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
!
serious injury.
WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or
!
serious injury.
Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or
!
moderate injury, or property damage.
OMRON Product References
All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers
to an OMRON product, regardless of whether or not it appears in the proper name of the product.
The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means
“word” and is abbreviated “Wd” in documentation in this sense.
The abbreviation “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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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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.
!
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
!
result in serious electrical shock or electrocution.
WARNING Provide safety measures in external circuits (i.e., not in the Programmable
!
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
!
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
!
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
!
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
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