Omron SYSMAC C200H-NC111 Operation Manual

Cat. No. W137-E1-04

SYSMAC

C200H-NC111

Position Control Unit

SYSMAC C200H-NC111
Position Control Unit

Operation Manual

Revised September 2003

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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.

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.

 OMRON, 1990

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.

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vii

TABLE OF CONTENTS

PRECAUTIONS xi. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 Intended Audience xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 General Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Safety Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Operating Environment Precautions xiii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Application Precautions xiii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 1

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

1–1 Features 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1–2 Components 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1–3 System Configuration 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1–4 Control System Principles 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 2

Before Operation 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2–1 Switch Settings 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2–2 Wiring 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2–3 Dimensions 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 3

Operation 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–1 Operational Flow 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–2 Output Pulses 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–3 Writing Data 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–4 Data Configuration and Allocation 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–5 IR Area Data Format 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–6 Flags and Other Input Data 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–7 DM Area Allocation 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 4

Commands 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–1 Start 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–2 Origin Search 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–3 Origin Return 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–4 Release Prohibit 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–5 Read Error 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–6 Reset Origin 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–7 Teach 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–8 Transfer Data 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–9 Manual Operations 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–10 External Interrupt Commands 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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SECTION 5

Programming Examples 91. . . . . . . . . . . . . . . . . . . . . . . . . .

5–1 Operation with Minimum Data: Displaying JOG Positions 92. . . . . . . . . . . . . . . . . . . . . . .

5–2 Positioning at Intervals: Using RESET ORIGIN 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–3 Feeding Selectively with START 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–4 Transfer Data from Other PC Areas 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–5 Transfer Data from External Switches 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–6 Using START to Carry Out Positioning Actions 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–7 Using Origin and Origin Proximity Signals 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–8 Using Zones to Control Jogging 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–9 Controlling an R88D-EP06 Servodriver 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–10 Controlling a V-series Servodriver 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 6

Error Processing 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–1 Alarms and Errors 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–2 Outputs to the IR Area 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–3 Alarm/Error Indicators 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–4 Troubleshooting from the PC 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–5 Basic Troubleshooting Chart 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–6 Detection of Abnormal Pulse Outputs 116. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendices

A Alarm Code List 119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B Error Code List 123. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C DM Area Allocations 127. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D IR Area Allocations 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E Specifications 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F Standard Models 139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Glossary 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Index 147. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Revision History 151. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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About this Manual:

The C200H–NC111 Position Control Unit is a Special I/O Unit for C200H PCs. It is designed to control
equipment positioning through pulse train outputs to a motor driver. The degree of movement is
based on the program installed into the PC and the external control inputs.

This manual covers the specifications and procedures necessary for installation and efficient opera­tion. Before attempting to operate the C200H Position Control Unit, be sure to thoroughly familiarize
yourself with the information contained within this and any other relevant manuals.

Section 1 describes the basic features and components of the Position Control Unit. It also gives de­tails on configurations for positioning control systems and their principles of operation.

Section 2 describes how to incorporate the Positioning Control Unit into a system. It provides infor­mation on how to set switches so that the Unit provides the desired operating functions. It also gives
mounting and wiring information.

Section 3 gives details on the procedures for setting up and operating a positioning control system. It
includes information on PC operations (such as flags, zone settings, the range of output pulses, back­lash compensation, etc.), data areas and data formats.

Section 4 outlines the thirteen commands available on the Positioning Control Unit. It describes each
command, how it works, the data required,and the data areas used. Examples are given (in timing
chart form) which show the status of the relevant inputs, outputs, bits, and flags during the execution
of the commands.

Section 5 provides programming examples which give practical illustrations of how the Positioning
Control Unit commands can be used to implement effective positioning control.

Section 6 explains various error and alarm conditions and the steps that can be taken to avoid and/or
prevent them.

Appendix A provides more detailed information on alarm codes, including the type of operations in
which the alarm may arise, the type of error, the alarm code, and the most probable cause.

Appendix B lists the error codes in numeric sequence and provides information on the cause of, and
remedy for, the existing problem.

Appendix C describes the functions that each of the different parts of the DM Area performs.
Appendix D describes the functions for which each of the different parts of the IR Area can be used.
Appendix E provides the performance and electrical specifications for the Positioning Control Unit.
Appendix F lists the models which are used with the Positioning Control Unit.

A comprehensive Glossary is provided which explains many of the terms and abbreviations com­monly used when referring to Positioning Control Units and PC Systems.

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.

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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 xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 General Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Safety Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Operating Environment Precautions xiii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Application Precautions xiii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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5Safety Precautions

xii

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.

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.

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5Application Precautions

xiii

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 tempera­ture.

• 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.

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 pro­tect against electrical shock.

• Always turn off the power supply to the PC before attempting any of the follow­ing:

• 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-circuit­ing in external wiring.

• 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.

5Application Precautions

xiv

• 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 wir­ing, 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.

• Perform wiring according to specified procedures.

• Before touching a Unit, be sure to first touch a grounded metallic object in order

to discharge any static build-up from your body. Not doing so may result in mal­function or damage

1

SECTION 1

Introduction

The C200H-NC111 Position Control Unit is a Special I/O Unit that receives positioning commands either externally or
from a Programmable Controller (PC) and uses that data to output control voltages to a stepping motor driver or a ser­vomotor driver.

This section describes the basic features and components of the Position Control Unit, as well as the basic configuration
and operating principles of positioning control systems. Be sure to read and study these sections carefully; an understand­ing of the control system is essential for successful operation.

1–1 Features 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1–2 Components 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1–3 System Configuration 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1–4 Control System Principles 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1–4–1 Open-loop System 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1–4–2 Semi-closed-loop System 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2

1–1 Features

Applicable Motor Drivers

The pulse train output can be easily connected to either of the following de­vices:

1) Stepping motor driver

2) Servomotor driver designed for pulse train input

Number of Control Axes
and Controlling Capacity

The Position Control Unit is designed exclusively to control a single axis and
is capable of controlling speeds and positions through parameters recorded
in the DM area of the C200H PC.

Manual Operation

Three commands enable manual positioning control: HIGH-SPEED JOG,
LOW-SPEED JOG, and INCH.

Data Transfer

Positioning actions, speeds, and other data contained in the DM area or
other areas of the PC can be quickly transferred via a TRANSFER DATA
command. Control scale can thus be expanded to exceed the data capacity
of the Position Control Unit.

Establishing Position

The TRANSFER DATA command can also be used to change the present
position to any target value, including 0 (origin), anytime the Position Control
Unit is not outputting pulses.

Teaching

The present position can be written into the memory of the PC as positioning
data whenever pulses are not being output.

1–2 Components

In addition to the front-panel components described on the following page,
there is a DIP switch located on the back panel. Pin settings for this switch,
which are described under 2–1 Switch Settings, determine certain aspects of
control system operation.

Components Section 1–2

3

Indicators

RUN: indicates operation
is in progress

CW: indicates controlled system
(motor) is revolving clockwise

CCW: indicates controlled system
(motor) is revolving counterclockwise

BUSY: indicates operation/transfer
is in progress

ALARM: blinks when an abnormality
has occurred

ERROR: lights when an error has oc­curred

Setting switches

MACHINE No.

MODE

Allocates a unit number (0 to 9) to
the Position Control Unit

Not used

Connector

Used to connect the Position
Control Unit to a stepping mo­tor driver or servomotor driver.

Attach the enclosed connector
to the proper cable.

When setting the switches, use a
screwdriver if necessary.
Do not apply an excessive force to the
switches.
Do not leave the switches halfway be­tween two setting points or the Position
Control Unit may malfunction.
Before operating these switches, make
sure that power to the PC is off.

Indicators

Position Control Unit indicators (LEDs) are used to quickly determine operat­ing status. They are particularly valuable in initial system activation and de­bugging, but can also be used to monitor and check Unit operation.

Indicator Color Function

Lit during normal operation. Goes out for errors.
Lit during output of CW (clockwise) pulses.
Lit during output of CCW (counterclockwise) pulses.
Lit during positioning or data transfer.
Flashing when a BCD error exists in initial data, speed

data, or positioning data updated with TRANSFER DATA.
Lit when an error has occurred causing operation to stop.

Green
Green
Green
Green
Red

Red

RUN
CW
CCW
BUSY
ALARM

(flashing)
ERROR

1–3 System Configuration

The basic system configuration is shown below. Position Control Unit outputs
are connected to a motor driver, either for a stepping motor or for a ser­vomotor (either AC or DC) capable of receiving pulse train inputs. The Unit is
controlled by inputs from devices and/or a control panel. It, in turn, outputs
pulse trains and direction signals to control the motor driver.

System Configuration Section 1–3

4

The motor driver controls either a stepping motor or a servomotor, depending
on whether an open-loop or semiclosed-loop system is employed. (See 1–4
Control System Principles). The stepping motor (or servomotor) controls
some type of positioning device (such as a feed screw, for example). An in­dependent power supply must be used. Some configurations also require an
Input Unit on the C200H PC to control the motor driver.

Maximum Number of
Special I/O Units per PC

A maximum of 10 Special I/O Units, including Position Control Units,
High-Speed Counters, etc., can be mounted under the same PC, regardless
of whether they are on the CPU Rack, an Expansion I/O Rack, or a rack con­taining a Remote I/O Slave Unit controlled by the PC. No more than four of
these can be mounted onto any one rack containing a Remote I/O Slave
Unit.

Mounting Location

The Position Control Unit can be mounted to any but the 2 rightmost CPU
Rack slots. Mounting the Unit to either of these slots will prevent you from
mounting devices directly to the PC’s CPU. The back-panel DIP switch must
be set before the Unit is mounted. This switch is inaccessible on a mounted
Unit. (See 2–1 Switch Settings.)

Basic Configuration

Although Unit operation can be indirectly controlled from a host computer,
Remote I/O Master Unit, or other control system or peripheral device, direct
control comes from the program of the PC or from connections to external
inputs (e.g., control panel switches). (A list of Position Control Unit inputs and
outputs can be found under I/O Circuits in 2–2 Wiring.) The following configu­ration diagrams show only the positioning system itself. Refer to the operat­ing manuals for other Omron control devices for details on extended control
system operation.

System Configuration Section 1–3

5

Control signal input switches

C200H PC

Position Control Unit C200H-NC111

Input Unit

Stepping motor (or ser­vomotor) driver control
signal line

Power supply

Hand-held Programming
Console C200H-PRO27

Stepping motor driver
(or servomotor driver)

Operation panel

Operation switch

Stepping motor
(or servomotor)

1–4 Control System Principles

Control systems can be quite simple or relatively complex. The most basic is
an open-loop system, in which a particular operation is carried out, according
to programmed instructions, but in which adjustments are not made directly
by the PC. Instead, the open-loop system typically displays or prints out infor­mation to assist a human operator in making any required adjustments. The
C200H-NC111 Position Control Unit can be used in an open-loop system in
conjunction with a stepping motor.

In a closed-loop system, on the other hand, the PC controls an external proc­ess without human intervention. The servomotor provides direct feedback so
that actual values (of positions, speeds, and so on) are continuously adjusted

Control System Principles Section 1–4

6

to bring them more closely in line with target values. In some systems, the
digital feedback signals will be transmitted to a digital-to-analog converter to
complete the feedback loop, thereby permitting automated control of the
process.

A semiclosed-loop system is similar to a closed-loop system, except that
feedback is provided by a tachogenerator and a rotary encoder rather than
directly by the servomotor. If the C200H-NC111 Position Control Unit is used
with a servomotor, the servomotor driver must be able to handle digital sig­nals, and there is no need for a D/A converter. In addition, the servomotor is
connected to a tachogenerator and a rotary encoder. The Unit can thus be
used in either an open-loop or a semiclosed-loop system.

Both open-loop and semiclosed-loop systems are described in more detail on
the following pages.

Control System Principles Section 1–4

7

Data Flow

PC
BUS
I/F

C200H PC

Position Control Unit C200H-NC111

Rotary encoder

Tachogenerator

Servomotor driver

Pulse train

Power
amplifier

Pulse
train

Stepping motor driver

I/O
interface

MPU

Memory

Pulse
gen­erator

Magnetizing
distribution
circuit

Servomotor

(Positioning output)

PC
BUS
I/F

External
input

Stepping motor

Error counter Power amplifier

I/O connector

1–4–1 Open-loop System

In an open-loop system, the Position Control Unit outputs pulse trains as
specified by the PC program to control the angle of rotation of the motor. Be­cause the Unit outputs pulse trains, it is generally used with 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
Unit, and the rotational speed of the stepping motor is proportional to the

Control System Principles Section 1–4

8

frequency of the pulse train.

Positioning pulse

1 2 n

Positioning output

Angle of
rotation

Angle of rotation

Simplified Positioning
System Design

The following diagram and parameters illustrate a simplified positioning sys­tem.

P

Stepping motor

Reduction gear

Object being
positioned

M: Reduction ratio
P: Feed screw pitch (mm/revolution)
V: Feed velocity of object being positioned (mm/s)

θs: Stepping angle per pulse (degree/pulse)

N

M

V

Feed screw pitch

The positioning accuracy in mm/pulse is computed as follows:
Positioning accuracy = P/(pulses per revolution x M)

= P/((360/S) x M))
= (P x S)/(360 x M)

The required pulse frequency from the Unit in pulses per second is computed
as follows:

Pulse frequency = V/Positioning accuracy

= (360 x M x V)/(P x 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 S)

1–4–2 Semi-closed-loop System

When the Position Control Unit is used in a semiclosed-loop system, the sys­tem supplies feedback to compensate for any discrepancy between target
values and actual values in position or speed. This system detects motor ro-

Control System Principles Section 1–4

9

tation amounts, for example, computes the error between the target value
and actual movement value, and zeroes the error through feedback. The dia­gram below illustrates the basic configuration of a semiclosed-loop system.

Rotary encoder

Tachogenerator

Servomotor driver

Servomotor

Position output

Error counter Power amplifier

Position feedback (feedback pulses)

Speed feedback

Target position

1) First, the target position is transmitted to the error counter in units of en-

coder pulses. The servomotor driver must be able to handle digital input.

2) The motor rotates at a speed corresponding to the speed voltage. The ro-

tary encoder connected to the motor axis rotates in sync with the motor, gen­erates feedback pulses, and subtracts error counter contents.

3) Consequently, the encoder rotation is equivalent to the target position, and

the motor stops rotating when the error counter count and the speed voltage
become zero.

4) While the motor is stopped, the rotary encoder constantly maintains the

stopped position through correction. In the event that the motor axis slightly
moves, the error counter receives a feedback pulse from the rotary encoder,
whereby a rotation voltage is emitted in the reverse direction from which the
rotary encoder moved, causing the motor to rotate toward its original posi­tion. This operation is called servolock or servoclamp.

5) In order to execute positioning with acceleration and deceleration, target

positions are set consecutively in the error counter for processing.

6) The target position becomes the count for the error counter and controls

the motor by conversion to a speed voltage for the servomotor driver. The
position thus equals the total count of target positions and the speed will de­pend on the target position per unit time.

Control System Principles Section 1–4

11

SECTION 2

Before Operation

Before the Position Control Unit can be operated, switch settings and wiring must be correct. This section presents the
settings and functions of switches, provides examples of and precautions for wiring, and gives dimensions of Units both
when mounted and unmounted. Be sure that all settings and wiring match your positioning system specifications.

2–1 Switch Settings 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2–2 Wiring 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2–3 Dimensions 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12

2–1 Switch Settings

Always turn off PC power before setting the unit number switch. Use a regu­lar screwdriver, being careful not to damage the slot in the screw. Be sure not
to leave the switch midway between settings.

Switch

Function

Used to set the unit number (between 0 and 9).
Do not set the same number for more than one Unit.
Doing so will cause an error and prevent operation.

Not used.

Unit number
(”Machine no.”)

Mode

Back Panel DIP Switch

These pins must be set before the Position Control Unit is mounted.

Pin no.

Name

Output pulse
selector

Origin search
direction

Origin proximity
present/absent

Origin proximity
signal type

Origin signal type
External interrupt

selection*
External interrupt

response*

Nondirectional pulse and
direction signal outputs.

CCW

Present

N.O. input

N.O. input
Fixed via pin #7

CHANGE SPEED

Not used.

Separate CW and
CCW pulse outputs

CW

Absent

N.C. input

N.C. input
Determined by

IR bit (word n, bit 06)
STOP

ON

OFF

1

2

3

4

5
6

7

8

*External interrupt processing is determined by pins #6 and #7 in combination with bit 06 of IR word n (n = 100 + 10 x unit
number). Refer to 4–10 External Interrupt Commands for details.

Switch Settings Section 2–1

13

2–2 Wiring

External I/O Connections

The example diagram below shows I/O connections.

Position Control Unit
C200H-NC111

Output

C200H PC

Input

Motor
driver

Control panel

Emergency stop
switch

External interrupt
switch

CCW limit switch

Motor

Mechanical system

CW limit
switch

Origin switch (sensor)

CCW

CW

Origin proximity
switch

Wiring Section 2–2

!

14

Connector Pin
Arrangement

The following I/O connector pin arrangement is as viewed from the front of
the Position Control Unit.

Emergency stop input (0 V) 20 Emergency stop input (12 to 24 VDC)
Emergency interrupt input (0 V) 19 External interrupt input (12 to 24 VDC)

18
17
16
15

14
CW limit input (0 V) 13 CW limit input (12 to 24 VDC)
CCW limit input (0 V) 12 CCW limit input (12 to 24 VDC)
Origin input (0 V) 11 Origin input (12 to 24 VDC)
Origin proximity input (0 V) 10 Origin proximity input (12 to 24 VDC)

9

8

7

6
Output power (0 V) 5 Output power (0 V)
CW pulse or nondirectional 4 CW pulse or nondirectional pulse output (1.6 k

Ω)

pulse output
CW pulse or direction signal output 3 CCW pulse or direction signal output (1.6 k

Ω)

5-VDC power supply input 2

1 24-VDC power supply input

Row B

Pin no.

Row A

External connector: FCN-361J040 (Fujitsu solder-type; included as an ac­cessory.)

Caution Output power should be either 24 or 5 VDC. Never connect both the 24 and

5 VDC pins at the same time. In other words, never use power supplies of differ­ent voltages.

Wiring to Connectors

• Solder-type connectors are included with the Unit.

• Use wire with a cross-sectional area of 0.3 mm

2

or less.

• When soldering, do not short-circuit an adjacent terminal; cover the sol­dered section with an insulation.

• When using multi-core cable, wire output and input cables separately.

Wiring Section 2–2

15

Insulator

Lead (0.3 mm

2

max.)

Connector

Connector Viewed from Soldered Side

Connector Pin Numbers
The connector pin numbers are shown in
the following figure. Wire the connector
correctly according to the pin numbers.

Shape of connector flange on other side

Pin number marks

Differentiating Cables

Output cables

Input cables

Assembling Connectors

Usable connectors:
Fujitsu model 360 jack

1. FCN-361J040-AU (solder)
FCN-360C040-B (connector cover)

2. FCN-363J040 (solderless)
FCN-363J-AU (contact)
FCN-360C040-B (connector cover)

3. FCN-367J040-AU/F (solderless)

1. is included as an accessory.

Two 8-mm M2 pan-head
screws (short)

Connector
(jack)

Four M2 nuts

Two 10-mm M2
pan-head screws (long)

Case

Lock screw

I/O Circuits

In the I/O circuits depicted in the following diagrams, pin numbers on the con­nector actually start from 1 at the bottom of the connector and run through 20
at the top.

Wiring Section 2–2

16

Outputs

1.6 kΩ (1/2W)

Constant­voltage
circuit

A1

B2

1.6 k

Ω (1/2W)

A3

B3

A4

B4

A5

B5

Power for output, 24 VDC

Power for output, 5 VDC

CCW pulse output/direction output (w/1.6 k

Ω resistor)

CCW pulse output/direction output
Note: Either of the output signals is selected by

the DIP switch on the rear panel.

CW pulse output or nondirectional pulse output
(w/1.6 k

Ω resistor)

CW pulse output or nondirectional pulse output

0 V

0 V

Supply a voltage of either
5 or 24 VDC; the internal
circuit will be damaged if
both the power sources
are connected.

Inputs

1 kΩ

1 k

Ω

1 k

Ω

1 k

Ω

1 k

Ω

1 kΩ

1 k

Ω

1 kΩ

1 k

Ω

1 k

Ω

B11

A12

B12

A13

B13

A19

B19

A20

B20

CCW limit input
(NC input)

External interrupt input
(N.O. input)

Emergency stop input
(NC input)

(12 to 24 VDC)

(0 V)

(12 to 24 VDC)

(0 V)

(12 to 24 VDC)

(12 to 24 VDC)

(12 to 24 VDC)

(0 V)

(0 V)

(0 V)

1 kΩ

1 k

Ω

(12 to 24 VDC)

(0 V)

A10

B10

Origin proximity input
(Select either N.O. or N.C.
inputs via the back-panel
DIP switch.)

Origin input
(Select either N.O. or N.C.
inputs via the back-panel
DIP switch.)

CW limit input
(NC input)

A11

Wiring Section 2–2

17

Input Connection
Example

Each input is provided with both a N.O. (normally open) input or N.C. (nor­mally closed) input that can be used according to specifications.

Leave unused N.O. inputs open and connect unused N.C. inputs to the
power supply.

A10

B10

A12

B12

A13

B13

A19

B19

A20

B20

N.O. input

N.C. input

N.C. input

Position Control Unit

Origin proximity input

CCW limit input

CW limit input

External interrupt input

Emergency stop input

1 k

Ω

1 k

Ω

1 k

Ω

1 k

Ω

1 k

Ω

1 k

Ω

1 k

Ω

1 k

Ω

1 kΩ

1 k

Ω

+ –

N.C. input

A11

B11

Origin input

1 k

Ω

1 k

Ω

Power supply
(12 to 24 VDC)

Select either
N.O. or N.C.
inputs via the
back-panel
DIP switch.

• All inputs have independent grounds (commons) and are bidirectional. Con­nect switches of at least 12-mA capacity.

• Use a non-contact sensor (such as a proximity sensor) for the origin input to
reduce wear and deterioration.

Wiring Section 2–2

!

18

Output Connection
Examples

The following figures illustrate examples of connections to motor drivers. Al­ways confirm motor driver specifications before making connections.

The Unit outputs only pulse trains and a direction output, or separate CW
and CCW pulse trains, to control the motor driver. If other control signals,
such as a deflection counter reset signal or motor excitation release signal,
are required, use a C200H I/O Unit and program in the required control ac­tions.

Connect between 2.5-mA and 30-mA loads to outputs of the Unit, or add by­pass resistance for loads less than 2.5 mA. Some output terminals have

1.6-kΩ (0.5 W) resistance built in. Use these as necessary according to
power supply and motor driver specifications. For voltage-level outputs, the
output goes low for ON and high for OFF.

Open collector output

Open collector output with 1.6 k

Ω series resistance

Output

2.5 to 30 mA

Output transistor

Output

2.5 to 30 mA

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

Output transistor

ON

OFF

Pulses are output

Caution Output power should be either 24 or 5 VDC. Never connect both the 24 and

5 VDC pins at the same time. In other words, never use power supplies of differ­ent voltages.

Wiring Section 2–2

19

Example 1:
Outputting CW and CCW
Pulses With a 5-VDC
Power Supply

CCW input

CW input

Position Control Unit

24 VDC input

5 VDC input

CCW pulse output

CW pulse output

1.6 k

Ω

1.6 k

Ω

A1

B2

A3
B3

A4
B4

A5

B5

5-VDC
power
supply

+ –

Approx.
15 mA

Approx.
15 mA

Twisted pair cable

(+)

(–)

(+)

(–)

(Do not share this power supply with other pins.)

Motor driver (rated at 5 VDC)

(Example: R = 220

Ω)

Wiring Section 2–2

20

Example 2:
Outputting CW and CCW Pulses With a 24-VDC Power Supply and a Motor Driver
Rated at 5 VDC

B4

(–)

(Example: R= 220Ω)

Position Control Unit

24-VDC input

5-VDC input

CCW pulse output

CW pulse output

1.6 k

Ω

1.6 kΩ

A1

B2

A3
B3

A4

A5

B5

24-VDC
power
supply

+ –

Approx.
12 mA

Approx.
12 mA

(Do not share this power source with other pins.)

Motor driver (rated at 5 VDC)

(+)

(–)

(+)

Twisted pair cable

Note In this example, a 5-V input motor driver is being used with a 24-V DC power

supply. The limit resistors (1.6 KΩ) of the NC111 are thus being used. Check
the driver current of the motor driver.

Example 3:
Outputting Pulse and Direction Signals with a 5-VDC Power Supply

Pulse (CW+CCW)
output

Pulse input

Position Control Unit

24-VDC input

5-VDC input

Direction output

1.6 k

Ω

1.6 k

Ω

A1

B2

A3

B3

A4

B4

A5

B5

5-VDC
power
supply

+

–

7 to 30 mA

7 to 30 mA

Motor driver (rated at 5 VDC)

Direction input

Wiring Section 2–2

21

When the Position Control Unit is used to output voltage levels, the low level
is obtained when the output transistor turns ON, while the level goes high
when the transistor turns OFF.

Example 4:
Stepping–Motor Driver
Connection

Signal
24 V/0 V

B20

B13

B12

A12

B11

A10

B5

B2

A20

A13

A11

B4

+CW

+CCW
–CCW

E32

Stepping motor UPH599

Limit switch
(N.C. contact)

Position Control Unit

Power for
output

Origin

CCW
limit

CW limit

CW

CCW

0 V

B3

B10

+

5 VDC

+

Stepping motor driver Oriental UDX5114

Limit switch (N.O. or N.C. contact)

OMRON Photoelectric Switch
E3S-X3 CE4
(NPN output type)

–CW

Origin
proximity

Emergency
stop

24
VDC

Example 5:
Servomotor Driver

Connection

When applying the servomotor driver Z-phase output to the origin input of the
Position Control Unit, the line input/open collector conversion circuit is re-

Wiring Section 2–2

22

quired, as shown in the example diagram on the following page.

23

Signal
24 V/0 V

+

A20
B20

B13

A13

A12
B12

A10
B10

B5

A5

B2

CCW

B3

B4

5 V

24

N.C. switches

EM

Position Control Unit

Power for
output

CCW limit

CW limit

Emergency stop

CW

0 V

5 VDC

12 to 24 VDC

+

1
2

3
4

+CW

–CW

+CCW

14

OMRON R88M-E
Servomotor (marketed in Japan)

OMRON R88DEP06
Servomotor Driver (marketed in Japan)

RUN

33
22

–CCW

–

+

Z-phase output

A11

Origin proximity

Origin

B11

E32

+

12 to 24 VDC

Toshiba TLP521-1 (GB)
Photocoupler

50-75Ω

Limit switch
(N.O or N.C.)

N.C. limit
switches

OMRON E3S-X3 CE4
(NPN output)
Photoelectric switch

Wiring Precautions

Operational errors 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-originating operational errors and thus improve system reliability, al­ways abide by the following precautions in wiring the system.

1, 2, 3... 1. Cables must be of the required diameter.

2. 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.

3. Use shielded cable for control lines.

4. Attach a surge absorber to all inductive loads, such as relays, solenoids,

and solenoid valves.

Wiring Section 2–2

23

+

DC

–

Diode for surge absorption AC Surge absorber

RYRY

DC relays AC relays

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.

SOL Surge absorber

Solenoids

5. 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 source gener­ating high frequency noise).

6. Twisted pair cable is recommended for power lines.

7. For grounds, use thick cable with a cross-sectional area of at least 1.25

mm

2

.

Wiring Section 2–2

24

2–3 Dimensions

Unit Dimensions
(Unit: mm)

35

130

100.5

Mounted Dimensions
(Unit: mm)

Cable

Approx. 200

117

Rack

Dimensions Section 2–3

25

SECTION 3

Operation

This section covers all aspects of Position Control Unit operation other than commands, which are covered in the follow­ing section. Included in this section are the basic operating procedure, the type of output pulses possible, the basic data
format and configuration, some special features to aid operation, such as flags, zone settings, backlash compensation and
internal limits, and the internal data calculation methods used in processing user-input data.

3–1 Operational Flow 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–2 Output Pulses 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–3 Writing Data 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–4 Data Configuration and Allocation 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–5 IR Area Data Format 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–6 Flags and Other Input Data 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–7 DM Area Allocation 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–7–1 Zones 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–7–2 Backlash Compensation 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–7–3 Internal CW/CCW Limits 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–7–4 Data Calculations 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

26

3–1 Operational Flow

The basic procedure used to initially operate the Unit is outlined below. Refer
to applicable sections of the manual for details on each of these steps.

Item

Wiring

Data setting

Start

Wiring motor to
driver

Setting back-pan­el DIP switch

Data setting

Origin, origin proximity, CW/CCW
limits, emergency stop, external in­terrupt

.Output pulse selection
.Origin search direction
.Origin proximity signal type
.Origin signal type
.External interrupt signal type

DM area (key input via Program­ming Console)
.Parameters
.Positioning actions
.Speeds

Refer to:

Wiring external
inputs

Follow motor and driver and instruction
manuals for wiring details

Wiring Position Control
Unit to driver

2–2 Wiring

3–4 Data Configuration
2–1 Switch Settings

Section 4 Commands

3–7–4 Data Calculations

Section 5
Programming
Examples

Writing PC
program

Programming IR area (key input via
Programming Console)

Procedure

Operational Flow Section 3–1

27

Item

ORIGIN SEARCH,
manual operation,
start, etc.

Correct error

Position Control
Unit reads DM area

Refer to:

Procedure

Restart by resetting
power or AR area
restart bit

Alarm/error
LED lit?

No

Yes

Error exists

READ ERROR

Alarm/error
LED flashes?

No

Yes

READ ERROR

Correct data
causing alarm

6–4 Troubleshooting
From the PC

AR area error and
restart bits for
Special I/O Units

4–5 READ ERROR

Section 6
Error
Processing

Trial run

Error processing

Operational Flow Section 3–1

28

3–2 Output Pulses

The Position Control Unit can be set to output either independent CW and
CCW pulses or a nondirectional pulse and a direction signal. Set pin #1 on
the back-panel DIP switch to designate the target type of output. (See 2–1
Switch Settings.)

CW and CCW Pulse
Outputs

ON
OFF

CW pulse train

OFF

ON

CCW pulse train

Nondirectional Pulse
and Direction Signal
Outputs

Pulse train

Direction output

ON
OFF

ON
OFF

1 ms min.

CW: ON
CCW: OFF

CW

CCW

3–3 Writing Data

Data is written, via the Programming Console, into the section of the DM
area designated for Special I/O Units. The specific words are DM 1000-1999,
with 100 of these words allocated for each unit number assigned to a Posi­tion Control Unit. Written data is effective the next time power is turned on or
when the system is restarted with the restart bit in the AR area. To write data,
use the 3-word change operation of the Programming Console.

Key Input SequenceProgramming Console Display

D1824D1823D1822
0012 5000 2000

The above procedure prepares DM 1824 for change, and new data can be
keyed in. Pressing the CHG key again moves the cursor to DM 1823. After
inputting data, press the write key to execute the rewrite. In the above exam­ple, positioning action #0 of Unit #8 is shown.

Starting

When starting the Position Control Unit, the OUT refresh area is used. (The
OUT refresh area comprises the first five of the ten IR words allocated to
each Unit as refresh area. See 3–4 Data Configuration and Allocation for de-

Writing Data Section 3–3

29

tails.) The busy flag and present position status can be read out from the IN
refresh area, the last five of these words.

To start the Unit, set (i.e., turn ON) the command bit regardless of whether
the Unit is in RUN or PROGRAM mode. Do not shift the mode between
MONITOR and PROGRAM while pulses are being output. Doing so will gen­erate an error, preventing Unit operation.

Example: Starting Unit #8 in MONITOR or PROGRAM Mode

ST ART (command)

Start input

18000

In the above example, IR words 180 through 184 are allocated as the OUT
refresh area; IR words 185 through 190, as the IN refresh area.

Special I/O Unit
Restart Bits

AR Word 1

Restart bits can be used to transfer altered DM area data to the Unit without
turning power off and on. Refer to 6–3 Troubleshooting From the PC for re-
start bit allocations. The following Programming Console operation example
shows how to access the restart bit for Unit #0. The ladder diagram section
below it shows how to achieve the same operation through programming.

Programming Console Display Key Input Sequence

A0101
^ OFF

Program example: Unit #1

Restart switch

DIFU (13) AR0101

3–4 Data Configuration and Allocation

IR words 100 through 199 are allocated as I/O refresh areas. Each Position
Control Unit is allocated ten consecutive words. The first word for each Unit,
designated in this manual as n, can be computed from the unit number as
follows:

n = 100 + 10 x unit number.

Each Unit is also allocated 100 consecutive words as a fixed data area.
These words are in the DM area and run from DM 1000 through DM 1999.
The first word for each Unit, m, can also be computed from the unit number:

m = 1000 + 100 x unit number.

These allocations are shown below for all unit numbers. Details of allocations
within these words are given under the operations or commands to which
they apply. The tables on the following pages give a quick overview of word
and bit allocations. For a more complete overview, see Appendix C DM Area
Allocations and Appendix D IR Area Allocations.

Data Configuration and Allocation Section 3–4

30

Data Configuration

C200H PC

IR Area
Words 100 to 109 Unit #0
Words 110 to 119 Unit #1
Words 120 to 129 Unit #2
Words 130 to 139 Unit #3
Words 140 to 149 Unit #4
Words 150 to 159 Unit #5
Words 160 to 169 Unit #6
Words 170 to 179 Unit #7
Words 180 to 189 Unit #8
Words 190 to 199 Unit #9

DM Area
Words 1000 to 1099 Unit #0
Words 1100 to 1199 Unit #1
Words 1200 to 1299 Unit #2
Words 1300 to 1399 Unit #3
Words 1400 to 1499 Unit #4
Words 1500 to 1599 Unit #5
Words 1600 to 1699 Unit #6
Words 1700 to 1799 Unit #7
Words 1800 to 1899 Unit #8
Words 1900 to 1999 Unit #9

Data is transferred
between the PC and
each Position Control
Unit each time I/O
data of the PC is re­freshed.

Data is automatically transferred
from the PC to each Position Con­trol Unit on power application or
when the AR area restart bit is
turned ON.

Position Control Unit

I/O refresh data areas
Words n to (n+4)
Words (n+5) to (n+9)

OUT refresh
IN refresh

Ten words are used
(n: 100 + 10 x unit no.)

Fixed data areas

Words m to m+21
Words m+22 to m+81
Words m+82 to m+97
Word m+98
Word m+99

Parameters
Position data
Speed data
Acceleration data
Deceleration data

100 words are used
(m: 1000 + 100 x unit no.)

Data Configuration and Allocation Section 3–4

31

IR Area Allocations

”n” is the first IR word allocated to the Unit and equals 100 plus 10 times the
unit number.

00 START
01 Valid initial positioning

action number
02 ORIGIN SEARCH
03 ORIGIN RETURN
04 RELEASE PROHIBIT
05 READ ERROR
06 CHANGE SPEED
07 Valid speed coefficient
08 RESET ORIGIN
09 TEACH
10 TRANSFER DATA
11 HIGH-SPEED JOG
12 JOG direction
13 LOW SPEED JOG
14 INCH
15 STOP

Word n

Bit

n+1

Initial
positioning
action no.

Speed
coefficient

Beginning
word no.
(for TRANS­FER DATA)

PC data area (for
TRANSFER DATA)

n+2 n+3 n+4

TEACH
positioning
action no.
00-19

Beginning
transfer no.

Number of
transfers (for
TRANSFER DATA)

TRANSFER
DATA type

(continued on next page)

Data Configuration and Allocation Section 3–4

32

Emergency stop
signal

External
interrupt signal

Origin proximity
signal

00 Positioning completed

flag
01 Bank completed flag
02 At-origin flag
03 Alarm flag
04 Emergency stop flag
05 Error flag
06 Zone 0 flag
07 Zone 1 flag
08 Zone 2 flag
09 Teaching completed flag
10 Transfer completed flag
11 No-origin flag
12 Busy flag
13 CW limit flag
14 CCW limit flag
15 STOP flag

Word

Bit

n+6

n+7 n+8 n+9

Present
position
(rightmost 4
digits)

n+5

Origin signal

Output code

Positioning
action no.

Error
code

Direction digit

Present position
(leftmost 3 digits)

3–5 IR Area Data Format

Data is allocated either by bit or by word, though it is often input and output
by decimal digit, i.e., four bits (BCD). Position data is held in two adjacent
words, generally with a direction digit, in the following format.

direction

10310210110

0

10

4

10

5

10

6

0
1

CW
CCW

highest word

lowest word

Note that the rightmost word is always the lowest word. If the two words were
n+8 and n+9, for example, the rightmost word would be n+8 and the leftmost
would be n+9. Furthermore, the rightmost digit in each word begins in the
lowest bits. Thus, the digits x10

4

and x100 above would be held in bits 00
through 03 of their respective words. The direction digit also provides other
information when required.

Speeds, Acceleration,
and Deceleration

Only one word is used to store speeds, the acceleration, and the decelera­tion. The formats for these are as follows:

IR Area Data Format Section 3–5

33

Speeds

10310210110

0

Acceleration and Deceleration

10210110

0

Data Coding

Although decimal notation is generally used for data in this manual, data is
handled in the system as binary-coded decimal (BCD) unless otherwise
noted. Note that this data is generally input as decimal, whereas hexadeci­mal data is input as hexadecimal. The number of digits given for certain data
refers to the decimal digits. For example, ”7 digits with direction” indicates
that the lowest word and rightmost 12 bits of the highest word are allocated
to the 7-digit decimal value; the leftmost four bits are allocated to the direc­tion digit.

3–6 Flags and Other Input Data

IR words n+5 to n+9 are allocated to flags and other inputs that supply infor­mation about positioning system operation. Although some of these are de­scribed under specific operations or commands, they are presented together
in Appendix D IR Area Allocations for convenience. Of these, an output code
has been provided for user application and four signals, the last four in the
list, have been provided for system debugging.

3–7 DM Area Allocation

Coding Sheet

The table on the following page can serve as a general coding sheet for the
DM area. For a more detailed table describing the functions of all of the bits
in the DM area, see Appendix C DM Area Allocations.

The numbers shown for the DM words in the following table represent only
the final two digits of each word number. In other words, the first two digits
(which would be the same for all words) are not shown. The value of the first
two digits can be obtained by computing the first DM word allocated to the
Unit. This word, designated m, is equal to 1000 plus 100 times the unit num­ber. Thus, for example, it would be 1000 for Unit #0, 1100 for Unit #1, and so
on.

DM Area Allocation Section 3–7

34

00
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33

15 00 Function W

Initial position nos.;
speed nos.

Origin compensa­tion and direction

Backlash com­pensation

CW
limit

CCW
limit

Zone 0 CW limit

Zone 0 CCW limit

Zone 1 CW limit

Zone 1 CCW limit

Zone 2 CW limit

Zone 2 CCW limit

Not used

Positioning
action #0

0

Positioning
action #1

1

Positioning
action #2

2

Positioning
action #3

3

Transfer no.Transfer no.

15 00W Function

Positioning
action #4

4

Positioning
action #5

5

Positioning
action #6

6

Positioning
action #7

7

Positioning
action #8

8

Positioning
action #9

9

Positioning
action #10

10

Positioning
action #11

11

Positioning
action #12

12

Positioning
action #13

13

Positioning
action #14

14

34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66

67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99

W 15 00 Function

Positioning
action #15

15

Positioning
action #16

16

Positioning
action #17

17

Positioning
action #18

18

Positioning
action #19

19

Speed #1
Speed #2
Speed #3
Speed #4
Speed #5
Speed #6
Speed #7
Speed #8
Speed #9
Speed #10
Speed #11
Speed #12
Speed #13
Speed #14
Speed #15
Speed units
Acceleration
Deceleration

20

21

22

23

24

25

DM Area Allocation Section 3–7

35

3–7–1 Zones

Up to three zones can be set in the DM area. If one or more zones have
been set, zone flags in the IR area can be used to determine if the present
position is within any established zones. A zone flag is ON (1) when the pre­sent position is within the zone; OFF (0) when it is not. Zones can be set to
cover a wide range of positions or narrowed to cover only part of a single po­sitioning action. Zones can also be set to overlap, if target. For application
example, see programming example 8 in Section 5.

CW and CCW Limit
Settings

The CW and CCW limits for any one zone are set in separate word pairs, i.e.,
four words total are required to establish one zone. These words are allo­cated as follows:

Zone 0 CW limit: m+9 and m+10, 7 digits with direction
Zone 0 CCW limit: m+11 and m+12, 7 digits with direction
Zone 1 CW limit: m+13 and m+14, 7 digits with direction
Zone 1 CCW limit: m+15 and m+16, 7 digits with direction
Zone 2 CW limit: m+17 and m+18, 7 digits with direction
Zone 2 CCW limit: m+19 and m+20, 7 digits with direction
Note that the CW limit for any of the zones can be on the CCW side of the

origin; the CCW limit, on the CW side. In other words, a zone can either
cross the origin or be completely on one side of it. An alarm will be gener­ated, however, if the CCW limit of a zone is set on the CW side of the CW
limit.

Zone 0 CW limit

CCW

Origin

CW

0

Zone 1 CCW limit

Zone 0 CCW limit

Inside zone

Inside zone

Zone 1 CW limit

Positioning axis

Example 1: Correct Setting

Zone 0 CCW limit

CCW

Origin

CW

0

Zone 0 CW limit

Positioning axis

Example 2: Incorrect Setting

DM Area Allocation Section 3–7

36

Zone Flags

When the present position is in one or more of the zones, zone flags in the IR
area are turned ON (1). The PC’s scan time, however, can produce a delay in
indication during pulse output. Flag allocations are as follows:

0 Outside zone
1 Inside zone

08

n+5

0706

Zone 0 flag
Zone 1 flag
Zone 2 flag

3–7–2 Backlash Compensation

Backlash compensation can be used to compensate for the amount of me­chanical play present in gears, particularly when the direction of positioning
actions changes.

Setting Parameters

There is only one parameter that needs to be set to compensate for back­lash:

Backlash Compensation
DM word m+4
Set to between 0000 and 9999 pulses.

Backlash

DM Area Allocation Section 3–7

37

Using Backlash
Compensation

When the feeding direction is reversed, the number of pulses set in DM area
is output at the initial speed, and the Unit then proceeds with normal opera­tions.

Time

Compensation

If STOP is executed during backlash compensation for any operations requir­ing acceleration or deceleration (HIGH-SPEED JOG, ORIGIN SEARCH,
ORIGIN RETURN, and START), the Unit will stop feeding immediately after
outputting the initial step of the acceleration or deceleration, which will in­clude the backlash compensation set above.

Stop position

Time

STOP executed

Compensation

3–7–3 Internal CW/CCW Limits

Limits on the CW and CCW sides of the origin can be set internally to restrict
Unit operation to within these limits.

CCW

Internally set value of CCW limit

0

Internally set value of CW limit

CW

Positioning axis

Internal CW Limit

DM words m+6 through m+5, 7 digits
Set to between 1 and 8388606.

Internal CCW Limit

DM words m+8 through m+7, 7 digits
Set to between 1 and 8388607.
The following values will be automatically set if the internal limit settings are

0.
CW: 8388607
CCW: 8388608

Operation

START (Positioning Actions)

DM Area Allocation Section 3–7

38

If either of these limits is reached during execution of positioning actions,
pulse output will stop, and an error code, either 5030 or 5031, will be gener­ated.

Manual Operation

If either of these limits is reached during execution of LOW-SPEED JOG,
HIGH-SPEED JOG, or INCH, pulse output will stop, and an error code, either
5070 or 5071, will be generated.

3–7–4 Data Calculations

Speeds

Slight differences exist between speeds set in the DM area and actual
speeds. These differences do not affect positioning accuracy.

Settings between 201
and 99,990 pps

where,
INT: Nearest integer
INT(4,000,000/set value): Divider ratio
pps: pulses per second

Actual speed (pps) =

4,000,000

INT(4,000,000/set value)

Pulse output (actual speed)

4 MHz

Divider

A 4-MHz source clock is divided by the integral divider ratio.

Example Values

Set Value (pps) Actual Speed (pps)

99,900 100,000.00
70,000 70,175.44
40,000 40,000.00

9,999 10,000.00
2,400 2,400.96

201 201.01

DM Area Allocation Section 3–7

39

Settings between 1 and
200 pps

Actual speed (pps) =

62,500

INT(62,500/set value)

62.5 KHz

Pulse output (actual speed)

Divider

A 62.5-KHz source clock is divided by the integral divider ratio.

Example Values

Set Value (pps) Actual Speed (pps)

200 200.32
120 120.19

Trapezoidal Accelera­tion/Deceleration

An internal calculation process is used to create a trapezoidal figure from
speed, acceleration, and deceleration settings.

Speed

Time

When accelerating or decelerating between two speeds, the speed is varied
every unit time in a stepwise fashion. To achieve this, acceleration and decel­eration tables are created internally when the Unit is first operated or when
TRANSFER DATA is used to alter data.

DM Area Allocation Section 3–7

40

Table Creation

The internal processing of the Position Control Unit is as follows during table
creation.

1, 2, 3... 1. The speed difference, ∆V, is obtained to express the range of speed set-

tings.

∆

V = MAX – MIN

where,
MAX: Twice the maximum set value (not to exceed 100,000).
MIN: Speed indicated by initial speed number.

2. The number of division steps, L, is determined such that the unit time for

each step is 4 ms. The maximum number of steps is 250.

L = (∆V/R)

where,
R: Acceleration or deceleration data, whichever greater.

∆V/R: Acceleration (or deceleration) time between MAX and MIN

4

3. Next, the speed difference (∆υ) for each step is obtained.

∆υ

= (∆V/L)

4. The divider ratios for all steps are calculated and set in a table.

Step

Target (step) speed Division ratio

1 MIN
2 MIN +

∆υ

3 MIN + 2 x ∆υ

L MAX

5. Example
Start speed 0 (pps)

Maximum value of speed data Nos. 1 to 15 20000 (pps)
Acceleration 100 (pps/1ms)
Deceleration 100 (pps/1ms)

DM Area Allocation Section 3–7

41

∆υ = 40000/100 = 400

∆V = 20000 x 2 = 40000

L = (∆V/R) = (40000/100) = 100

44

pps
40000
39600
39200
38800
20400
20000
19600
19200
1600
1200
800
400

4812

192

196

200

204 388 396

392 400

t (Time)

ms

υ (Speed)

400

4 ms

R = 400= 100

4

START Activation Time

The time required between START command bit recognition and the begin­ning of pulse output is 0.1 second or less.

Only about 10 ms is required to begin execution of positioning actions with
”single” positioning actions.

External Interrupt
Response Time

The time required between CHANGE SPEED or STOP command bit recogni­tion and the beginning of execution is at least 10 ms.

Data Transfer Time

When executing TRANSFER DATA, the busy flag (bit 12 of word n + 5) will
be ON during data transfer and processing for the following time periods:

Positioning Action Data Only (positioning actions #0 through #19)

Maximum: 0.1 s + k (scan time)

When Speed Data (Transfers #20 through #25) Are Included

Maximum: 0.2 s + k (scan time)

DM Area Allocation Section 3–7

42

The value of ”k” depends on the number of transfers being made, as illus­trated in the following table.

Number of transfers k

1 to 6 1
7 to 13 2
14 to 20 3
21 to 26 4

Influence on
PC Scan Time

Mounting one Position Control Unit on a PC extends the PC’s scan time by
about 3 ms. In addition, when transferring data, the scan time during which
data is transferred increases by another 5 ms. For example, to transfer all 20
positioning actions, TRANSFER DATA only needs to be executed once, but
both the PC and Position Control Unit require 3 scans. Each of these 3 scan
times will be 5 ms longer than the normal scan time.

DM Area Allocation Section 3–7

43

SECTION 4

Commands

The Positioning Control Unit provides thirteen commands to execute automatic and manual positioning actions, define
and establish position, transfer data, and handle interrupts and errors. Although the data required for execution is listed
under each command, much of this data is used by more than one command. Refer to 3–4 Data Configuration and Allo-
cation for an outline of the structure of Unit data, and to 3–5 IR Area Data Format for format specifications for particular
types of data. Appendix C DM Area Allocations and Appendix D IR Area Allocations also provide convenient overviews
of data allocation. Applications of most commands are presented in Section 5 Programming Examples.

4–1 Start 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–1–1 DM Area Settings 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–1–2 IR Area settings 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–1–3 Execution Examples 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–2 Origin Search 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–2–1 DM Area Settings 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–2–2 IR Area Settings 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–2–3 Execution Examples 57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–2–4 Completion Examples 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–3 Origin Return 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–3–1 DM Area Settings 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–3–2 IR Area Settings 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–3–3 Execution Example 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–4 Release Prohibit 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–4–1 Execution Examples 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–5 Read Error 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–5–1 Execution Example 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–5–2 Reading from the Programming Console 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–6 Reset Origin 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–7 Teach 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–7–1 IR Area Settings 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–7–2 Execution Example 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–7–3 Teaching from the Programming Console 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–8 Transfer Data 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–8–1 Normal Transfer 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–8–2 IR Area Settings 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–8–3 Present Position Preset 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–9 Manual Operations 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–9–1 DM Area Settings 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–9–2 IR Area Settings 79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–9–3 High-speed Jog 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–9–4 Low-speed Jog 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–9–5 Inch 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–10 External Interrupt Commands 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–10–1 Stop 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–10–2 Change Speed 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

44

4–1 Start

The START command bit, bit 00 of word n, is set to begin execution of posi­tioning actions (effective on signal’s rising edge). The actions are executed in
order from either the initial positioning action designated in the DM area or
that designated in the IR area. Positioning actions are executed in order until
a ”single” or ”bank end” positioning action is reached, at which time START is
again required in order to begin execution of positioning actions.

When a bank end positioning action is reached or when positioning action
#19 has been performed, the initial positioning action designated in the DM
area is performed next. The valid initial positioning action and completion
codes (i.e., single, pause, continuous, bank end, and extended) are de­scribed later in this subsection.

4–1–1 DM Area Settings

Bits 1000 to 1999 of the DM area of the PC are used as data storage areas
for the Position Control Unit, storing data such as initial positioning action
numbers, initial speed numbers, speed data, acceleration/deceleration data,
position data, completion codes, dwell times, and output codes. (Refer to 3–4
Data Configuration and Allocation for details.)

Initial Positioning Action
Number

DM word m, bits 07-00
Set to a value between 00 and 19. This number is used at:

• Initial START after turning on the Unit (if bit 01 of word n is 0)

• START after bank ends

• START after completion of positioning action #19

If bit 01 of word n is 1, the initial positioning action number designated in the
IR area is used for the initial START after turning on the Unit, allowing for a
different starting point for positioning system initialization.

x101x10

0

m

(m = 1000 + 100 x unit number)

11 08 07 00

Initial positioning action number

Initial speed number

Initial Speed Number

DM word m, bits 11-08
Set to a value between 0 and F (hex). An initial speed number of 0 indicates

a speed of 0. All the other speed numbers set here refer to the speeds set in
DM words m+82 through m+96.

Start Section 4–1

45

Acceleration

Acceleration

Time

Target speed Target speed

Initial speed #0 Initial speed number

other than 0

Speeds

DM words m+82 through m+96
Set each word to a value between 0000 and 9999 pps (4 digits)
Each of these values, when multiplied by the relevant speed unit in word

m+97, is referred to by number to set speeds for this and several other com­mands.

15 00

m+82

to

m+96

m+97

Bit number

x10

3

x10

3

15 00

x10

2

x10

2

x10

1

x10

1

x10

0

x10

0

Speed No. 1

to

Speed No. 15

Set speeds in BCD from
0000 to 9999.

0

Speed Units

DM word m+97
Each of the bits in this word is assigned to one of the speeds set in words

m+82 through m+96. If the bit is set to 0, the speed is multiplied by 1; if the
bit is set to 1, then the speed is multiplied by, by 10. Bit assignments are as
follows:

Bit 00 is not used. Bit 01 is assigned to speed #1, bit 02 to speed #2, bit 03 to
speed #3, and so on, up to bit 15.

Acceleration

DM word m+98, bits 11-00, 3 digits

Acceleration is in pps per ms.

Deceleration

DM word m+99, bits 11-00, 3 digits

Deceleration is in pps per ms.

Positioning Actions

DM words m+22 through m+81

Start Section 4–1

46

Positioning actions (or sequences) consist of a completion code, dwell time,
output code, speed number, and target position. These actions are generally
referred to by number and completion code. For example, ”#6, continuous”
indicates positioning action #6 with a completion code of 2 (continuous). The
settings for positioning action #0, DM words m+22 through m+24, are ex­plained below. The same procedure is followed for any other positioning ac­tion. See Appendix C DM Area Allocations for detailed word and bit alloca­tions.

Completion Code

DM word m+22, bits 03-00
Set to between 0 and 4 to specify the five types of completions (described

below). See also 4–1–3 Execution Examples.

m+22

03 to 00

Completion code: 0 to 4

0: Single

The target position and target speed are reached and feeding stops. After
completion of this action, START is necessary in order to to execute the next
positioning action(s).

Initial speed

Acceleration

Target speed

Deceleration

Stop from initial speed

Target position

Time

START

1: Pause

The target position and target speed are reached, and the next positioning
action is automatically started following the dwell time.

Target speed

Dwell time

Start of next positioning action

Time

START Pause

Start Section 4–1

47

2: Continuous

As soon as the target position for the first positioning action is reached, the
next positioning action is started. The first target position is reached at the
target speed set for the next positioning action, so that the next positioning
action can be executed immediately.

Time

Target position for first
positioning action

Target speed for first
positioning action

START

Target speed for next po­sitioning action

3: Bank end

The term ”bank” refers to a combination of several positioning actions or se­quences. The target position and target speed are reached and feeding
stops. The next positioning action to be executed will be the initial positioning
action number in bits 07-00 of DM word m. START is required in order to re­sume execution of positioning actions.

Target speed

Stop

Time

START

4: Extended

The Unit continually outputs pulses at the speed set for the positioning ac­tion. The Unit will not calculate the present position, and the no-origin flag (bit
11 of word n+5) will go ON during operation. The direction of pulse output is
determined by the direction digit set in the positioning data. (See Appendix C
DM Area Allocations.) Extended positioning actions are terminated with
STOP. START is required in order to resume execution of positioning actions.

Stop

Time

STOP executed

START

Target speed

Dwell Time

DM word m+22, bits 07-04
Set to a value between 0 and F (hex). (Unit: 0.1 s)

Start Section 4–1

48

The next action can be executed when the busy flag turns OFF after the
dwell time has expired. In other words, the positioning completed flag re­mains OFF and the busy flag remains ON until the dwell time has expired.
(See 4–1–3 Execution Examples.)

Output Code

DM word m+22, bits 11-08
Set to an integer between 0-F (hex).
These codes can be set as target by the user. Upon completion of the posi-

tioning action, they are output to word n+7 bits 11-08, of the OUT refresh
area.

m+22

15 to12 11 to 08

Positioning action
number

n+7

x10

1

x10

0

11 to 08 07 to 00

Output code: 0 to F (hexadecimal)

(Output to word n+7, bits 11 to 08.)

Target speed number: 1
to F (hexadecimal)

Target Speed Number

DM word m+22, bits 15-12
Set to a value between 1 and F (hex).
The speed number set here refers to the speeds set in DM words m+82

through m+96.

Target Position

DM words m+23 through m+24
The target position is set with the lowest seven digits, i.e., all four digits of

word 23 and the lowest three digits of word 24. The remaining digit of word

Start Section 4–1

49

24 is used as a direction digit. (See Appendix C DM Area Allocations.)

m+24

15 00

m+23

x10

3

x102 x10

1

x10

1

x10

0

Sign

x10

6

x10

5

x10

4

m+24 m+23

Direc­tion

x10

6

x10

5

x10

4

x10

3

x10

1

x10

0

CW absolute value
CCW absolute value
CW increment
CCW increment

0
1

2

3

Maximum values are as follows:
CW: 8388606 pulses
CCW: 8388607 pulses

Absolute values are measured from the origin. Increment values are meas­ured from the present position. Positions resulting from increments must be
between –8,388,607 and +8,388,606.

8388607

CCW

(Origin)

0

CCW direction
increment value

Present
position

CW direction
increment
value

8388606

Absolute
value

CW

Note that the TEACH command can be used to write target positions into the
DM area. See 4–7 TEACH for details.

4–1–2 IR Area settings

In C200H PCs, IR words 100 to 199 are used for Special I/O Units. When a
Position Control Unit is used, they are allocated as I/O refresh areas. For a
detailed explanation, see 3–4 Data Configuration and Allocation. For a de­tailed table of words and bits in the IR area, see Appendix D IR Area Alloca-

Start Section 4–1

50

tions.

n

15 07 0100

START
Valid initial positioning action number

V alid speed coefficient
STOP

START

word n, bit 00
When bit 00 is ON (i.e., set at 1), bits 01 and 07 are referred to and position-

ing begins.

Valid Initial Positioning
Action Number

word n, bit 01
This is used when the initial positioning number is designated in the I/O re-

fresh areas. After the initial position is set with bits 07 to 00 of word n+1, the
START command is set with this bit These values are set within the same
scan.

1: Initial position number set in bits 07-00 of IR word n+1 is

valid.

0: Initial position number set in bits 07-00 of DM word m is

valid.

Valid Speed Coefficient

word n, bit 07
This is used when the target speed of the positioning action is multiplied by a

coefficient . After the speed coefficient is set with bits 07 to 00 of word n+2,
the START command is set with this bit. These values are set within the
same scan. This bit can function simultaneously with bit 01 (described
above).

1: Coefficient in bits 07-00 of word n+2 is valid.
0: Coefficient is 1.0.

Deceleration/Stop
Command (STOP)

word n, bit 15
This bit turns ON when STOP is executed during pulse output. Pulse output

cannot be executed as long as this bit remains ON. See 4–10–1 STOP for a
more detailed explanation and several STOP execution examples.

Initial Positioning Action
Number

word n+1, bits 07-00
Set to an integer between 00 and 19.
START will be executed from the positioning action number specified here if

bit 01 of word n is 1 when the START command bit (bit 00 of word n) is set.

Start Section 4–1

51

Speed Coefficient

word n+2, bits 07-00
Set a value between 00 and 20 (in units of 0.1). In other words, a setting of

15, for example, will represent an actual value of 1.5.
This coefficient is valid if bit 07 of word n is 1 when the START command bit

(bit 00 of word n) is set. It is valid only during START and cannot be changed
during an operation.

The speed coefficient represents the coefficient with regard to the target
speed. If the value is set at 00, the speed will be considered to be 100 and a
coefficient of 1.0 will be used. If the value is set anywhere from 01 to 20, the
set value will be multiplied by 0.1 to determine the coefficient. The speed co­efficient can thus be set in increments anywhere from 0.1 to 2.0.

If the speed resulting from the coefficient exceeds 100 kpps or falls below 1
kpps, the speed will be set at 100 kpps or 1 kpps, respectively. Speed coeffi­cients will have no effect on accelerations and decelerations.

Speed

Coefficient: of 1.5

Coefficient: of 0.5

Acceleration

Time

Target speed (coefficient
not used or set at 1.0)

4–1–3 Execution Examples

Example 1: Using
Completion Codes

In example diagram on the following page, the initial position and the target
position at bank end are the same and the valid initial positioning action num­ber is 0. Positioning actions in these and all following diagrams are indicated
simply by their numbers.

Start Section 4–1

52

CCW

Initial position

CW
positioning axis

START

START

START

START

#0

#1

#2 #3

#4

#6

#5

Pause

The completion code for positioning action #0 is set at 0, making it a single
action. Positioning stops after completion of this action, and START is neces­sary for operation to begin again.

The completion codes for positioning actions #1 and #2 are set at 2, making
them continuous actions. Positioning actions #1, #2, and #3 are thus exe­cuted consecutively, with each action reaching its target position at the target
speed set for the subsequent action. The completion code for positioning ac­tion #3 is set at 0, making it a single action and causing positioning to stop
after completion of this sequence of actions.

The completion code for positioning action #4 is set at 1, making it a pause
action. Upon completion of this action, there will be a pause (set as dwell
time); following the pause, the next positioning action will start automatically.
Positioning actions #4 and #5 are thus executed consecutively, with a preset
pause in between. Since the completion code for positioning action #5 is set
at 1 (single), positioning will stop after completion of this sequence.

The completion code for positioning action #6 is set at 3, making it a bank
end. Completion of this action will thereby signal completion of the entire
bank of actions. Upon completion of this action, the Unit will be prepared to
execute positioning action #0 but will wait for START before beginning.

Refer to the more detailed example diagrams on the following page.

Start Section 4–1

53

Stop

Completion code

m+22

m+25

m+28

m+31

m+34

m+37

m+40

Positioning
action #0

0

2

2

0

1

0

3

Pause

Single

Bank end

Pulse output

CW

CCW

Pulse output

CW

CCW

Pulse output

CW

CCW

Automatic start

Time

Time

Time

Single

Continuous

Continuous

Stop

Stop

Pulse output

CW

CCW

Time

Single

Positioning
action #1

Positioning
action #2

Positioning
action #3

Positioning
action #4

Positioning
action #5

Positioning
action #6

#0

#1

#2

#3

#4

#5

#6

START

START

Pause

START

START

Stop, wait for #0 START

Start Section 4–1

54

Example 2:
Using Dwell Time

In this example, the completion code for positioning action #1 is set at 1
(pause), with the dwell time set at 0.5 s. The completion code for positioning
action #2 is set at 0 (single), with the dwell time set at 1.0 s.

Pulse output

1
0

1

0

1

0

0.5 s 1.0 s

Time

#1

#2

START
(word n, bit 00)

Positioning completed
flag (word n+5, bit 00)

Busy flag
(word n+5, bit 12)

Example 3: Using START
With Single or Bank End
Positioning Actions

Positioning sequences combining several pause and/or continuous position­ing actions normally are ended by a single or bank end positioning action.
When the last positioning action is completed, including any dwell time desig­nated for it, the positioning completed flag turns ON and busy flag turns OFF.
START is then required to begin further execution of positioning actions.
START is also required to restart operation after the STOP command has
been executed. (See 4–10 External Interrupt Commands for details and ex­amples.)

Start Section 4–1

55

ST ART command
word n, bit 00

Pulse output

Time

1
0

1
0
1

0

When positioning ends, the positioning
action number is changed as follows:

2103

Output
code of
action #0 action #1 action #2

code of code of

Output Output

#0, single

#1, continuous

#2, single

Positioning completed flag
word n+5, bit 00

Busy flag
word n+5, bit 12

Positioning action number
word n+7, bits 07-00

Output code
word n+7, bits 08-11

4–2 Origin Search

The ORIGIN SEARCH command bit, bit 02 of word n, is set to establish the
position of the origin through inputs from an origin sensor and, if provided, an
origin proximity sensor (effective on signal’s rising edge). Before using ORI­GIN SEARCH, set the DIP switch as described in 2–1 Switch Settings to es­tablish the direction from which the search will be made, the presence or ab­sence of a proximity sensor, and the type of input used.

4–2–1 DM Area Settings

In addition to the settings described in detail in this section, the data listed
below must also be set in order to execute ORIGIN SEARCH. They are the
same as those set for START, so they can be set by following the instructions
contained in 4–1 START.

Initial Speed Number Bits 11-08 of DM word m
SpeedsDM words m+82 through m+96
Speed Units DM word m+97
Acceleration Bits 11-00 of DM word m+98
Deceleration Bits 11-00 of DM word m+99

Origin Search Section 4–2

56

ORIGIN SEARCH
Proximity Speed Number
(Low Speed)

DM word m+1, bits 03-00
Set to an integer between 1-F (hex). The speed number set here refers to

one of the speeds set in DM words m+82 through m+96. It cannot be set
higher than the ORIGIN SEARCH high speed number. If there is no origin
proximity signal, the speed designated here is used for the entire ORIGIN
SEARCH operation.

ORIGIN SEARCH
High Speed Number

DM word m+1, bits 07-04
Set to an integer between 1-F (hex). The speed number set here refers to

one of the speeds set in DM words m+82 through m+96. The speed desig­nated here is used only if an origin proximity signal is present.

Origin Compensation

DM words m+2 and m+3
Set word m+2 to a value between 0000 and 9999 pulses.
Set bit 00 of word m+3 to set the direction of compensation:

0: CW
1: CCW

If the position determined by origin signal input is to be treated as the origin
(position 0), set word m+2 to 0. Otherwise set the value and direction neces­sary to obtain the required origin. If there is an origin compensation value set
in word m+2, then, after reaching the position determined by origin signal
input, compensation will be executed at proximity speed in the direction set
at bit 00 of word m+3. See the example given below and 4–2–3 Execution
Examples for application.

In the example diagram below, bit 00 of word m+3 is set at 1, so origin com­pensation is counterclockwise.

Proximity signal

Origin signal

Pulse output

CCW

Deceleration

Search direction: CCW

Acceleration

Initial speed

positioning axis

Compensation

CW

ORIGIN SEARCH high speed

0.5 s pause

Proximity speed

Proximity speed

4–2–2 IR Area Settings

In C200H PCs, IR words 100 to 199 are used for Special I/O Units. When a
Position Control Unit is used, they are allocated as I/O refresh areas. For a
detailed explanation, see 3–4 Data Configuration and Allocation. For a de­tailed table of words and bits in the IR area, see Appendix D IR Area Alloca-
tions.

Origin Search Section 4–2

57

In the IR area, the ORIGIN SEARCH command is set with bit 02 of word n.
ORIGIN SEARCH begins when this bit is turned ON.

n

02

(n = 100 + 10 x unit number)

ORIGIN SEARCH command bit
(ORIGIN SEARCH is started at the leading edge of
this bit.)

4–2–3 Execution Examples

Search Patterns With
Origin Proximity Signal

There are basically three possible search patterns when an origin proximity
signal is present (i.e., when DIP switch no. 3 is ON). The pattern executed
depends on the position of the origin with respect to the starting position and
search direction. N.O. inputs are used in the following example diagrams.

Example 1

The first diagram illustrates the simplest search pattern, i.e., that in which
both the origin proximity and origin signal activation points are in the search
direction from the initial position.

Origin proximity signal

1
0

1

0

Origin signal

Deceleration

Proximity speed

Origin (Stop)

Search direction (CCW)

CCW

CW

Positioning axis

ORIGIN SEARCH (Begin)

High speed

Acceleration

Initial speed

Example 2

When beginning ORIGIN SEARCH from inside the activation points for the
origin proximity signal, the Unit first feeds beyond the activation point, and

Origin Search Section 4–2

58

then begins searching in the search direction.

Origin proximity signal

1
0

1

0

Origin signal

Proximity speed

Origin (Stop)

Search direction (CCW)

CCW

CW

Positioning axis

ORIGIN SEARCH (Begin)

Example 3

When reaching the CW or CCW limit during ORIGIN SEARCH, the Unit
pauses for 0.5 s, returns beyond the activation point for the origin proximity
signal, and then begins searching in the search direction.

Origin proximity signal

1
0

1

0

Origin signal

Proximity speed

Origin (Stop)

Search direction (CCW)

CCW

CW

Positioning axis

ORIGIN SEARCH (Begin)

Deceleration

Deceleration

Acceleration

Acceleration

CW limit

High speed

0.5 s

Search Patterns Without
Origin Proximity Signal

When an origin proximity signal is not present, only the ORIGIN SEARCH
proximity speed is used for ORIGIN SEARCH. This affects the three search

Origin Search Section 4–2

59

patterns only by eliminating accelerations and decelerations. All other as­pects remain the same.

Example 1

The first diagram illustrates the simplest search pattern, as in Example 1
above.

Origin signal

1
0

Proximity speed

Search direction (CCW)

ORIGIN SEARCH (Begin)Origin (Stop)

Positioning axis

CWCCW

Example 2

As in Example 2 on the previous page, when beginning ORIGIN SEARCH
from inside the activation points for the origin proximity signal, the Unit first
feeds beyond the activation point, and then begins searching in the search
direction.

1
0

Origin signal

CCW

ORIGIN SEARCH (Begin)

Origin (Stop)

Search direction (CCW)

CW

Positioning axis

Example 3

As in Example 3 on the previous page, when reaching the CW or CCW limit
during ORIGIN SEARCH, the Unit pauses for 0.5 s, returns beyond the acti­vation point for the origin proximity signal, and then begins searching in the
search direction.

Origin signal

1
0

CCW CW

Positioning axis

0.5 s

Search direction (CCW)

CCW limit

ORIGIN SEARCH (Begin)

Origin (Stop)

Origin Search Section 4–2

60

4–2–4 Completion Examples

Completion Patterns
With an Origin Proximity
Signal

The following two example diagrams both illustrate completion of ORIGIN
SEARCH when an origin proximity signal is present (i.e., when DIP switch
no. 3 is ON). There is an origin compensation value set in the second exam­ple, but not in the first.

Example 1: Without
Origin Compensation

Origin proximity signal

Origin signal

Pulse output

1

0

1
0

High speed

Deceleration

Proximity speed

Time

At-origin flag
word n+5, bit 02

No-origin flag
word n+5, bit 11

Busy flag
word n+5, bit 12

1

0

1
0

1
0

Origin Search Section 4–2

61

Example 2: With Origin
Compensation

Proximity speed

0

1
0

1

0

High speed

Deceleration

0.5 s

Movement equivalent to compensation
value

Time

1
0

1
0

1

Origin proximity signal

Origin signal

Pulse output

At-origin flag
word n+5, bit 02

No-origin flag
word n+5, bit 11

Busy flag
word n+5, bit 12

Origin Search Section 4–2

62

Completion Patterns
Without an Origin
Proximity Signal

The following two example diagrams both illustrate completion of ORIGIN
SEARCH when no origin proximity signal is present (i.e., when DIP switch
no. 3 is OFF). There is an origin compensation value set in the second exam­ple, but not in the first.

Example 1: Without
Origin Compensation

1
0

Proximity speed

Time

1
0

1

0

1
0

Origin signal

Pulse output

At-origin flag
word n+5, bit 02

No-origin flag
word n+5, bit 11

Busy flag
word n+5, bit 12

Origin Search Section 4–2

63

Example 2: With Origin
Compensation

Proximity speed

0

1
0

0.5 s

Movement equivalent to compensation value

Time

1
0

1

0

1

Origin signal

Pulse output

At-origin flag
word n+5, bit 02

No-origin flag
word n+5, bit 11

Busy flag
word n+5, bit 12

4–3 Origin Return

The ORIGIN RETURN command bit, bit 03 of IR word n, is set to return to
the origin (effective on signal’s rising edge). Because origin and origin prox­imity signals are not used, the present position relative to the origin must be
known. ORIGIN SEARCH or TRANSFER DATA (to preset the present posi­tion) must therefore be used to establish position before ORIGIN RETURN is
executed.

4–3–1 DM Area Settings

In addition to the ORIGIN RETURN speed number (described below), the
following data must also be set in order to execute ORIGIN RETURN. They
are the same as those set for START, so they can be set by following the in­structions contained in 4–1 START.

Initial Speed Number Bits 11-08 of DM word m
SpeedsDM words m+82 through m+96
Speed Units DM word m+97
Acceleration Bits 11-00 of DM word m+98
Deceleration Bits 11-00 of DM word m+99

ORIGIN RETURN Speed
Number

DM word m, bits 15-12
Set from 1 to F (hexadecimal).

Origin Return Section 4–3

64

4–3–2 IR Area Settings

The ORIGIN RETURN command is valid when bit 03 of word n is ON.

n

03

(n = 100 + 10 x unit number)

ORIGIN SEARCH command
ORIGIN SEARCH is started at the leading edge of this bit..

4–3–3 Execution Example

ORIGIN RETURN can only be executed when the origin (0) is known. As
shown in this example diagram, acceleration and deceleration automatically
form a trapezoidal pattern, stopping at the origin.

0

Pulse output

1
0

Initial speed

ORIGIN RETURN (Begin)

ORIGIN RETURN speed

Acceleration

Deceleration

Initial speed

Time

[IN refresh data area flags]

1
0

1

ORIGIN RETURN
word n, bit 03

At-origin flag
word n+5, bit 02

Busy flag
word n+5, bit 12

Origin (Stop)

Origin Return Section 4–3

65

4–4 Release Prohibit

When Position Control Unit operation is stopped as a result of input of an
emergency stop, CW limit, or CCW limit signal, (i.e., when the N.C. input of
any of these turns ON), further pulse output is prohibited. In order to resume
pulse output, it is necessary to cancel this prohibition by means of the RE­LEASE PROHIBIT command bit (bit 04 of word n) and release of the external
emergency stop switch.

External input pin no.

20

13

12

A

B

A

B

A
B

CCW

Emergency stop

CCW limit CW limit

CW

Positioning axis

Power sourc

e

0 V

24 V

Release Prohibit Section 4–4

66

4–4–1 Execution Examples

Example 1:
Emergency Stop

The present position is lost during an emergency stop, and positioning can­not be started again directly after RELEASE PROHIBIT. Execute ORIGIN
SEARCH before proceeding.

0

1
0

1
0

1
0

1
0

1
0

1

0

1

Input

6000

Time

Emergency stop signal

START
word n, bit 00

RELEASE PROHIBIT
word n, bit 04

Pulse output

Emergency stop flag
word n+5, bit 04

Error flag
word n+5, bit 05

No-origin flag
word n+5, bit 11

Busy flag
word n+5, bit 12

Alarm/error code
word n+6

ORIGIN SEARCH
word n, bit 02

1

0

0000

ORIGIN SEARCH (Begin)

Turned OFF upon completion
of ORIGIN SEARCH.

Release Prohibit Section 4–4

67

Example 2: Exceeding
CW or CCW Limit

The emergency stop flag is not affected by exceeding the CW or CCW limit.
When a limit is exceeded, only pulse output in the opposite direction is possi­ble. In other words, when the CW limit is exceeded, only CCW pulse output is
possible. Although a CCW HIGH-SPEED JOG is used to clear the CW limit
flag in the example, LOW-SPEED JOG or ORIGIN SEARCH may also be
used.

0

1
0

1
0

1
0

1
0

1

CCW

1
0

1
0

1
0

1
0

6100

Time

CW

CW limit signal

START
word n, bit 00

RELEASE PROHIBIT
word n, bit 04

HIGH-SPEED JOG
word n, bit 11

JOG direction
word n, bit 12

Pulse output

Error flag
word n+5, bit 05

No-origin flag
word n+5, bit 11

Busy flag
word n+5, bit 12

CW limit flag
word n+5, bit 13

Alarm/error code
word n+6

Release Prohibit Section 4–4

68

4–5 Read Error

The READ ERROR command bit, bit 05 of word n, is set to access error and
alarm codes when more than one of these is present (effective on signal’s
rising edge). The codes are consecutively output to word n+6. Errors and
alarms have separate flags, as follows:

15 00

Alarm flag: Set to 1 when an alarm code has been
generated

Error flag: Set to 1 when an error has occurred

Error code (or alarm code)

n+5

03

05

x10

3

x102 x101 x10

0

n+6

word n+6 shows four digits in BCD when displayed on the Programming
Console. If there are no errors or alarms, 0000 will be displayed. If there are
any errors or alarms, they will be displayed in code. The codes will be dis­played in order as READ ERROR is executed. (If there is only one code,
however, the display will not change when READ ERROR is executed.)

The error or alarm code (word n+6) is updated via I/O refreshing immediately
after the READ ERROR command bit is turned ON. The busy flag does not
turn ON. READ ERROR can be used within a signal scan.

For further information and details, refer to Section 6 Error Processing. For a
complete list of alarm codes, refer to Appendix A Alarm Code List.

4–5–1 Execution Example

The following diagram shows an example in which first the alarm code 1501
and then the error code 5000 are displayed.

1
0

1
0

1
0

Display will not change
because only one alarm
code has been generated.

1501

First alarm code

Display has been
changed because
another error code
has been gener­ated.

5000

Second error code

Display has been
changed because an
error code has been
read.

1501

First alarm code

READ ERROR
word n, bit 05

Alarm flag
word n+5, bit 03

Error flag
word n+5, bit 05

Alarm/error code
word n+6

Read Error Section 4–5

69

4–5–2 Reading from the Programming Console

The following example diagram (for Unit #1) shows how to read an alarm/er­ror code from the Programming Console.

Key sequence:Programming Console Display:

C106
1501

10005 C106
^OFF 1501

10005 C106
^OFF 5000

4–6 Reset Origin

The RESET ORIGIN command bit, bit 08 of word n, is set to redefine the pre­sent position as the origin (effective on signal’s rising edge).

Execution Example

1
0

1
0

1

0

1
0

Busy for 1 scan time

Present position changed to 0

RESET ORIGIN
word n, bit 08

At-origin flag
word n+5, bit 02

No-origin flag
word n+5, bit 11

Busy flag
word n+5, bit 12

Present position
word n+8 and n+9

4–7 Teach

When the origin and present position are defined (i.e., when the no-origin flag
is OFF), you can use TEACH to write the present position as fixed data into
the C200H PC’s DM area available for use by Special I/O Units. The TEACH
command bit, bit 09 of word n, is set to write the present position as the tar­get position for the designated positioning action. Data is set as absolute po­sitions, and not as increments. TEACH can be executed within a single scan.
The following diagram uses Unit #10 as an example.

Teach Section 4–7

70

Present
position

DM 1052

DM 1053

DM 1054

CCW

positioning axis

0

CW

Data set using TEACH is valid immediately and can be used for positioning
actions without turning off the power or transferring data. Note that data re­written using the Programming Console is not valid until data has been trans­ferred again.

4–7–1 IR Area Settings

In C200H PCs, IR words 100 to 199 are used for Special I/O Units. When a
Position Control Unit is used, they are allocated as I/O refresh areas. For a
detailed explanation, see 3–4 Data Configuration and Allocation. For a de­tailed table of words and bits in the IR area, see Appendix D IR Area Alloca-
tions.

Present Position

When the no-origin flag is OFF, and pulse output is stopped at the position to
be taught, the present position is set in words n+8 and n+9.

TEACH Positioning
Action Number

word n+1, bits 15-08
Set an integer between 00 and 19. The number set here indicates the posi-

tioning action under START for which the present position is to be set as the
target position.

TEACH Command Bit

word n, bit 09
TEACH is executed when this bit is ON.

Teach Section 4–7

71

4–7–2 Execution Example

1
0

1

0

1
0

TEACH positioning action no.
word n+1, bits 15-08

TEACH
word n, bit 09

Teaching completed flag
word n+5, bit 09

Busy flag
word n+5, bit 12

4 scans max.

4–7–3 Teaching from the Programming Console

The following example shows how to teach positions from the Programming
Console for Unit #0. It assumes that ORIGIN SEARCH has been executed,
and writes the present position into words DM 1053 and DM 1054 as an ab­solute position (i.e., relative to the origin).

Programming Console Display

Key sequence

10013
^ OFF

10013
^ ON

C101 10013
0000 ^ OFF

C101 10013
1000 ^ OFF

10013 C101
^ OFF 1000

10009 C101
^ OFF 1000

10009 C101
^ OFF 1000

Teaching Position Number

(Teaching ON/OFF)

4–8 Transfer Data

Use TRANSFER DATA when the set data automatically transferred from the
C200H PC to the Position Control Unit is insufficient. Although only the data
from the area designated for any particular Unit is automatically transferred,
TRANSFER DATA can be used to access data from any data area in the PC
In other words (as described in 3–4 Data Configuration and Allocation), Posi-
tion Control Units are consecutively allocated 100 words each from the DM

Transfer Data Section 4–8

72

area, and this data is automatically transferred. TRANSFER DATA, however,
can transfer data from other parts of the DM area as well as from the LR, HR,
and other areas.

C200H PC

DM 1500 to 1599

I/O memory

Automatically transferred at
start-up or restart via AR area
restart bit.

Position Control Unit #5

Data table

Parameters

Positioning
actions

Speeds

Acceleration

Deceleration

TRANSFER
DATA

IR area,
LR area,
HR area,
etc.

TRANSFER DATA can be executed either to rewrite positioning data set in
the Unit or to change the present position to any target position. The type of
transfer is determined by the following setting.

TRANSFER DATA type

IR word n+2, bit 15

1: Preset position
0: Normal transfer

If this bit is 0, then bits 15 through 08 of word n+2 determine the beginning
transfer number, as explained below. (Bit 15 of word n+2 will always be 0
when a beginning transfer number is designated. When this bit is set to 1,
bits 14 through 08 are ignored and only the present position is affected.) This
command can be executed within a single scan.

4–8–1 Normal Transfer

If bit 15 of word n+2 is 0, the TRANSFER DATA command bit, bit 10 of word
n, is set to transfer the positioning actions, speeds, acceleration, and decel­eration from a data area of the PC other than the one allocated to the Posi­tion Control Unit. Any data area in the C200H PC may be designated. This
data is directly transferred from the designated area to memory within the
Unit; the data set for the Unit in the allocated section of DM area is not af-

Transfer Data Section 4–8

73

fected. Parameters set in DM words m through m+21 are not changed when
TRANSFER DATA is executed.

Data Preparation

Up to 26 transfers (three words each) can be made each time TRANSFER
DATA is executed. Each transfer consists of one positioning action, three
speeds, or the speed units, acceleration, and deceleration. In any case, three
words are required for each transfer. This data must be prepared in a PC
data area in the required format and in consecutive words. (See Appendix C
DM Area Allocations for the content of each word/bit.)

Positioning action #0
Positioning action #1

Positioning action #19
Speed #1

Speed #2
Speed #3
Speed #4
Speed #5
Speed #6

Speed #13
Speed #14
Speed #15
Speed units
Acceleration
Deceleration

Data Area

DM area
DM area ( for

Special I/O Units)
I/O area
LR area
HR area
AR area

Words

0000 to 0999
1000 to 1999

000 to 255
000 to 63
00 to 99
00 to 27

Transfer #0
Transfer #1

Transfer #19

Transfer #20

Transfer #21

Transfer #24

Transfer #25

PC Data Areas Available for TRANSFER DATA

Position Control Unit’s Rewritten Data

4–8–2 IR Area Settings

In C200H PCs, IR words 100 to 199 are used for Special I/O Units. When a
Position Control Unit is used, they are allocated as I/O refresh areas. For a
detailed explanation, see 3–4 Data Configuration and Allocation. For a de­tailed table of words and bits in the IR area, see Appendix D IR Area Alloca-
tions.

Transfer Data Section 4–8

74

Beginning Transfer Num­ber

word n+2, bits 15-08
Set an integer between 00 and 25.
This number indicates the position where the first transfer is to be made. The

designated number of transfers will be transferred continuously from this
point.

See Appendix C DM Area Allocations for the words transferred with each
transfer number.

Beginning Word
Number

word n+3, bits 15-00
This is the first word in the PC data area that is to be transferred into the Po-

sition Control Unit beginning at the transfer number designated above. The
beginning word and ending word (computed from the number of transfers)
must be within one of the data areas designated during data preparation.
(See Data Preparation under 4–8–1 Normal Transfer.)

PC Data Area

word n+4, bits 07-00
Set the data area (in four digits BCD) from which the transfer is to be made.

15 00

Data Area
00
01
02
03
04

n+3

n+4

n+4 n+3

x10

3

x102 x101 x100 x101 x100 x101 x100

DM
I/O
LR
HR
AR

Beginning word number

Set a word
number in
4-digit BCD
code

Number of transfers

Number of Transfers

word n+4, bits 15-08
Set an integer between 01 and 26.

TRANSFER DATA
Command Bit

word n, bit 10
After the above settings are made, TRANSFER DATA is executed with this

bit. This can all be done in one scan.

Transfer Data Section 4–8

75

Execution Example
(Normal Transfer)

This example assumes that bit 15 of word n+2 is 0.

Set necessary information in IR area.

1

0

1
0

1

0

Data transfer Data processing

Preparation of data
in PC’s data areas

Beginning transfer number
word n+2, bits 15-08

Beginning word number
word n+3

PC data area/no. of transfers
word n+4

TRANSFER DATA
word n, bit 10

Transfer completed flag
word n+5, bit 10

Busy flag
word n+5, bit 12

4–8–3 Present Position Preset

If bit 15 of word n+2 is 1, the TRANSFER DATA command bit, bit 10 of word
n, is set to either preset or change the present position. This command can
be used to eliminate the need to execute ORIGIN SEARCH to establish posi­tion. Since the origin, present position, and so on, are not known when the
Unit is powered up, it is ordinarily necessary to execute ORIGIN SEARCH
first. However, when you want to know the absolute position and set a par­ticular numerical value, you can use the preset function.

Retaining Present
Position

No data is retained in the Position Control Unit once power is turned OFF.
When the present position needs to be retained, copy it (words n+8 and n+9)

Transfer Data Section 4–8

76

to either the HR or DM area, and then restore by using TRANSFER DATA
the next time the Unit is powered up.

The following programming example shows word n+8 data moving to word
HR 00 and word n+9 data moving to word HR 01. If there is no origin, bit 11
of word n+5 (the no-origin flag) turns ON (goes to 1). As long as there is an
origin and the present position data is valid, the present position will be trans­ferred.

0 CW
1 CCW

n+8

n+9

15 00

x10

3

x102 x101 x100

x10

6

x105 x104

n+9 n+8

x10

3

x102 x101 x100 x106 x105 x104

XFER (70)

#0002
n+8

HR 00

x10

3

x102 x101 x100

x10

6

x105 x104

Sign

HR 00

HR 01

n+5, bit 11

Direc­tion

Direc­tion

Data Preparation

Data must be prepared in the same manner as for normal execution of
TRANSFER DATA, except that only two words indicating the target position
are necessary.

Present Position
Preset Bit

word n+2, bit 15
Set this bit to 1 in order to use the preset function. If this bit is set to 0, the

beginning transfer number is set in bits 15-08 as described in Beginning
Word Number under 4–8–2 IR Area Settings.

Beginning word
Number

word n+3, bits 15-00
This number indicates the first of the two words to be transferred in as the

present position. The two words must be within one of the data areas desig­nated for Data Preparation toward the beginning of 4–8–1 Normal Transfer.

Transfer Data Section 4–8

77

PC Data Area

word n+4, bits 07-00
Set the data area (in four digits BCD) from which the transfer is to be made.

Data Area
00
01
02
03
04

n+3

n+4

15 00

n+4 n+3

x10

3

x102 x101 x100 x101 x100 x101 x100

DM
I/O
LR
HR
AR

Beginning word number

Set a word
number in
4-digit BCD
code

Number of transfers

TRANSFER DATA
Command Bit

word n, bit 10
After the above settings are made, TRANSFER DATA is executed with this

bit. This can all be done in one scan.

Transfer Data Section 4–8

78

Execution Example
(Preset)

The following example assumes that bit 15 of word n+2 has been set to 1.

Set necessary information in IR area.

1

0

1
0

1

0

Data transfer

Present position preset
word n+2, bit 15

Beginning word number
word n+3

PC data area
word n+4 bits 07-00

TRANSFER DATA
word n, bit 10

Transfer completed flag
word n+5, bit 10

Busy flag
word n+5, bit 12

Present position
words n+8 and n+9

This position is reflected in the IN refresh area

Present position determined

Preset value

4–9 Manual Operations

There are three manual feeding commands: HIGH-SPEED JOG,
LOW-SPEED JOG and INCH. Acceleration and deceleration are possible
with HIGH-SPEED JOG, but not with LOW-SPEED JOG. INCH operates one
pulse at a time.

4–9–1 DM Area Settings

In addition to the settings described in this section, the following data must
also be set in order to execute HIGH-SPEED JOG. They are the same as
those set for START, so they can be set by following the instructions con­tained in 4–1 START. Only the first three of these need be set for
LOW-SPEED JOG.

Initial Speed Number Bits 11-08 of DM word m

Manual Operations Section 4–9

79

SpeedsDM words m+82 through m+96
Speed Units DM word m+97
Acceleration Bits 11-00 of DM word m+98
Deceleration Bits 11-00 of DM word m+99

HIGH-SPEED JOG Speed
Number

word m+1, bits 15-12
Set an integer between 1 and F (hex).
The speed number set here refers to one of the speeds set in DM words

m+82 through m+96.

LOW-SPEED JOG
Speed Number

word m+1, bits 11-08
Set an integer between 1 and F (hex).
The speed number set here refers to one of the speeds set in DM words

m+82 through m+96.

4–9–2 IR Area Settings

In C200H PCs, IR words 100 to 199 are used for Special I/O Units. When a
Position Control Unit is used, they are allocated as I/O refresh areas. For a
detailed explanation, see 3–4 Data Configuration and Allocation. For a de­tailed table of words and bits in the IR area, see Appendix D IR Area Alloca-
tions.

HIGH-SPEED JOG
Command

word n, bit 11

0: Stop
1: Operate

JOG Direction

word n, bit 12:

0: CW
1: CCW

LOW-SPEED JOG
Command

word n, bit 13

0: Stop
1: Operate

INCH Command

word n, bit 14

0: Stop
1: Operate

Manual Operations Section 4–9

80

4–9–3 High-speed Jog

The HIGH-SPEED JOG command bit (word n, bit 11) of is set to manually
feed at the designated speed (effective on signal’s rising edge). Feeding
starts when the command bit is set and continues until it is reset.

1

0

1

0

Initial speed

HIGH-SPEED JOG speed

Acceleration

Deceleration

Initial speed

Time

HIGH-SPEED JOG
word n, bit 11

Pulse output

Busy flag
word n+5, bit 12

End position (stop)

Initial position (start)

4–9–4 Low-speed Jog

The LOW-SPEED JOG command bit, bit 13 of word n, is set to manually feed
at the designated speed (effective on signal’s rising edge). Feeding starts
when the command bit is set and continues until it is reset.

1
0

1
0

Time

LOW-SPEED JOG
word n, bit 13

Pulse output

Busy flag
word 12, bit n+5

LOW-SPEED JOG speed

Initial position (start) End position (stop)

Manual Operations Section 4–9

81

4–9–5 Inch

The INCH command bit, bit 14 of word n, is set to manually inch one pulse at
a time (effective on signal’s rising edge). One pulse will be feed each time
this bit is set.

1
0

1

0

1 pulse (2.5 ms)

ON for 1 scan if the scanning time is 12 ms or longer.
(Sometimes ON for 2 scans if the scanning time is shorter than 12 ms.)

Time

INCH
word n, bit 14

Pulse output

Busy flag
word n+5, bit 12

Approx. 5ms

4–10 External Interrupt Commands

Positioning can be stopped and speeds can be changed by either the bits set
in the IR area or by external interrupt commands. The target speeds used
during CHANGE SPEED are taken in order, beginning with the lowest speed
number, from the DM area.

Acceleration

START

Time

Deceleration

Acceleration

Acceleration

Time

STOP (command executed)

Target speed #1

End position (positioning stops)

START

CHANGE SPEED (command executed)

Target speed #1

Target speed #2

Target speed #3

External Interrupt Commands Section 4–10

82

Connection for External
Interrupt Signal

The signal level’s rising edge is taken as the input signal.

External input pin no.

19

A
B

External interrupt signal

1
0

Interrupt signal received

DC power supply

24 V

0 V

DIP Switch Settings

The setting of pin #6 on the back-panel DIP switch determines the function of
bit 06 of IR word n. If pin #6 is ON, the function of bit 06 is determined by pin
#7. If pin #6 is OFF, bit 06 defines the response to external interrupts as fol­lows:

0: STOP executed in response to external interrupts
1: CHANGE SPEED executed in response to external inter-

rupts
If pin #6 is ON and pin #7 is OFF, STOP is executed in response to external

interrupts. If pin #6 and pin #7 are both ON, CHANGE SPEED is executed in
response to external interrupts. The external interrupt signal is acknowledged
on its rising edge.

There are thus two ways to execute STOP: through an external interrupt or
through the command bit, bit 15 of word n. Both of these methods are avail­able at the same time if bit 06 of word n is set to 0 and pin #6 on the
back-panel DIP switch is OFF, or if pin #6 is ON and pin #7 is OFF.

There are also two ways to execute CHANGE SPEED: through an external
interrupt or, if pin #6 is ON, directly by using bit 06 of word n as the command
bit. Execution through an external interrupt is available if bit 06 of word n is
set to 1 and pin #6 on the DIP switch is OFF, or if pins #6 and #7 are both
ON. In the latter case, execution through the command bit and through an
external interrupt are both available.

DM Area Settings

The following data must be set to execute STOP and CHANGE SPEED, but
it is the same as that set for START. Refer to 4–1 START for details.

Acceleration Bits 11-00 of DM word m+98
Deceleration Bits 11-00 of DM word m+99

4–10–1 Stop

STOP can be executed during pulse output for START, ORIGIN SEARCH,
ORIGIN RETURN, HIGH-SPEED JOG, and LOW-SPEED JOG to decelerate
to a stop (effective on signal’s rising edge). Note, however, that the next
START cannot be executed as long as STOP (either from bit 15 of word n or
from an external interrupt signal) is in effect.

External Interrupt Commands Section 4–10

83

STOP Executed
During START

When the STOP command bit is set during execution of a positioning action
under START, the positioning completed flag is not turned ON, and the posi­tioning action number is not changed. When START is next executed, the
target position and speed of that action will be used, as long as the target
position has not been exceeded. The busy flag, however, turns OFF, allowing
manual operations to be used up to the next START.

Let’s take, for example, a case in which the following DM words and data are
used.

Completion code: continuous

Target position

Completion code: single

Target position

15 00

Target speed #5

Target speed #8

Positioning action #0

Positioning action #1

m+22

m+23

m+24

m+25

m+26

m+27

5

8

2

0

Example 1

First of all, the following diagram shows the situation when STOP is not exe­cuted.

1

0

1
0

1
0

Time

ST ART
word n, bit 00

Positioning completed flag
word n+5, bit 00

Busy flag
word n+5, bit 12

START

Target speed #5

Target speed #8

Target position for action #0

#0

Stop (at target position
for action #1)

External Interrupt Commands Section 4–10

84

Example 2

This example shows STOP execution if the target position is not exceeded
when the target position is designated from the origin (i.e., not an increment).
When START is next executed, the data from the positioning action at the
time of STOP is taken as the target position.

0

1
0

1
0

1
0

1
0

1

01

Time

2

ST ART
word n, bit 00

STOP
word n, bit 15
(or external interrupt)

Pulse output

Positioning completed flag
word n+5, bit 00

Busy flag
word n+5, bit 12

Positioning action number
word n+7, bits 07-00

Output code
word n+7, bits 11-08

Target position
for action #0

Stops at target position
for action #1.

Output code of
action #0

Output code of
action #1

#0

#0

#1

Target speed #5

External Interrupt Commands Section 4–10

85

Example 3

This example shows execution when a target position designated from the
origin (i.e., not an increment) is exceeded during deceleration for STOP, as
can happen when STOP is executed during the end of a continuous position­ing action. If START is next executed before this situation is corrected, the
feeding direction for the action will be wrong, and an error (code 5020) will be
generated due to inability to begin the action. The Unit can be restarted after
manually feeding (with JOG) back to the other side of the target position for
action #0.

1

0

1

0

0

1

1

0

1

1
0

#0

0

5020

Time

0

ST ART
word n, bit 00

STOP
word n, bit 15
(or external interrupt)

Pulse output

Positioning completed flag
word n+5, bit 00

Error flag
word n+5, bit 05

Busy flag
word n+5, bit 12

STOP executed flag
word n+5, bit 15

Error code
word n+6

Positioning action number
word n+7, bits 07-00

Target position for
action #0 is passed.

Target speed #5

This error will also be generated if the target position for action #0 is ex­ceeded through manual operations before START is executed following
STOP.

External Interrupt Commands Section 4–10

86

Example 4

When the target position is expressed as an increment, the positioning action
will be automatically started over from the position arrived at after STOP was
executed.

1
0

1

0

1

0

1

0

1
0

0 1

Time

2

ST ART
word n, bit 00

STOP
word n, bit 15

Pulse output

Positioning completed flag
word n+5, bit 00

Busy flag
word n+5, bit 12

STOP executed flag
word n+5, bit 15

Positioning action number
word n+7, bits 07-00

Output code
word n+7, bits 11-08

#0

#0

#1

Output code of
action #0

Output code of
action #1

External Interrupt Commands Section 4–10

87

STOP During
ORIGIN SEARCH

Feeding will be decelerated to a stop and the command must be reexecuted
from the position reached at the end of STOP.

STOP During
ORIGIN RETURN

Feeding stops according to the deceleration rate.

0

1
0

1
0

1

1
0

Time

ORIGIN RETURN
word n, bit 03

STOP
word n, bit 15

Pulse output

Busy flag
word n+5, bit 12

STOP executed flag
word n+5, bit 15

External Interrupt Commands Section 4–10

88

STOP During
HIGH-SPEED JOG

If STOP is executed during HIGH-SPEED JOG, feeding will be stopped just
as if the HIGH-SPEED JOG command bit (word n, bit 11) were reset to 0.
The command bit, however, will remain at 1.

1

0

1
0

1

0

1
0

Time

HIGH-SPEED JOG
word n, bit 11

STOP
word n, bit 15

Pulse output

Busy flag
word n+5, bit 12

STOP executed flag
word n+5, bit 15

External Interrupt Commands Section 4–10

89

STOP During
LOW-SPEED JOG

If STOP is executed during LOW-SPEED JOG, feeding will be stopped just
as if the LOW-SPEED JOG command bit (word n, bit 13) were reset to 0. The
command bit, however, will remain at 1.

0

1

0

1
0

1

1
0

Time

HIGH-SPEED JOG
word n, bit 11

STOP
word n, bit 15

Pulse output

Busy flag
word n+5, bit 12

STOP executed flag
word n+5, bit 15

4–10–2 Change Speed

CHANGE SPEED can only be executed during positioning activities initiated
with START. When CHANGE SPEED is executed (effective on signal’s rising
edge), the speed number in the present positioning action will be incre­mented by 1. If CHANGE SPEED is executed again, the speed number will
be incremented again. Incrementation will continue for each CHANGE
SPEED execution (speed #15 increments to speed #1). CHANGE SPEED
will not affect the target position or execution of the next action. In other
words, normal deceleration to end at the target position will be carried out for
single, pause, or bank end positioning action, and the speed for the next po­sitioning action will take priority for a continuous positioning action.

External Interrupt Commands Section 4–10