: x1,000 (pps)
Default Setting: 0000

Origin Search High Speed
X axis 0008 (NC113), Y axis 0032 (NC213), Z axis 0056 and U axis 0080
(NC413)

15 00

14 13 12

3

Factor

x10

Factor: 00: x1, 01: x10, 10: x100, 11: x1,000 (pps)
Default Setting: 8250

Note When setting the origin search high speed or the origin search proximity speed

with the IOWR instruction, be sure to set both of these items together. If only one
of these items is set, an error (error code 8701) will be generated and the setting
will not be made.

x10

x10

2

2

x10

x10

1

1

x10

x10

0

0

Origin Search Proximity Speed
X axis 0009 (NC113), Y axis 0033 (NC213), Z axis 0057 and U axis 0081
(NC413)

15 00

14 13 12

Factor

x10

3

x10

2

x10

1

x10

0

Factor: 00: x1, 01: x10, 10: x100, 11: x1,000 (pps)
Default Setting: 4250

Note When setting the origin search high speed or the origin search proximity speed

with the IOWR instruction, be sure to set both of these items together. If only one
of these items is set, an error (error code 8701) will be generated and the setting
will not be made.

Origin Compensation Value (Rightmost Word)
X axis 0010 (NC113), Y axis 0034 (NC213), Z axis 0058 and U axis 0082
(NC413)
Origin Compensation Value (Leftmost Word)
X axis 0011 (NC113), Y axis 0035 (NC213), Z axis 0059 and U axis 0083
(NC413)

15 00

Sign

Leftmost word 00 15 Rightmost word

x10

6

x10

5

x10

4

x10

3

x10

2

x10

1

x10

0

68

Sign: 0: Positive (CW); 1: Negative (CCW)
Range: –9,999,999 to +9,999,999 (pulses)

Default Setting: 0000, 0000

Backlash Compensation Value
X axis 0012 (NC113), Y axis 0036 (NC213), Z axis 0060 and U axis 0084
(NC413)

15 00

x10

3

x10

2

x10

1

x10

0

4-1SectionOverall Structure

Range: 0 to 9,999 (pulses)
Default Setting: 0000

Backlash Compensation Speed
X axis 0013 (NC113), Y axis 0037 (NC213), Z axis 0061 and U axis 0085
(NC413)

15 00

14 13 12

3

Factor

x10

Factor: 00: x1, 01: x10, 10: x100, 11: x1,000 (pps)
Default Setting: 0000

Acceleration/Deceleration Curve
X axis 0014 (NC113), Y axis 0038 (NC213), Z axis 0062 and U axis 0086
(NC413)

15 00

00 0

Designation: 0: Trapezoid; 1: S-curve
Default setting: 0000

Acceleration Time (Rightmost Word)
X axis 0015 (NC113), Y axis 0039 (NC213), Z axis 0063 and U axis 0087
(NC413)
Acceleration Time (Leftmost Word)
X axis 0016 (NC113), Y axis 0040 (NC213), Z axis 0064 and U axis 0088
(NC413)

x10

2

x10

1

0

x10

Designation

15 00

0 0 x10

5

x10

00 15Leftmost word

4

x10

3

Rightmost word

2

x10

x10

1

x10

0

Range: 0 to 250,000 (ms)
Default Setting: 0100, 0000

Deceleration Time (Rightmost Word)
X axis 0017 (NC113), Y axis 0041 (NC213), Z axis 0065 and U axis 0089
(NC413)
Deceleration Time (Leftmost Word)
X axis 0018 (NC113), Y axis 0042 (NC213), Z axis 0066 and U axis 0090
(NC413)

15 00

0 0 x10

Leftmost word Rightmost word

5

x10

00 15

4

x10

3

x10

2

x10

1

x10

0

Range: 0 to 250,000 (ms)
Default Setting: 0100, 0000

Positioning Monitor Time
X axis 0019 (NC113), Y axis 0043 (NC213), Z axis 0067 and U axis 0091
(NC413)

15 00

x10

3

x10

2

x10

1

x10

0

Range: 0 to 9,999 (ms)
Enabled for operation modes 2 and 3.

Default Setting: 9999

69

4-1SectionOverall Structure

CCW Limit (Rightmost Word)
X axis 0020 (NC113), Y axis 0044 (NC213), Z axis 0068 and U axis 0092
(NC413)
CCW Limit (Leftmost Word)
X axis 0021 (NC113), Y axis 0045 (NC213), Z axis 0069 and U axis 0093
(NC413)
CW Limit (Rightmost Word)
X axis 0022 (NC113), Y axis 0046 (NC213), Z axis 0070 and U axis 0094
(NC413)
CW Limit (Leftmost Word)
X axis 0023 (NC113), Y axis 0047 (NC213), Z axis 0071 and U axis 0095
(NC413)

CCW software limit, CW software limit

15 00

Sign

Sign: 0: Positive (CW); 1: Negative (CCW)
Range: –9,999,999 to +9,999,999 (pulses)

Default Setting: 1999, 9999; 0999, 9999

Reserved
X axis 0024 to 0027 (NC113), Y axis 0048 to 0051 (NC213), Z axis 0072 to
0075 and U axis 0096 to 0099 (NC413)

Set to 0000.

Default Setting: 0000

Sequence #0
X axis 1000, 1001, 1002 (NC113), Y axis 2000, 2001, 2002 (NC213), Z axis
3000, 3001, 3002 and U axis 4000, 4001, 4002 (NC413)

Example: X axis

Leftmost word Rightmost word

x10

6

x10

5

x10

00 15

4

x10

3

x10

2

x10

1

x10

0

15 00

Axis designation Output code 0 Completion code

1000

Dwell time No. Acceleration time No. Deceleration time No.

1001

Initial speed No. Target speed No.

1002

12 11 08 07 04 03

Axis Designation: Set the bits for active axes to “1.”

Bit 15: U axis; 14: Z axis; 13: Y axis; 12: X axis

Output Code: 0 to F
Completion Code: 0 to 6 (BCD)
Dwell Time No. 00 to 19 (BCD)
Acceleration Time No. 0 to 9 (BCD)
Deceleration Time No. 0 to 9 (BCD)
Initial/Target Speed No.: 0 to 99 (BCD)

Default Setting: 0000, 0000, 0000

Sequence #1
X axis 1003 (NC113), Y axis 2003 (NC213), Z axis 3003 and U axis 4003
(NC413)

The settings are the same as for sequence #0.

Default setting: 0000, 0000, 0000

Note The word addresses continue in order for all four axes from sequence #2

through sequence #97, which are not listed in detail here.

70

4-1SectionOverall Structure

Sequence #98
X axis 1294 (NC113), Y axis 2294 (NC213), Z axis 3294 and U axis 4294
(NC413)

Same as for sequence #0.

Default setting: 0000, 0000, 0000

Sequence #99
X axis 1297 (NC113), Y axis 2297 (NC213), Z axis 3297 and U axis 4297
(NC413)

Same as for sequence #0.

Default setting: 0000, 0000, 0000

Note When setting the sequence data using the SYSMAC-NCT Support Tool, more

than one axis designation cannot be made for one sequence data number. If
more than one axis designation is made for one sequence data number, an Axis
Designation Error will occur.
For example, an Axis Designation Error will occur in the following cases;

Axis designation of “XY” for the X-axis sequence data No. 100
Axis designation of “Y” for the Y-axis sequence data No. 100.

Speed #0
X axis 1300 (NC113), Y axis 2300 (NC213), Z axis 3300 and U axis 4300
(NC413)

15 00

14 13 12

Factor x10

3

x10

2

x10

1

x10

0

This data sets speed #0. The permissible setting range is 0 to 1,000,000 (pps) in
the following combination. The two leftmost bits are used for setting the factor.

Factor: 00: x1; 01: x10; 10: x100; 11: x1,000
Speed: 0 to 3,999

Default Setting: 0000

Speed #1
X axis 1301 (NC113), Y axis 2301 (NC213), Z axis 3301 and U axis 4301
(NC413)

The settings are the same as for speed #0.

Default Setting: 0000

Note The word addresses continue in order for all four axes from speed #2 through

speed #97, which are not listed in detail here.

Speed #98
X axis 1398 (NC113), Y axis 2398 (NC213), Z axis 3398 and U axis 4398
(NC413)

The settings are the same as for speed #0.

Default Setting: 0000

Speed #99
X axis 1399 (NC113), Y axis 2399 (NC213), Z axis 3399 and U axis 4399
(NC413)

The settings are the same as for speed #0.

Default Setting: 0000

71

4-1SectionOverall Structure

Position #0 (Rightmost Word)
X axis 1400 (NC113), Y axis 2400 (NC213), Z axis 3400 and U axis 4400
(NC413)
Position #0 (Leftmost Word)
X axis 1401 (NC113), Y axis 2401 (NC213), Z axis 3401 and U axis 4401
(NC413)

15 00

Sign x10

Leftmost word 00 15 Rightmost word

6

x10

5

x10

4

x10

3

x10

2

x10

1

x10

0

This sets the data for position #0. The position can be specified as either abso­lute or incremental, according to the sign setting:

0: Positive (absolute)
1: Negative (absolute)
2: Positive (incremental)
3: Negative (incremental)

Set the position within a range of –9,999,999 to +9,999,999 (pulses).
Default setting: 0000, 0000

Position #1
X axis 1402 (NC113), Y axis 2402 (NC213), Z axis 3402 and U axis 4402
(NC413)

The settings are the same as for position #0.
Default Setting: 0000, 0000

Note The word addresses continue in order for all four axes from position #2 through

position #97, which are not listed in detail here.

Position #98
X axis 1596 (NC113), Y axis 2596 (NC213), Z axis 3596 and U axis 4596
(NC413)

The settings are the same as for position #0.
Default Setting: 0000, 0000

Position #99
X axis 1598 (NC113), Y axis 2598 (NC213), Z axis 3598 and U axis 4598
(NC413)

The settings are the same as for position #0.
Default Setting: 0000, 0000

Reserved
X axis 1600, 1601 (NC113), Y axis 2600, 2601 (NC213), Z axis 3600, 3601 and
U axis 4600, 4601 (NC413)

Set to 0000.
Default Setting: 0000

Acceleration Time #1 (Rightmost Word)
X axis 1602 (NC113), Y axis 2602 (NC213), Z axis 3602 and U axis 4602
(NC413)
Acceleration Time #1 (Leftmost Word)
X axis 1603 (NC113), Y axis 2603 (NC213), Z axis 3603 and U axis 4603
(NC413)

72

15 00

0 0 x10

Leftmost word 00 15 Rightmost word

5

x10

4

x10

3

x10

2

x10

1

x10

0

This sets the data for acceleration time #1.
Default Setting: 0000, 0000

Note The word addresses continue in order for all four axes from Acceleration Time

#2 through Acceleration Time #8 which are not listed in detail here.

4-1SectionOverall Structure

Acceleration Time #9
X axis 1618 (NC113), Y axis 2618 (NC213), Z axis 3618 and U axis 4618
(NC413)

The settings are the same as for acceleration time #1.

Default Setting: 0000, 0000

Reserved
X axis 1620, 1621 (NC113), Y axis 2620, 2621 (NC213), Z axis 3620, 3621 and
U axis 4620, 4621 (NC413)

Set to 0000.

Default Setting: 0000

Deceleration Time #1 (Rightmost Word)
X axis 1622 (NC113), Y axis 2622 (NC213), Z axis 3622 and U axis 4622
(NC413)
Deceleration Time #1 (Rightmost Word)
X axis 1623 (NC113), Y axis 2623 (NC213), Z axis 3623 and U axis 4623
(NC413)

15 00

0 0 x10

Leftmost word 00 15 Rightmost word

5

x10

4

x10

3

x10

2

x10

1

x10

0

This sets the data for deceleration time #1.

Default Setting: 0000, 0000

Note The word addresses continue in order for all four axes from Deceleration Time

#2 through Deceleration Time #8 which are not listed in detail here.

Deceleration Time #9
X axis 1638 (NC113), Y axis 2638 (NC213), Z axis 3638 and U axis 4638
(NC413)

The settings are the same as for deceleration time #1.

Default Setting: 0000, 0000

Reserved
X axis 1640 (NC113), Y axis 2640 (NC213), Z axis 3640 and U axis 4640
(NC413)

Set to 0000.

Default Setting: 0000

Dwell Time #1
X axis 1641 (NC113), Y axis 2641 (NC213), Z axis 3641 and U axis 4641
(NC413)

15 00

0 x10

0

x10

–1

x10

–2

This sets the data for dwell time #1.
Setting Range: 0 to 9.99 (seconds, set in units of 0.01 s)

Default Setting: 0000

Note The word addresses continue in order for all four axes from Dwell Time #2

through Dwell Time #18 which are not listed in detail here.

Dwell Time #19
X axis 1659 (NC113), Y axis 2659 (NC213), Z axis 3659 and U axis 4659
(NC413)

The settings are the same as for dwell time #1.

Default Setting: 0000

73

4-2SectionCommon Parameters

Zone #0, CCW Side (Rightmost Word)
X axis 1660 (NC113), Y axis 2660 (NC213), Z axis 3660 and U axis 4660
(NC413)
Zone #0, CCW Side (Leftmost Word)
X axis 1661 (NC113), Y axis 2661 (NC213), Z axis 3661 and U axis 4661
(NC413)
Zone #0, CW Side (Rightmost Word)
X axis 1662 (NC113), Y axis 2662 (NC213), Z axis 3662 and U axis 4662
(NC413)
Zone #0, CW Side (Leftmost Word)
X axis 1663 (NC113), Y axis 2663 (NC213), Z axis 3663 and U axis 4663
(NC413)

Designation for both CCW and CW sides

15 00

Sign x10

Leftmost word 00 15 Rightmost word

6

x10

5

x10

4

x10

3

x10

2

x10

1

x10

0

This sets the data for zone #0.

Sign: 0: Positive (CW); 1: Negative (CCW)
Range: -9,999,999 to +9,999,999 (pulses)

Make the settings so that the CCW value is less than the CW value.

Default Setting: 0000, 0000

Zone #1, CCW Side
X axis 1664 (NC113), Y axis 2664 (NC213), Z axis 3664 and U axis 4664
(NC413)
Zone #1, CW Side
X axis 1666 (NC113), Y axis 2666 (NC213), Z axis 3666 and U axis 4666
(NC413)

The settings are the same as for zone #1.

Default Setting: 0000, 0000

Zone #2, CCW Side
X axis 1668 (NC113), Y axis 2668 (NC213), Z axis 3668 and U axis 4668
(NC413)
Zone #2, CW Side
X axis 1670 (NC113), Y axis 2670 (NC213), Z axis 3670 and U axis 4670
(NC413)

The settings are the same as for zone #1.

Default Setting: 0000, 0000

4-2 Common Parameters

The common parameters are allocated to the Programmable Controller’s DM
area. The locations in the DM area are determined when the Position Control
Unit’s unit number is set.

The settings for the common parameters are explained below.

Note 1. The settings for the common parameters must be made when the PCU is

used. If these settings are not made, a common parameters error will be
generated (error codes 0010 to 0013) and the PCU will not operate nor­mally.

2. After the common parameter settings have been made, they will go into
effect the next time the PCU is powered up or restarted.

74

4-2SectionCommon Parameters

Designation of Operating
Data Area

Beginning Word of
Operating Data Area

Word: m

15 00

0

0 0 X

This setting specifies whether the operating data area is to be set in the DM area
or the EM area.

X = D (DM area)

E (EM area)

If anything other than the above is set, or if the beginning word designation (in
m+1) is out of the permissible range, an operating data area word error will be
generated. If such an error is generated, the following conditions will result. In
that case, correct the setting and either power up again or restart the PCU.

• The RUN indicator on the PCU’s front panel will light, and the ERR indicator will

flash.

• The X-axis Error Flag will turn ON.
Operations (such as monitoring and data transfers) from the SYSMAC-NCT

Support Tool, however, can be executed as usual.

Word: m+1

15 00

x10

3

x10

2

x10

1

x10

0

PCU Mounting Position
and Parameter
Designation

This setting specifies the beginning word for the operating data area. The words
that can be specified are the read/write-enabled DM and EM (bank 0 only) words
shown in the following table.

PC model Areas that can be set

C200H DM 0000 to DM 0899
C200HS

C200HE(-ZE)
C200HX/HG(-ZE) [For Unit No. 10]

DM 0000 to DM 0999
DM 2000 to DM 5999 (See note.)

DM 0000 to DM 0999
DM 2000 to DM 5999 (See note.)
EM 0000 to EM 6143 (bank 0 only)

[For Unit No. 16]

DM 0000 to DM 0999 (See note.)
DM 2600 to DM 5999
EM 0000 to EM 6143 (bank 0 only)

Note The upper limit varies depending on the memory capacity.

Word: m+2

15 00

Mounting position

08 07

Parameter designation

The “mounting position” setting specifies whether the PCU is mounted to a
Remote I/O Slave or to the CPU Rack or Expansion I/O Rack.

00: PCU mounted to CPU Rack or Expansion I/O Rack
01: PCU mounted to Remote I/O Slave

Note If this setting is “00” but the PCU is actually mounted to a Slave, a Special I/O Unit

error will be generated. If that occurs, correct the setting to “01” and then power
the PCU up again or restart it. Likewise, if the PCU is mounted to the CPU Rack
or an Expansion I/O Rack, be sure to set this “mounting position” setting to “00.”
If it is set to “01” in that case, the responses to instructions from the Program­mable Controller will be one or two scans slower than if it is set to “00.”

75

4-3SectionAxis Parameters

The “parameter designation” setting specifies whether the axis parameters in
DM m+4 to DM m+99 or the axis parameters saved to the PCU’s flash memory
are to be used for operation.

00: Use parameters saved to PCU’s flash memory.
01: Use parameters in DM m+4 to DM m+99. (In this case, these parame-

ters must be set in advance.)

Reserved

Word: m+3

Set to 0000.

4-3 Axis Parameters

The parameters for the X, Y, Z, and U axes are set in the axis parameters area.

4-3-1 Setting the Axis Parameters

The data required for controlling the Position Control Unit (PCU) is set in the axis
parameters area. This essential data includes the settings for the operation
mode, the maximum speed, the acceleration/deceleration curve, the origin
search speeds, the software limits, and so on.

If the “parameter designation” setting in the common parameter area specifies
that the axis parameters in DM m+4 to DM m+99 are to be used, then those
parameters will be transferred to the PCU. If that parameter designation speci­fies that the axis parameters saved in the PCU’s flash memory are to be used,
then those are the values that will be used.

When the axis parameters in DM m+4 to DM m+99 are used, they are read to the
PCU and stored in the data area in addresses 0004 to 0099. (Words m+4 to
m+99 in the Programmable Controller’s DM area correspond to addresses 0004
to 9999 in the PCU). When this data is saved, the settings are stored in the
PCU’s flash memory.

76

4-3-2 Axis Parameters Details

I/O Settings
X axis m+4 (NC113), Y axis m+28 (NC213), Z axis m+52 and U axis m+76 (NC413)

15 00

0000000 000I/O settings

These settings specify the output pulse selection, the limit input signal contacts,
and so on.

Bits Settings

00 Output pulse selection:

Specifies the pulse method for outputs.

0: CW/CCW output; 1: pulse/direction output
01 to 03 Reserved
04 Limit input signal type:

Specifies the limit input signal contact.

0: N.C. input; 1: N.O. input
05 Origin proximity input signal type:

Specifies the origin proximity input signal contact.

0: N.C. input; 1: N.O. input
06 Origin input signal type:

Specifies the origin input signal contact.

0: N.C. input; 1: N.O. input
07 Emergency stop input:

Specifies the operation for when the emergency stop signal is input.

0: Only stop pulse output.

1: Stop pulse output and output the error counter reset signal

(enabled for operation modes 1 and 2).
08 Origin undefined designation:

This setting specifies whether or not the origin will be undefined when

an emergency stop signal, CWW limit signal, or CW limit signal is

input.

0: Stop pulse output and retain prior status.

1: Stop pulse output and forcibly change to origin undefined status.

09 to 15 Reserved

08 04

4-3SectionAxis Parameters

Operation Mode Selection
X axis m+5 (NC113), Y axis m+29 (NC213), Z axis m+53 and U axis m+77 (NC413)

15 00

Origin search direction Origin detection method Origin search operation Operation mode

12 11 08 07 04 03

The data set in this word specifies the operation mode, the origin detection
method, and so on. (For details regarding the operation mode, refer to 4-3-3
Operation Modes.

77

4-3SectionAxis Parameters

Bit 00 to 03: Operation Mode Selection

Set the operation mode according to the motor driver and signal lines that are
used.

Setting Explanation

0 (Mode 0) Uses stepping motor, and uses external sensor signal as origin

1 (Mode 1) Uses servomotor driver, and uses encoder’s Z-phase signal for

2 (Mode 2) Same as Mode 1, but uses servomotor driver’s positioning

3 (Mode 3) Uses OMRON H-Series or M-Series Servomotor Driver. Origin

Default setting: 0000

Bit 04 to 07: Origin Search Operation

This setting specifies the origin search operation.

Setting Explanation

0 Reverse mode 1

1 Reverse mode 2

2 Single-direction mode

input signal. In this mode, the error counter reset output and
origin adjustment command output can be used as
general-purpose outputs.

origin input signal. Does not use positioning completed signal.

completed signal.

search is completed by Servomotor Driver’s origin adjustment
command. Uses positioning completed signal.

Always detects origin in designated origin search direction.
Reverses at limit input.

Always detects origin in designated origin search direction.
Error stop at limit input.

Detects origin while operating in designated origin search
direction. (Does not reverse.) Error stop at limit input for
designated origin search direction.

Bit 08 to 11: Origin Detection Method

This setting specifies the origin detection method.

Setting Explanation

0 Takes origin input signal after origin proximity input signal turns

1 Takes origin input signal after origin proximity input signal turns

2 Takes origin input signal without using origin proximity input

3 Takes origin input signal after limit input signal turns ON (↑) and

ON (↑) and OFF (↓).

ON (↑).

signal.

OFF (↓), or OFF (↓), without using origin proximity input signal.
(Enabled only for single-direction mode.)

Bit 12 to 15: Origin Search Direction

This setting specifies the direction for detecting the origin input signal during an
origin search.

Setting Explanation

0 CW direction
1 CCW direction

Maximum Speed
X axis m+6 (NC113), Y axis m+30 (NC213), Z axis m+54 and U axis m+78 (NC413)

15 00

14 13 12

Factor x10

3

x10

2

x10

1

x10

0

78

This setting specifies the maximum speed that can be output by the PCU. If a
speed designation that exceeds this setting is given during memory operation or
direct operation, the axis will be operated at the maximum speed that is set here.

The permissible setting range is 0 to 500,000 in the following combination. The
two leftmost bits are used for setting the factor.

• Factor: 00: x1; 01: x10; 10: x100; 11: x1,000 (pps)

• Speed: 1 to 3,999

(Example: C100) 1,000 x 100 = 100,000 (pps)

Note An error such as a speed data BCD error (error codes 1500 to 1599) will be gen-

erated if the initial speed, origin search high speed, origin search proximity
speed, or backlash compensation speed is set higher than the maximum speed
set here.

Initial Speed
X axis m+7 (NC113), Y axis m+31 (NC213), Z axis m+55 and U axis m+79 (NC413)

15 00

14 13 12

Factor x10

3

x10

2

x10

1

This setting specifies the initial speed.
The permissible setting range is 0 to 500,000 in the following combination. The

two leftmost bits are used for setting the factor.

• Factor: 00: x1, 01: x10, 10: x100, 11: x1,000 (pps)

• Speed: 0 to 3,999

(Example: C100) 1,000 x 100 = 100,000 (pps)

x10

4-3SectionAxis Parameters

0

Origin Search High Speed
X axis m+8 (NC113), Y axis m+32 (NC213), Z axis m+56 and U axis m+80 (NC413)

15 00

14 13 12

Factor

x10

3

x10

2

x10

1

This setting specifies the origin search speed until the origin proximity input sig­nal is received.

The permissible setting range is 1 to 500,000 in the following combination. The
two leftmost bits are used for setting the factor.

• Factor: 00: x1, 01: x10, 10: x100, 11: x1,000 (pps)

• Speed: 1 to 3,999

(Example: C100) 1,000 x 100 = 100,000 (pps)

Origin Search Proximity Speed
X axis m+9 (NC113), Y axis m+33 (NC213), Z axis m+57 and U axis m+81 (NC413)

15 00

14 13 12

Factor

x10

3

x10

2

x10

1

This setting specifies the origin search speed until the origin input signal is
received.

The permissible setting range is 1 to 10,000 in the following combination. The
two leftmost bits are used for setting the factor.

• Factor: 00: x1, 01: x10, 10: x100, 11: x1,000 (pps)

• Speed: 1 to 3,999

(Example: C100) 1,000 x 100 = 100,000 (pps)
Be sure to set the origin search proximity speed so that it is lower than the origin

search high speed. If the origin search proximity speed is set equal to or higher
than the origin search high speed, an origin search speed error (error code

1603) will be generated.

x10

x10

0

0

79

Origin Compensation Value (Rightmost Word)
X axis m+10 (NC113), Y axis m+34 (NC213), Z axis m+58 and U axis m+82 (NC413)
Origin Compensation Value (Leftmost Word)
X axis m+11 (NC113), Y axis m+35 (NC213), Z axis m+59 and U axis m+83 (NC413)

15 00

Sign x10

Leftmost word

6

x10

00 15

5

x10

4

x10

3

Rightmost word

x10

This setting specifies the amount of compensation after the origin input signal is
detected by an origin search operation. If the compensation is set to anything
other than 0, the axis will be moved at the origin search proximity speed for the
set amount of compensation after the origin input signal is detected.

• Sign: 0: Positive (CW); 1: Negative (CCW)

• Range: –9,999,999 to 9,999,999 (pulses)

Backlash Compensation
X axis m+12 (NC113), Y axis m+36 (NC213), Z axis m+60 and U axis m+84 (NC413)

15 00

x10

3

x10

2

x10

1

This setting specifies the backlash compensation.

• Range: 0 to 9,999 (pulses)

4-3SectionAxis Parameters

2

x10

1

x10

0

x10

0

Backlash Compensation Speed
X axis m+13 (NC113), Y axis m+37 (NC213), Z axis m+61 and U axis m+85 (NC413)

15 00

14 13 12

Factor x10

3

x10

2

x10

1

This setting specifies the speed for outputting the backlash compensation. If “0”
is set, then the backlash compensation will be output at 500 pps when the initial
speed is less than 500 pps, or at the initial speed when the initial speed is 500
pps or more.

This setting can be used to shorten the positioning time in cases where it has
been lengthened due to a large backlash compensation amount at a low speed.

The permissible setting range is 0 to 500,000 in the following combination. The
two leftmost bits are used for setting the factor.

• Factor: 00: x1, 01: x10, 10: x100, 11: x1,000 (pps)

• Speed: 0 to 3,999

(Example: 0100) 1 x 100 = 100 (pps)

Acceleration/Deceleration Curve
X axis m+14 (NC113), Y axis m+38 (NC213), Z axis m+62 and U axis m+86 (NC413)

15 00

0 0 0 Designation

This setting specifies the curve to be used for acceleration and deceleration.

• Designation: 0: Trapezoidal; 1: S-curve

x10

0

Acceleration Time (Rightmost Word)
X axis m+15 (NC113), Y axis m+39 (NC213), Z axis m+63 and U axis m+87 (NC413)
Acceleration Time (Leftmost Word)
X axis m+16 (NC113), Y axis m+40 (NC213), Z axis m+64 and U axis m+88 (NC413)

15 00

0 0 x10

Leftmost word 00 15 Rightmost word

5

x10

4

x10

3

x10

This setting specifies the time from 0 pps or initial speed until the maximum
speed is reached.

• Range: 0 to 250,000 (ms)

80

2

x10

1

x10

0

Deceleration Time (Rightmost Word)
X axis m+17 (NC113), Y axis m+41 (NC213), Z axis m+65 and U axis m+89 (NC413)
Deceleration Time (Leftmost Word)
X axis m+18 (NC113), Y axis m+42 (NC213), Z axis m+66 and U axis m+90 (NC413)

4-3SectionAxis Parameters

15 00

0 0 x10

Leftmost word 00 15 Rightmost word

5

x10

4

x10

3

x10

This setting specifies the time from the maximum speed until 0 pps or initial
speed is reached.

• Range: 0 to 250,000 (ms)

Positioning Monitor Time
X axis m+19 (NC113), Y axis m+43 (NC213), Z axis m+67 and U axis m+91 (NC413)

15 00

x10

3

x10

2

x10

1

After pulse output has been completed, a positioning timer timeout error (error
code 8600) will be generated if the positioning completed signal does not turn
ON within the time set here. (This function is only enabled for operation modes 2
and 3.)

• Range: 0 to 9,999 (ms)

If the positioning monitor time is set to “0,” the positioning completed signal will
be awaited only when an origin search operation is executed. For all other
operations (such as jogging, memory operation, and so on), the positioning
completed signal will be ignored.

2

x10

1

x10

0

x10

0

CCW Limit (Rightmost Word)
X axis m+20 (NC113), Y axis m+44 (NC213), Z axis m+68 and U axis m+92 (NC413)
CCW Limit (Leftmost Word)
X axis m+21 (NC113), Y axis m+45 (NC213), Z axis m+69 and U axis m+93 (NC413)

CW Limit (Rightmost Word)
X axis m+22 (NC113), Y axis m+46 (NC213), Z axis m+70 and U axis m+94 (NC413)
CW Limit (Leftmost Word)
X axis m+23 (NC113), Y axis m+47 (NC213), Z axis m+71 and U axis m+95 (NC413)

15 00

Sign x10

Leftmost word 00 15 Rightmost word

6

x10

5

x10

4

x10

3

x10

These settings specify the CCW and CW software limits.

• Sign: 0: Positive (CW); 1: Negative (CCW)

• Range: –9,999,999 to 9,999,999 (ms)

If the CW software limit is set to less than or equal to the CCW limit, the software
limit will not function. When this setting is made, operation proceeds as follows:

• At the beginning of operation, the present position is always 0.

• During axis operation the present position is always refreshed, and if the upper

or lower limit is reached positioning will be stopped.

Upper Limit: +9,999,999 (pulses)
Lower Limit: –9,999,999 (pulses)

2

x10

1

x10

0

Reserved
X axis m+24, m+27 (NC113), Y axis m+48, m+51 (NC213), Z axis m+72, m+75 and U axis m+96, m+99
(NC413)

Set to 0000.

81

4-3-3 Operation Modes

The four operation modes are described below. The following abbreviations are
used in the wiring diagrams:
DCRI: Error counter reset input
DCRO: Error counter reset output
IC: Input common
OACI: Origin adjustment command input
OACO: Origin adjustment command output
OPI: Origin proximity input
OS: Origin input signal
PCSI: Positioning completed signal input
PCSO: Positioning completed signal output
PCU: Position Control Unit
SMD: Stepping motor driver

4-3SectionAxis Parameters

Mode 0

Mode 1

Set mode 0 when using a stepping motor driver. A sensor is connected to the
origin input signal (connector pin numbers A14/A15, B14, B15). The response
time for the origin input signal is 0.1 ms. (N.O. contact setting)

PCU

X axis

IC

OS

OPI

Pulses

SMD

24 VDC

Set mode 1 when using a servomotor driver and connecting a line driver input
and a error counter reset output without using a positioning completed signal.
The response time for the origin line driver input is 0.1 ms. (N.O. contact setting)

PCU

X axis

IC

OPI

OS

Pulses

24 VDC

Servo­motor
driver

Z-phase
output

82

DCRO

DCRI

4-4SectionOperating Memory Area

Mode 2

Mode 3

Set mode 2 when using a servomotor driver and connecting a line driver input
and a error counter reset output just as in mode 1, but when also using a posi­tioning completed signal.

PCU

X axis

IC

OPI

PCSI

OS

DCRO

Pulses

24 VDC

Servo­motor
driver

PCSO

Z-phase
output

DCRI

Set mode 3 when using a servomotor driver and also using the origin adjustment
command.

PCU

X axis

IC

Pulse

24 VDC

Servo­motor
driver

Note In the wiring examples for modes 1 to 3, the servomotor driver used is an

OMRON R88D Servomotor Driver. Set the servomotor driver so that the servo­motor driver’s positioning completed signal is OFF during motor operation and
ON while the motor is stopped. If this setting is not made, positioning may
become impossible without the positioning completed signal in the operating
memory area turning ON.

4-4 Operating Memory Area

The operating memory area is allocated to the Programmable Controller’s IR
area. The IR area addresses are determined when the Position Control Unit’s
unit number is set.

The operating memory area is divided into outputs and inputs. Commands
related to operations are allocated to the output memory area, and the com­mands are sent to the Position Control Unit (PCU) when their respective bits are
turned ON, or at the rising edge (↑) when the bits are turned ON.

The PCU’s status and present position are input from the PCU to the input area.
The operating data area exchanges data with the PCU with every I/O refresh, so
operating commands and so on can be executed simply by writing to the Pro­grammable Controller’s IR area.

OPI

PCSI

OACO

PCSO

OACI

Note If the CCW limit setting is equal to or greater than the CW limit setting in the axis

parameters area, and if the software limits are disabled, the present position will
be “0” when memory operation or direct operation is started.

83

Operating Memory Area Details

p

n+2

n+2

Words

n+4 n+6

I/O Model

Output NC413

NC213

NC113

X

axisYaxisZaxisUaxis

n

n

n

4-4SectionOperating Memory Area

Bits Name Operation

Mem.

00

opera­tion

01 START At the rising edge (↑) when this bit

02 INDEPENDENT

03 Direct

opera­tion

Sequence
number enable

START

ABSOLUTE
MOVEMENT

This setting specifies the sequence
number for beginning operation
when START or INDEPENDENT
START is executed. When START
or INDEPENDENT START is
executed while this bit is ON,
operation will begin with the
designated sequence in the
Operating Memory Area.

turns ON, START references the
sequence number enable bit and
begins memory operation.

At the rising edge (↑) when this bit
turns ON, INDEPENDENT START
references the sequence number
enable bit and begins memory
operation. The difference between
this command and START is that
the completion code is treated as
“terminating,” except for when it is
set to “bank end.”

At the rising edge (↑) when this bit
turns ON, direct operation is
started with the designated
position treated as an absolute
position.

• If ABSOLUTE MOVEMENT is

used while the origin is not estab­lished, a current position unknown
error (error code 5040) will be gen­erated.

• If ABSOLUTE MOVEMENT is

executed again during axis feed­ing, or if RELATIVE MOVEMENT
is executed, feeding toward the
currently designated position will
stop, and feeding toward the
newly designated position will
begin.

• The position, speed, and accel-

eration/deceleration times are
designated in the operating data
area.

84

I/O OperationNameBitsWordsModelI/O OperationNameBits

Model

U

axis

Output NC413

NC213

NC113

axis

n

n

n

X

Y

axis

n+2

n+2

Z

axis

n+4 n+6 04 Direct

opera­tion

RELATIVE
MOVEMENT

4-4SectionOperating Memory Area

At the rising edge (↑) when this bit
turns ON, direct operation is
started with the designated
position treated as a relative
position.

• If RELATIVE MOVEMENT is

executed again during axis feed­ing, or if ABSOLUTE MOVEMENT
is executed, feeding toward the
currently designated position will
stop, and feeding toward the
newly designated position will
begin.

• The position, speed, and accel-

eration/deceleration times are
designated in the operating data
area.

05 INTERRUPT

FEEDING

06 ORIGIN SEARCH At the rising edge (↑) when this bit

07 ORIGIN RETURN At the rising edge (↑) when this bit

08 PRESENT POSITION

CHANGE

09 JOG (speed feeding) When this bit turns ON, jogging

10 Direction designation This designates the direction for

At the rising edge (↑) when this bit
turns ON, interrupt feeding begins
for direct operation.

• If INTERRUPT FEEDING is used

while the origin is not established,
axis feeding will be executed with
the present position at the begin­ning of operation taken as “0.”

• When INTERRUPT FEEDING is

input, the present position
becomes the reference and the
axis is moved for the designated
amount.

• The position, speed, and accel-

eration/deceleration times are
designated in the operating data
area.

turns ON, an origin search is
executed. The origin search speed
will depend on the speed setting in
the axis parameters.

turns ON, positioning returns to the
origin. The origin return speed is
set in the operating data area.

At the rising edge (↑) when this bit
turns ON, the present position is
forcibly changed, and then this
position is established as the
origin. The position change is set
in the operating data area.

(speed feeding) is executed. The
jogging speed is set in the
operating data area.

when JOG or INTERRUPT
FEEDING are executed. (OFF:
CW direction; ON: CCW direction)

85

I/O OperationNameBitsWordsModelI/O OperationNameBits

Model

U

axis

Output NC413

NC213

NC113

axis

n

n

n

X

Y

axis

n+2

n+2

Z

axis

n+4 n+6

4-4SectionOperating Memory Area

11 TEACH At the rising edge (↑) when this bit

turns ON, the teaching operation is
executed. If TEACH is executed
while the origin is not established,
a current position unknown error
(error code 5040) will be
generated. The teaching position
number is set in the operating data
area.

12 RELEASE PROHIBIT At the rising edge (↑) when this bit

turns ON, the pulse output
prohibition is released. (Refer to

9-8 Releasing Pulse Output
Prohibition.) Pulse output is

prohibited when the following
inputs are received:

• CW or CCW limit input

• Software limit

• Emergency stop input

13 Error counter reset

output, origin adjustment
command output

14 Override enable This bit enables or disables the

15 STOP At the rising edge (↑) when this bit

This can be used as a
general-purpose output in
operation mode 0. (Refer to 9-9

Error Counter Reset Output and
Origin Adjustment Command
Output.

1: Signal ON; 0: Signal OFF

When an origin search is
performed in operation modes 1 to
3, outputs are automatically set as
error counter reset and origin
adjustment command outputs.
Refer to Section 6 Defining the
Origin.

override function.

• When this bit is ON (i.e., when the

override is enabled), the following
value will be used as the speed:
Feed speed = (speed designation)
x override / 100

• When this bit is OFF (i.e., when the

override is disabled), the override
will be treated as 100%.

The override is set in the operating
data area.

turns ON, positioning is
decelerated to a stop. Executing
STOP has the following effects in
memory operation and direct
operation:

• During memory operation, the

Waiting for Memory Operation Bit
turns ON after STOP is executed.

• During direct operation, the Decel-

eration Stop Execution Bit turns
ON after STOP is executed.

86

I/O OperationNameBitsWordsModelI/O OperationNameBits

operation for a specified sequence

t

Model

U

axis

Output NC413

NC213

NC113 n+1

NC413

NC213

NC113

Input NC413

NC213

NC113

axis

n+1

n+1

n+1

n+1

n+1

n+8

n+4

n+2

X

Y

axis

n+3

n+3

n+11

n+7

Z

axis

n+5 n+7

n+14 n+17

4-4SectionOperating Memory Area

00

Sequence number This setting specifies, in BCD, the
to
07

08 FORCED INTERRUPT

FORCED INTERRUPT

09

Reserved ---

o

11
12 WRITE DATA At the rising edge (↑) when this bit

13 READ DATA At the rising edge (↑) when this bit

14 SAVE DATA At the rising edge (↑) when this bit

15 Reserved --­00

Output code With memory operation, the output
to
03

04 Waiting for memory

operation

first sequence number (00 to 99) to
be executed in memory operation.

At the rising edge (↑) when this bit
turns ON, the memory operation is
forcibly ended and the memory
operation for a specified sequence
number is forcibly executed
instead. (Refer to 9-4 Forced
Interrupt.) This command is only
enabled during memory operation.

turns ON, data is written by means
of a data transfer. The Y, Z, and U
bits are not used. Word n+1, bit 12
is used to write the data for all
axes (i.e., not just the X axis).

turns ON, data is read by means of
a data transfer. The Y, Z, and U
bits are not used. Word n+1, bit 13
is used to read the data for all axes
(i.e., not just the X axis).

turns ON, data is saved to flash
memory. The Y, Z, and U bits are
not used. Word n+1, bit 14 is used
to save the data for all axes (i.e.,
not just the X axis).

code set for a positioning
sequence is output when the
positioning is completed. (“0” at the
beginning of memory operation.)

Turns ON during memory
operation for an independent start
waiting, deceleration stop, or error
stop. It turns OFF for a memory
operation start.

87