Omron SYSMAC C500-NC222-E Operation Manual

OPERATION MANUAL

Two-axis Position Control Unit
(NC221 Mode)

SYSMAC
C500-NC222-E

Cat. No. W138-E1-03

C500-NC222-E
Two-axis Position Control Unit
(NC221 Mode)

Operation Manual

Revised June 2003

iv

!

!

v

Notice:

OMRON products are manufactured for use according to proper procedures by a qualified operator
and only for the purposes described in this manual.

The following conventions are used to indicate and classify warnings in this manual. Always heed the
information provided with them.

DANGER Indicates information that, if not heeded, could result in loss of life or serious inju-

ry.

Caution Indicates information that, if not heeded, could result in minor injury or damage

to the product.

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, means
“word” and is abbreviated “Wd” in documentation.

Visual Aids

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

Indicates information of particular interest for efficient and convenient opera­tion of the product.

Indicates lists of one sort or another, such as procedures, precautions, 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.

Note

1, 2, 3...

vi

TABLE OF CONTENTS

vii

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

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

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

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

4 Operating Environment Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

SECTION 1

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

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

1-2 Basic Operating Principles 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3 Operational Flow 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4 System Configuration 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-5 Control System Configuration 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-6 Control System Principles 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-7 Precautions When Using C500-NC222-E in NC221 Mode 10. . . . . . . . . . . . . . . . . . . . . . . .

SECTION 2

Wiring 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1 M/D Connector 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 EXT-IN Connector 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3 Faulty Wiring Diagnostic Function 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4 Motor Driver Connection Examples 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5 Wiring Precautions 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 3

Data Configuration 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1 Overview 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2 Data Allocations 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3 Setting Parameters 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-4 Setting Positioning Actions 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-5 Setting Dwell Times 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-6 Setting Acceleration and Deceleration Times 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-7 Setting Speeds 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-8 Initial Data 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 4

Data Communication with PC 57. . . . . . . . . . . . . . . . . . . . .

4-1 Compatible Models and Words 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2 PC Programs 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 5

Operating Status 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1 Flag Transitions and Types 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2 Status Word Allocations 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3 Status Word Details 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-4 Flag Changes 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TABLE OF CONTENTS

viii

SECTION 6

Commands 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-1 Command Format 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2 Command Descriptions 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3 Command Processing 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-4 Interpolation 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-5 Relation between SRT and Positioning Actions 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 7

Establishing the Origin 97. . . . . . . . . . . . . . . . . . . . . . . . . . .

7-1 CCHG 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-2 Origin Search (XORG, YORG, IORG) 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-3 Origin Compensation 100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 8

Programming Examples 101. . . . . . . . . . . . . . . . . . . . . . . . . .

8-1 Data Word Allocations 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-2 Data Transmission Program 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-3 Basic Program Examples 108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-4 Application Program Examples 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 9

External Display, Switches, and Indicators 129. . . . . . . . . . .

9-1 External Display 130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-2 Display Descriptions 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-3 Switches and Indicators 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 10

Error Processing 135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-1 Procedure 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-2 Basic Troubleshooting 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-3 System Errors 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-4 Command/Data Errors 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-5 Communications Errors 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendix

A.Position Control Unit Specifications 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. External Display Specifications 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Error Code List 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.Position Action Data Coding Sheets 147. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Glossary 151. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Index 155. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Revision History 159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ix

About this Manual:

The C500-NC222-E Position Control Unit in NC221 mode is a Special I/O Unit for SYSMAC C500,
C1000H, and C2000H Programmable Controllers (PCs) that support WRIT (87) and READ (88). This
Position Control Unit (PCU) in NC221 mode is designed to control positioning through voltage outputs
to a motor driver according to PC programming and external control inputs.

This manual covers the specifications and procedures necessary for installation and operation. It also
describes data layouts and examples for communication between the PLC and NC222 Module in
NC221 mode. Before attempting to operate the Position Control Unit, be sure to thoroughly familiarize
yourself with the information contained in this manual. During operation, refer also to your PC Opera­tion Manual for programming and system details. If you wish to enter data manually via the Teaching
Box, please use this manual for wiring and setup only. Refer to manual number W145 for data entry
and operations.

Section 1 contains information on the features of the Position Control Unit, system configuration, and
an overview of control system principles.

Section 2 contains wiring diagrams and other information necessary for installation and connection of
the Position Control Unit.

Section 3 provides the minimum information necessary to assemble and test a servomotor driver
system using both axes.

Sections 4, 5, and 6 provide information essential for operation, including data configuration, the set­ting of parameters and positioning actions, communication between the Position Control Unit and the
PC, and the use of status flags.

Section 7 provides a description of command format. It also contains tables of system, servo control,
and data processing commands, including the functions and usage examples for each.

Section 8 shows how to establish the origin, which must be done to establish a reference point be­fore executing positioning actions.

Section 9 provides a variety of programming examples to illustrate the principles covered in this man­ual.

Sections 10 and 11 cover external displays and error processing.

The appendices contain specifications, an error code list, and data coding sheets.

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

personal injury or death, damage to the product, or product failure. Please read each
section in its entirety and be sure you understand the information provided in the section
and related sections before attempting any of the procedures or operations given.

!

xi

PRECAUTIONS

This section provides general precautions for using the Programmable Controller (PC) and related devices.

The information contained in this section is important for the safe and reliable application of the PC. 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 xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

!

!

!

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 OMRON PCs.
Be sure to read this manual before attempting to use the software and keep this
manual close at hand for reference during operation.

WARNING It is extreme important that a PC and all PC Units be used for the specified

purpose and under the specified conditions, especially in applications that can
directly or indirectly affect human life. You must consult with your OMRON
representative before applying a PC System to the abovementioned
applications.

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.

4 Operating Environment Precautions

Do not operate the control system in the following places.

• Where the PC is exposed to direct sunlight.

• Where the ambient temperature is below 0°C or over 55°C.

• Where the PC may be affected by condensation due to radical temperature

changes.

• Where the ambient humidity is below 10% or over 90%.

• Where there is any corrosive or inflammable gas.

• Where there is excessive dust, saline air, or metal powder.

• Where the PC is affected by vibration or shock.

• Where any water, oil, or chemical may splash on the PC.

Operating Environment Precautions

4

!

!

!

!

xiii

Caution The operating environment of the PC System can have a large effect on the lon-

gevity and reliability of the system. Improper operating environments can lead to
malfunction, failure, and other unforeseeable problems with the PC System. Be
sure that the operating environment is within the specified conditions at installa­tion and remains within the specified conditions during the life of the system.

5 Application Precautions

Observe the following precautions when using the 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. Performing any of the following with the power supply turned on may lead
to electrical shock:

• Mounting or removing any Units (e.g., I/O Units, CPU Unit, etc.) or memory
cassettes.

• Assembling any devices or racks.

• Connecting or disconnecting any cables or wiring.

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

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

• Use the Units only with the power supplies and voltages specified in the opera­tion manuals. Other power supplies and voltages may damage the Units.

• Take measures to stabilize the power supply to conform to the rated supply if it
is not stable.

• Provide circuit breakers and other safety measures to provide protection
against shorts in external wiring.

• Do not apply voltages exceeding the rated input voltage to Input Units. The
Input Units may be destroyed.

• Do not apply voltages exceeding the maximum switching capacity to Output
Units. The Output Units may be destroyed.

• Always disconnect the LG terminal when performing withstand voltage tests.

• Install all Units according to instructions in the operation manuals. Improper

installation may cause faulty operation.

• Provide proper shielding when installing in the following locations:

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

• Locations subject to strong electromagnetic fields.

• Locations subject to possible exposure to radiation.

• Locations near to power supply lines.

• Be sure to tighten Backplane screws, terminal screws, and cable connector

screws securely.

• Do not attempt to take any Units apart, to repair any Units, or to modify any
Units in any way.

Caution The following precautions are necessary to ensure the general safety of the sys-

tem. Always heed these precautions.

• Provide double safety mechanisms to handle incorrect signals that can be
generated by broken signal lines or momentary power interruptions.

• Provide external interlock circuits, limit circuits, and other safety circuits in
addition to any provided within the PC to ensure safety.

Application Precautions

5

1

SECTION 1

Introduction

The C500-NC222-E Position Control Unit (PCU) in NC221 mode is a Special I/O Unit that receives positioning commands
from the Programmable Controller (PC) and outputs control voltages to two servomotor drivers. Since it outputs control volt­ages rather than pulses, it can be directly connected to any of a variety of servomotor drivers. You can use it with the C500,
C1000H, or C2000H PC.

Each of the two servomotor drivers controls a servomotor which rotates one of the two positioning axes. The Position Control
Unit can control the axes independently or simultaneously. Both straight-line and circular arc interpolation are also possible.

This section describes the basic features, components, and operation of the Position Control Unit in NC221 mode, as well as
the basic configuration and principles of positioning control systems. Reading this section first will give you a familiarity with
the essential terminology used in this manual and an understanding of the fundamentals necessary for successful operation.

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

1-2 Basic Operating Principles 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3 Operational Flow 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4 System Configuration 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-5 Control System Configuration 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-6 Control System Principles 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-7 Precautions When Using C500-NC222-E in NC221 Mode 10. . . . . . . . . . . . . . . . . . . . . . . . .

2

1-1 Features

A control output voltage range from –10 V to +10 V enables connection to
various servomotor drivers.

The Position Control Unit is designed to control two axes. Data configuration
consisting of parameters, speeds, dwell times, acceleration and deceleration
times, and positioning actions permits straight-line interpolation or circular arc
interpolation by simultaneous dual-axis operation. Each motor axis may also
be operated independently.

Troubleshooting is facilitated by error code transmission from the Position
Control Unit to the PC as well as by error code display on the External Dis­play.

The data capacity in the Position Control Unit provides 300 positioning ac­tions per axis, 19 parameters per axis, 100 speeds, 10 dwell times per axis,
and 10 acceleration and deceleration times per axis. All data is stored in the
built-in EEPROM for battery-free and maintenance-free backup. Data is read
into the RAM from the EEPROM when power is turned ON.

Connecting the Teaching Box permits position inputs, position input reading,
teaching inputs, and operation monitoring.

All data and command communications between the Programmable Control­ler and Position Control Unit use PC Intelligent I/O Read and Write instruc­tions permitting high-speed processing.

The C500-NC222-E Position Control Unit in NC221 mode can be used with a
C500, C1000H, or C2000H PC. The C500-CPU11-EV1 CPU can be used
with the C500, CVM1, CV500, CV1000, or CV2000 PC. Any C1000H and
C2000H CPU may be used.

1-2 Basic Operating Principles

The basic operation of the C500-NC222-E Position Control Unit is fairly sim­ple. It controls a servomotor driver in accordance with data stored in its
memory. This data includes parameters, speeds, positions, and other infor­mation necessary for effective control. Before the Position Control Unit can
be operated, you must first input the essential data. This is generally done
via the Teaching Box.

The way in which the Position Control Unit makes use of this data is deter­mined by the program in the PC. The program does not control all of the Po­sition Control Unit’s operations directly, but rather, transfers commands to the
Position Control Unit for execution. The commands control such functions as
the starting and stopping of positioning, returning to the origin, and so on.
Thus, while the Position Control Unit functions as an integral part of your
overall control system, it also exercises a good deal of autonomy. This capa­bility is essential to the concept of distributed control, whereby control of
each portion of an automated system is located near the devices actually
being controlled.

Applicable Motor Drivers

Number of Control Axes
and Controlling Capacity

Error Diagnostics

Large Data Capacity with
Backup

Teaching Box

High-speed
Communications Between
PC and PCU

Applicable CPUs

Basic Operating Principles

Section 1-2

3

The fundamental unit of positioning is the positioning action. A particular po­sitioning action moves the workpiece along the axis in a direction, at a speed,
and to a position determined by the data which has been set specifically for
the positioning action. The positioning action begins when the start command
is transferred by the PC program (XSRT, YSRT, or ISRT, depending on
whether you want to position along the X axis, the Y axis, or both simulta­neously). Before beginning execution of positioning actions, it is necessary to
define the origin as a reference point by, for example, executing origin search
(XORG, YORG, or IORG). The origin is simply the point which is designated
as 0 at any given time. Positioning actions are described in detail in 3-4 Set-
ting Positioning Actions, using commands to start positioning actions is de­scribed in 6-5 SRT (Start) Commands and Positioning Actions, and using
commands with the origin is described in Section 7 Establishing the Origin.

Basic Operating Principles

Section 1-2

4

1-3 Operational Flow

Positioning operations generally involve the following steps.

NO (no error)

Wiring between
servomotor drivers and
Position Control Unit

START

Wiring external
inputs

Wiring between motors
and servomotor drivers

Power ON

Operation via
PC program?

Write PC
program.

Run PC
program.

Confirm motor
operation.

Change to
actual data.

Change PC program
to actual program.

Run PC
program.

Confirm motor
operation.

Error LED

lights?

Read
error code.

Correct
error.

Error
cleared?

Connect
Teaching Box.

Operate
Teaching Box.

Confirm motor
operation.

Change to
actual data.

Operate
Teaching Box.

Yes

No

No (no error)

No

Yes

Trial
operation

Mount motors
to mechanical
system.

Final
wiring

Create PC
program application.

Yes (error)

Confirm actual

operation.

Refer to
appropriate
operation
manuals.

Error LED

lights?

Read error code.

Correct error.

Error cleared?

NO

YES

Operation

(positioning actions)

YES (error)

Original, CW limit CCW limit,
emergency stop, external interrupt, etc.
Refer to Section 2 Wiring.

Wire according to operation
manuals for motors and
servomotor drivers.

Refer to 2-4 Motor Driver Connection

Examples

Initial data is set. Servolock enabled.
Refer to 3-8 Initial Data.

Refer to the
operation
manual for
the Teaching
Box.

Refer to

Section 8
Programming
Examples.

Setup Debugging

Operational Flow

Section 1-3

5

1-4 System Configuration

The following configuration illustrates example connections for a working sys­tem.

Note The Position Control Unit cannot be used if mounted to a Slave Rack.

Control inputs

PC

C500-TU002-E
Teaching Box

Feedback inputs, control voltages

24-VDC
power supply

External interrupt
switch

Control
panel

External input
switches

External input switches

AC Servomotor

AC Servomotor Driver

AC Servomotor Driver

24-VDC
power supply

C500-NC222-E

AC Servomotor

Emergency
stop switch

0

System Configuration

Section 1-4

6

1-5 Control System Configuration

The following block diagram shows a control system for a servomotor driver.
The Position Control Unit is arranged in a semiclosed-loop system.

C500-NC222-E PCU

Control voltage
output
+10 V

Servomotor driver

Servomotor

Position

Tachogenerator

Position feedback

Rotary encoder

CW limit Origin CCW limit

Emergency stop External interrupt

Teaching Box

C500-TU002-E

Memory

D/A convertor

(16 bits)

Counter

Extrnal input

interface

Teaching Box–

External Display

interface

M/D (Motor Driver)

connector

Peripheral

connector

MPU

PC

PC bus interface

EXT–IN

connector

–10 V

Speed feedback

Control Inputs

1-6 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 no feedback is provided for auto­matic adjustments.

In a closed-loop system, 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 to bring them more
closely in line with target values. The digital feedback signals are commonly
transmitted to a digital-to-analog converter to complete the feedback loop,
thereby permitting automated control of the process.

The C500-NC222-E Position Control Unit is designed for use in a semi­closed-loop system. 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. This system, which also in-

Open-loop Systems

Closed-loop Systems

Semiclosed-Loop Systems

Control System Principles

Section 1-6

7

cludes an error counter, a D/A converter, and a servomotor driver, detects
machine movements by rotation of the motor in relation to the target, com­putes the error between the target value and actual movement, and zeroes
the error through feedback.

Servo­motor
driver

Tachogenerator

Rotary encoder

Speed feedback

Position feedback (feedback pulses)

Speed
voltage

D/A
converter

Desired position

Error
counter

Servomotor

(pulse string)

1. First, the error counter receives a target position in units of encoder

pulses. The error counter transfers its contents to the D/A convertor
which converts the contents to analog speed voltages for the servomo­tor driver.

Servomotor Driver
Speed Characteristics

Rotational speed
+N (rpm)

–V

+V Speed voltage

–N

Position Control Unit
Action

Control System Principles

Section 1-6

8

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

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

Desired
position
(pulses)

Error
counter
count
(pulses)

Speed
voltage

Time set

Positioning end

Time

Time

Time

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 becomes zero (stopping motor rotation).

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

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

Control System Principles

Section 1-6

9

5. In order to execute positioning by the semiclosed-loop method with ac-

celeration and deceleration, target positions are set consecutively in the
error counter for processing, thus enabling smooth acceleration and de­celeration.

Desired
position
(pulses)

Error
counter
count
(pulses)

Speed
voltage

Time

Time

Time

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.
Thus, the position equals the total count of target positions (shaded area
in the figure), and the speed will depend on the desired position per unit
time.

Consider the following positioning system where millimeter is selected as the
unit:

N

V

P

L

M

Rotary encoder

Servomotor

Reduction gear

Moving object

Feed-screw pitch

Where:
N = rotary encoder resolution (pulse/rev)
M = reduction ratio
V = speed of moving object (mm/s)
P = feed-screw pitch (mm/rev)
L = distance moved (mm)

Simplified Positioning
System Design

Control System Principles

Section 1-6

10

Here,

Positioning precision =

Feed-screw pitch
Encoder pulses x reduction ratio

=

P (mm/rev)
N (pulse/rev) x M

=

P
N x M

(mm/pulse)

The positioning precision is called the pulse rate. Next, the required pulse
speed from the encoder is:

Required pulse speed =

Feeding speed
Pulse rate

V (mm/s)
Pulse rate (mm/pulse)

=

=

V x N x M
P

(pulses)

For a movement of L mm:

Requisite no. of pulses =

Distance moved
Pulse rate

=

L / P
N x M

=

N x M x L
P

(pulses)

1-7 Precautions When Using C500-NC222-E in NC221 Mode

The C500-NC222-E in NC221 mode is different from the C500-NC221-E in
the following points.

1, 2, 3... 1. Internal Control Cycle

The internal control cycle of the C500-NC222-E in NC221 mode is different
from that of the C500-NC221-E. Accordingly, the output distribution cycle
and external input read timing of the C500-NC222-E in NC221 mode are dif­ferent from those of the C500-NC221-E.

Control Cycle

The control cycle is the time required
for an NC output change (i.e., a
speed instruction voltage change)
plus the time required for input read.

Control cycle

Control Cycle:

C500-NC221-E: 3.2 ms

C500-NC222-E in NC221 mode:4.0 ms

2. Difference in Operation Due to Changes in Internal Control Cycle

Due to the difference of the internal control cycle of the C500-NC222-E in
NC221 mode and that of the C500-NC221-E, the tact time (i.e., the time
required for the whole positioning operation) of the C500-NC221-E is some­times different from that required by the C500-NC222-E in NC221 mode.

Precautions When Using C500-NC222-E in NC221 Mode

Section 1-7

11

There will be no timing errors if the C500-NC222-E in NC221 mode and the
C500-NC221-E are in correct timing control operation, which however, does
not mean that there is no difference in tact time between the C500-NC221-E
and the C500-NC222-E in NC221 mode.

Change in Tact Time

A

There is no difference in movement range between the C500-NC222-E in
NC221 mode and the C500-NC221-E. The period A, which is the value left
over by the internal operation of the C500-NC222-E in NC221 mode as
shown in the above timing chart on the right hand side, however, may be
produced. The difference in tact time is caused by the period A, which can
be, however, solved by adjusting the speed data or movement range of the
C500-NC222-E.

3. Parameter Settings Before Shipping

The parameters of the C500-NC222-E are factory-set so that the
C500-NC222-E can be used in NC222 mode. NC221 and NC222 mode
parameters share the same area of the C500-NC222-E. Therefore, before
using the C500-NC222-E in NC221 mode, be sure to change the parame­ters. Refer to the following table for the differences between NC221 and
NC222 mode parameters.

Precautions When Using C500-NC222-E in NC221 Mode

Section 1-7

12

Address Type Initial data and data attributes

NC221 NC221 mode NC222

X-axis test
data

100 X-axis test

data 1

Position data: 500
pulses; speed data: 1; M
code: 01; dwell timer: 5;
ABS; Pattern: 0; accel­eration and deceleration
pattern: 5

Position data: 1,000
pulses; speed data: 1; M
code: 01; dwell timer: 5;
ABS; Pattern: 0; accel­eration and deceleration
pattern: 5

Position data: 1,000
pulses; speed data: 1; M
code: 01; dwell timer: 5;
ABS; Pattern: 0; accel­eration and deceleration
pattern: 5

101 X-axis test

data 2

Position data: –500
pulses; speed data: 3; M
code: 02; dwell timer: 0;
INC; Pattern: 1; accel­eration and deceleration
pattern: 0

Position data: –1,000
pulses; speed data: 3; M
code: 02; dwell timer: 0;
INC; Pattern: 1; accel­eration and deceleration
pattern: 0

Position data: 1,000
pulses; speed data: 3; M
code: 02; dwell timer: 0;
INC; Pattern: 1; accel­eration and deceleration
pattern: 0

102 Position data: –500

pulses; speed data: 2; M
code: 03; dwell timer: 5;
ABS; Pattern: 1; accel­eration and deceleration
pattern: 2

Position data: –1,000
pulses; speed data: 2; M
code: 03; dwell timer: 5;
ABS; Pattern: 1; accel­eration and deceleration
pattern: 2

Position data: 1,000
pulses; speed data: 2; M
code: 03; dwell timer: 5;
ABS; Pattern: 1; accel­eration and deceleration
pattern: 2

103 Position data: –500

pulses; speed data: 1; M
code: 04; dwell timer: 1;
INC; Pattern: 0; accel­eration and deceleration
pattern: 1

Position data: –1,000
pulses; speed data: 1; M
code: 04; dwell timer: 1;
INC; Pattern: 0; accel­eration and deceleration
pattern: 1

Position data: 1,000
pulses; speed data: 1; M
code: 04; dwell timer: 1;
INC; Pattern: 0; accel­eration and deceleration
pattern: 1

104 X/Y-axis test

data 1

Position data: 0 pulses;
speed data: 1; M code:
05; dwell timer: 1; ABS;
acceleration and decel­eration pattern: 1; inter­polation end point

Position data: 0 pulses;
speed data: 1; M code:
05; dwell timer: 1; ABS;
acceleration and decel­eration pattern: 1; inter­polation end point

Position data: 0 pulses;
speed data: 1; M code:
05; dwell timer: 1; ABS;
acceleration and decel­eration pattern: 1; inter­polation end point

X-axis 400 Unit setting 0 0 0

parameter 401 Pulse rate 1 1 1

data 402 Rotating

direction

0 0 0

403 Encoder

type

01 01 001

404 Gain 200 200 200

405 In-position

zone

10 10 10

406 Backlash

compensa­tion

0 0 0

407 Stroke limit

(+)

999999 999999 999999

408 Stroke limit

(–)

999999 999999 999999

409 Zone setting 01000100 01000100 01000100

410 Home shift 0 0 0

411 Maximum

speed

10000 FFFFFFFF (*1: see

note)

40010000

412 Jog forward

maximum
speed

2000 FFFFFFFF (*2: see

note)

10002000

Precautions When Using C500-NC222-E in NC221 Mode

Section 1-7

13

Initial data and data attributesTypeAddress

NC222NC221 modeNC221

X-axis
parameter
data

413 Origin

search direc­tion

0 0 0

414 Origin com-

pensation

0 0 0

415 Origin

search maxi­mum speed

5000 5000 5000

416 Origin

search
acceleration
and decel­eration

5 5 5

417 Origin

search low
speed

1000 1000 1000

418 Deceleration

stop pulse
number

500 500 00000500

419 Wiring check

function

--- --- 01100011

Emergency
stop counter
capacity

0 7024 ---

420 External out-

put control
setting

00032768 00032768 00032768

Dwell timer 450/850 Dwell timer 0 0 –1 0

451/851 Dwell timer 1 100 –1 100

452/852 Dwell timer 2 200 –1 200

453/853 Dwell timer 3 300 0 300

454/854 Dwell timer 4 400 100 400

455/855 Dwell timer 5 500 200 500

456/856 Dwell timer 6 600 0 600

457/857 Dwell timer 7 700 100 700

458/858 Dwell timer 8 800 200 800

459/859 Dwell timer 9 900 300 900

Acceleration
and decel­eration pat­tern

460/860 Acceleration

and decel­eration pat­tern 0

00100010 00000400 00100010

461/861 Acceleration

and decel­eration pat­tern 1

00100020 00000500 00100020

462/862 Acceleration

and decel­eration pat­tern 2

00100030 00000600 00100030

Precautions When Using C500-NC222-E in NC221 Mode

Section 1-7

14

Initial data and data attributesTypeAddress

NC222NC221 modeNC221

Acceleration
and decel­eration pat­tern

463/863 Acceleration

and decel­eration pat­tern 3

00100040 00000700 00100040

464/864 Acceleration

and decel­eration pat­tern 4

00100050 00000800 00100050

465/865 Acceleration

and decel­eration pat­tern 5

00200020 00000900 00200020

466/866 Acceleration

and decel­eration pat­tern 6

00200030 00100010 00200030

467/867 Acceleration

and decel­eration pat­tern 7

00200040 00100020 00200040

468/868 Acceleration

and decel­eration pat­tern 8

00200050 00100030 00200050

469/869 Acceleration

and decel­eration pat­tern 9

00200060 00100040 00200060

Y-axis test
data

500 Y-axis test

data 1

Position data: 500
pulses; speed data: 1; M
code: 06; dwell timer: 5;
INC; Pattern: 0; accel­eration and deceleration
pattern: 5

Position data: 1,000
pulses; speed data: 1; M
code: 06; dwell timer: 5;
INC; Pattern: 0; accel­eration and deceleration
pattern: 5

Position data: 10,000
pulses; speed data: 1; M
code: 06; dwell timer: 5;
INC; Pattern: 0; accel­eration and deceleration
pattern: 5

501 Y-axis test

data 2

Position data: 0 pulses;
speed data: 1; M code:
07; dwell timer: 0; ABS;
Pattern: 1; acceleration
and deceleration pat­tern: 0

Position data: 0 pulses;
speed data: 3; M code:
07; dwell timer: 0; ABS;
Pattern: 1; acceleration
and deceleration pat­tern: 0

Position data: 0 pulses;
speed data: 3; M code:
07; dwell timer: 0; ABS;
Pattern: 1; acceleration
and deceleration pat­tern: 0

502 Position data: –500

pulses; speed data: 2; M
code: 08; dwell timer: 5;
INC; Pattern: 1; accel­eration and deceleration
pattern: 2

Position data: –1,000
pulses; speed data: 2; M
code: 08; dwell timer: 5;
INC; Pattern: 1; accel­eration and deceleration
pattern: 2

Position data: 1,000
pulses; speed data: 2; M
code: 08; dwell timer: 5;
INC; Pattern: 1; accel­eration and deceleration
pattern: 2

503 Position data: –1,000

pulses; speed data: 3; M
code: 09; dwell timer: 0;
ABS; Pattern: 0; accel­eration and deceleration
pattern: 1

Position data: –1,000
pulses; speed data: 1; M
code: 09; dwell timer: 0;
ABS; Pattern: 0; accel­eration and deceleration
pattern: 1

Position data: –2,000
pulses; speed data: 1; M
code: 09; dwell timer: 0;
ABS; Pattern: 0; accel­eration and deceleration
pattern: 1

504 X/Y-axis test

data 1

Position data: 0 pulses;
speed data: 1; M code:
10; dwell timer: 1; ABS;
acceleration and decel­eration pattern: 1; inter­polation end point

Position data: 0 pulses;
speed data: 1; M code:
10; dwell timer: 1; ABS;
acceleration and decel­eration pattern: 1; inter­polation end point

Position data: 0 pulses;
speed data: 1; M code:
10; dwell timer: 1; ABS;
acceleration and decel­eration pattern: 1; inter­polation end point

Precautions When Using C500-NC222-E in NC221 Mode

Section 1-7

15

Initial data and data attributesTypeAddress

NC222NC221 modeNC221

Y-axis 800 Unit setting 0 0 0

parameter 801 Pulse rate 1 1 1

data 802 Rotating

direction

0 0 0

803 Encoder

type

01 01 001

804 Gain 200 200 200

805 In-position

zone

10 10 10

806 Backlash

compensa­tion

0 0 0

807 Stroke limit

(+)

999999 999999 999999

808 Stroke limit

(–)

999999 999999 999999

809 Zone setting 01000100 01000100 01000100

810 Home shift 0 0 0

811 Maximum

speed

10000 FFFFFFFF (*1: see

note)

40010000

812 Jog forward

maximum
speed

2000 FFFFFFFF (*2: see

note)

10002000

813 Origin

search direc­tion

0 0 0

814 Origin com-

pensation

0 0 0

815 Origin

search maxi­mum speed

5000 5000 5000

816 Origin

search
acceleration
and decel­eration

5 5 5

817 Origin

search low
speed

1000 1000 1000

818 Deceleration

stop pulse
number

500 500 00000500

819 Wiring check

function

--- --- 01100011

Emergency
stop counter
capacity

0 7024 ---

820 External out-

put control
setting

00032768 00032768 00032768

Precautions When Using C500-NC222-E in NC221 Mode

Section 1-7

16

Initial data and data attributesTypeAddress

NC222NC221 modeNC221

Speed data 900 Speed data010000 10000 10000

901 Speed data11000 1000 1000

902 Speed data22000 2000 2000

903 Speed data33000 3000 3000

904 Speed data44000 4000 4000

905 Speed data55000 5000 5000

906 Speed data66000 6000 6000

907 Speed data77000 7000 7000

908 Speed data88000 8000 8000

909 Speed data99000 9000 9000

Note The Teaching Unit displays the following in the above *1) and *2) cases.

*1: OVER_PS
*2: JOG OVER_PS

Precautions When Using C500-NC222-E in NC221 Mode

Section 1-7

17

SECTION 2

Wiring

2-1 M/D Connector 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 EXT-IN Connector 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3 Faulty Wiring Diagnostic Function 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4 Motor Driver Connection Examples 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5 Wiring Precautions 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

2-1 M/D Connector

The M/D (motor driver) connector is used for wiring servomotor driver I/O.
Control voltage outputs and feedback pulse inputs go through here. The con­nector type and pin layouts are shown below.

1 2 3 4 5 6 7 8 9

10 11 12 13 14 15 16

17 18 19 20 21 22 23 24

25

2.6x6=15.6

2.6x8=20.8

6.1

2.6

2.6

33

(Layout shown from wiring side)

M/D Connector Section 2-1

19

Pin Terminal Functions

Name

0 V

X-axis OUT2 output

X-axis OUT1 output

X-axis Phase B input

X-axis Phase B input

X-axis Phase A input

X-axis Phase A input

X-axis speed 0 V

X-axis speed

Frame ground

24 V for OUT output

Y-axis phase Z input

X-axis phase Z input

X-axis phase Z input

Y-axis phase Z input

0 V

Y-axis OUT2 output

Y-axis OUT1 output

Y-axis Phase B input

Y-axis Phase B input

Y-axis Phase A input

Y-axis Phase A input

Y-axis speed 0 V

Y-axis speed instruction

Description

0-V terminal for pins 11 and 12

User defined output (for X axis)

Phase B feedback input for X axis

Phase B feedback input for X axis

Phase A feedback input for X axis

Phase A feedback input for X axis

0-V output for X-axis speed voltage to servomotor
driver

X-axis speed voltage output to servomotor driver

Ground terminal

+24 VDC input terminal for OUT output

Phase Z feedback input for Y axis

Phase Z feedback input for Y axis

Phase Z feedback input for X axis

Phase Z feedback input for X axis

0-V terminal for pins 18 and 19

User defined output (for Y axis)

Phase B feedback input for Y axis

Phase B feedback input for Y axis

Phase A feedback input for Y axis

Phase A feedback input for Y axis

0-V output for Y-axis speed voltage to servomotor
driver

Y-axis speed voltage output to servomotor driver

Pin No. Symbol

1 DC GND

2 OUT-2X

3 OUT-1X

4 X-B

5 X-B

6 X-A

7 X-A

8 XAG

9 XOUT

10 FG

11 +24V

12 +24V

13 Y-Z

14 Y-Z

15 X-Z

16 X-Z

17 DC GND

18 OUT 2Y

19 OUT 1Y

20 Y-B

21 Y-B

22 Y-A

23 Y-A

24 YAG

25 YOUT

M/D Connector Section 2-1

20

Input Circuits (Feedback Inputs for Phases A, B, and Z)

2 kW
1/6 W

330W 1/6 W

Photocoupler

(i) Phase A, phase A (X,Y axes)

2 kW
1/6 W

330W 1/6 W

Photocoupler

2 kW
1/6 W

330W 1/6 W

Photocoupler

(ii) Phase B, phase B (X, Y axes)

(iii) Phase Z, phase Z (X, Y axes)

Phase A
Phase A

Phase B
Phase B

Phase Z
Phase Z

Typical Encoder

+5V

0V

A out
B out
Z out

Output Circuitry (OUT Outputs and Speeds)

DC

GND

+24V

24 VDC

OUT1

OUT2

DC GND

Transistor
array

Photocoupler

OUT1/OUT2 outputs (X,Y axes)

OUT/AG outputs (X,Y axes)

XOUT
YOUT

XAG
YAG

–15V

+15V

100W

5kW

–

+

M/D Connector Section 2-1

21

2-2 EXT-IN Connector

The EXT-IN (external input) connector is used for wiring external inputs.
Since the C500-NC222-E Position Control Unit allows dual axis control, the
EXT-IN connector provides inputs for both X and Y axes for connecting in­puts from limit switches, from switches to stop the system, and from the me­chanical origin. The connector type and pin layouts are shown below.

1 2 3 4 5 6

7 8 9 10

11 12 13 14 15 16

2.6x3=7.8

2.6x5=13.0

6.1

2.6

2.6

33

(Layout shown from connected side)

Pin Functions

Name

0 V

X-axis CCW limit

X-axis external interrupt

X-axis origin

X-axis emergency stop

X-axis CW limit

Frame ground

24-V input

–

0 V

Y-axis CCW limit

Y-axis external interrupt

Y-axis origin

Y-axis emergency stop

Y-axis CW limit input

Pin No.

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

Symbol

DC GND

CCWLX

STPX

ORGX

EMGX

CWLX

FG

+24V

+24V

–

DC GND

CCWLY

STPY

ORGY

EMGY

CWLY

Description

Ground (0 V) terminal for external 24-VDC power supply

Limit switch input for X-axis in CCW direction (NC)

Used for stopping X axis earlier than normal deceleration
stop (NO). Active at its leading edge.

Used as X-axis mechanical origin (NO).

Used to stop X axis in an emergency such as a run-away
motor (NC).

Limit switch input for X axis in CW direction (NC)

Ground terminal

Positive (+24 V) terminal for external 24-VDC power sup­ply

Unused

Ground (0 V) terminal for external 24-VDC power supply

Limit switch input for Y axis in CCW direction (NC)

Used for stopping Y axis earlier than normal decelera­tion-stop (NO). Active at its leading edge.

Used as Y-axis mechanical origin (NO).

Used to stop Y axis in an emergency such as a run-away
motor (NC).

Limit switch input for Y axis in CW direction (NC)

EXT-IN Connector

Section 2-2

22

Configuration of Input Circuit

CWL

CCWL

DC GND

24V
DC

STP
ORG
EMG

470 W

3.4 kW 1/3 W

Photocoupler

+24V

STP, ORG, EMG inputs (X,Y axes)

External Interrupt Inputs External interrupt inputs are effective during operation, but their functions

differ for 1) Positioning and searching for the origin and 2) JOG operations.

During positioning or origin searches, setting of positions into the error count­er is stopped, and the count decreases naturally to cause a deceleration stop
through workpiece momentum. This deceleration differs according to the de­gree of momentum in the error counter when the external interrupt is turned
ON.

Similarly, during JOG operations the error counter count decreases naturally
to cause a deceleration stop through workpiece momentum. However, during
JOG operations natural deceleration occurs according to the number of
pulses stored in the deceleration-stop parameter (address 418 for the X axis,
818 for the Y axis) whenever the setting of this parameter is larger than the
value in the error counter when the external interrupt is received. In this ca­pacity an external interrupt can be used to stop the workpiece after an estab­lished number of pulses.

Emergency Stop Input If the emergency stop input is received while an axis is moving, pulse string

input to the error counter will be stopped, the error counter will be cleared,
positioning will stop immediately, and a servo lock will be set. When an emer­gency stop is executed, the current position will also be cleared.

To restart operation after an emergency stop has been executed, turn OFF
the emergency stop input, reset the error (ERST), and redefine the origin.

2-3 Faulty Wiring Diagnostic Function

In a semiclosed-loop servo system, faulty wiring may cause the servomotor
to run out of control. The Position Control Unit prevents this by its faulty wir­ing diagnostic function.

Servomotor

Encoder

Phase B feedback

(1) Phase A feedback

(2)

Voltage

Servomotor
driver

Amp

D/A

Error
counter

CW

CCW

(1) Faulty wiring at phase feedbacks A and B.
(2) Faulty wiring at ground and positive lines of speed voltage output.

AG

Direction
circuit

Faulty Wiring Diagnostic Function

Section 2-3

23

Under normal wiring conditions a position control loop is created when power
is turned ON, and a servolock occurs. For example, if the motor rotates in the
CW direction during servolock, the encoder will detect this. Consequently,
feedback signals notify the error counter in the Position Control Unit about
the direction and magnitude of this movement. Since the error counter count
is ordinarily zero unless otherwise designated, even if the motor moves in the
CW direction and the feedback signals transfer this direction and movement
as a count to the error counter, it will zero this count figure by rotating the
motor in the CCW direction with the appropriate control voltage. The control
voltage is output to the servomotor driver, and the motor rotates in the CCW
direction. Again, when the motor rotates in this CCW direction the encoder
will detect the movement and notify the error counter in the Position Control
Unit with feedback signals. This loop subtracts the count figure in the error
counter to zero it. Hence, the creation of a position control loop and valid ser­volock will ordinarily allow the servomotor to constantly correct and maintain
its stopped position.

If feedback input lines Phase A and Phase B are wired in reverse (broken
lines at (1) in the figure), the servolock is ineffective and the motor runs out of
control. Suppose the motor rotates in the CW direction and the encoder de­tects this. Because the feedback input wiring is reversed at the Position Con­trol Unit, the error counter receives the information as a magnitude in the
CCW direction. Then the error counter attempts to zero the count figure by a
control voltage output in the CW direction. The reversed wiring thus causes
further CW rotation when the servomotor driver receives this control voltage.
The error counter continues to total a count in the CCW direction, and the
motor runs out of control in the CW direction as the cycle repeats. This can
occur not only from reversed wiring of Phases A and B of the feedback in­puts, but also from reversed wiring of the speed voltage and the ground (zero
volt) lines. Run-away motors are quite dangerous because they become ap­parent only after switching power on.

The C500-NC222-E Position Control Unit counters this danger with the fol­lowing faulty wiring diagnostics in order to prevent run-away motors.

• When the power is turned ON the error counter capacity has a limit so that
a control voltage beyond ±0.3 V is not output.

• In the event of faulty wiring, this limit ensures that the motor will not run too
fast to be stopped externally. Immediately check the wiring and parameters
after the motor stops.

• This faulty wiring diagnostic function clears when the first axis operation
command arrives such as SRT, JOG, PLS, ORG, etc. Thus during ordinary
operation this limit does not interfere.

• If a motor does run away and the error counter overflows because of an
error, stop the motor by a 0-V control voltage and clear the servolock func­tion. Then immediately turn OFF the servomotor driver power supply since
the motor may continue to move slowly under a 0-V drift.

Other reasons why the servolock does not engage and causes a run-away
motor include 1) reversed connections of A and A or B and B, 2) faulty wiring
between the servoamp and servomotor, or 3) incorrect rotation direction set­tings for parameters (addresses 402/802). Check for these if you suspect
wiring problems.

Faulty Wiring Diagnostic Function

Section 2-3

24

2-4 Motor Driver Connection Examples

In this example for 1-axis control, proximity and limit switch connections are
wired to be current-activated. Set OUT1 and OUT2 as needed.

20
22
12

25
16
15
24
23
14

4
1
6

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16

1

2

3

4

5

6

7

8

9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25

CN1

+COM

MING

RUN

–Z
+Z
–B
+B
–A
+A

AG

REF

GND

DC

Power

supply

0V +24V

M/D connector

EXT-IN connector

External interrupt switch Emergency stop switch

CCW limit

Origin

CW limit

Servo driver

DC GND
CCWL X

STP X
ORG X
EMG X
CWL X

FG
+24V
+24V

Unused
DC GND
CCWL Y

STP Y
ORG Y
EMG Y
CWL Y

DC GND

OUT2 X
OUT1 X

X-B
X-B
X-A
X-A

X-AG

X-OUT

FG
+24V
+24V

Y-Z

Y-Z

X-Z
X-Z

DC GND

OUT2 Y
OUT1 Y

Y-B
Y-B
Y-A
Y-A

Y-AG

Y-OUT

C500-NC222-E

Motor Driver Connection Examples

Section 2-4

25

In this example for 1-axis control, proximity switch connections are wired to
be current-opening. Set OUT1 and OUT2 as needed.

DC GND

OUT2 X
OUT1 X

X-B
X-B
X-A
X-A

X-AG

X-OUT

FG
+24V
+24V

Y-Z
Y-Z
X-Z
X-Z

DC GND

OUT2 Y
OUT1 Y

Y-B
Y-B
Y-A
Y-A

Y-AG

Y-OUT

1
2
3
4
5
6
7
8
9

10

11
12
13
14
15
16

6
5
4
9
10

6
7
9
10
3
4
1

1
2
3
4
5
6
7
8
9

10

11
12
13
14
15
16
17
18
19
20
21
22
23
24
25

M/D connector

EXT-IN connector

DC GND
CCWL X

STP X
ORG X
EMG X
CWL X

FG
+24V
+24V

Unused
DC GND
CCWL Y

STP Y
ORG Y
EMG Y
CWL Y

CN3

AG

RUN

MING

REF

AG

CN7

B
B
A
A
Z
Z
E

External interrupt switch Emergency stop switch

CCW limit

Origin

CW limit

Servo driver

DC
power
supply

+24 V 0 V

C500-NC222-E

Motor Driver Connection Examples

Section 2-4

26

2-5 Wiring Precautions

Electronically controlled equipment may malfunction because of noise gener­ated by power supply lines or external loads. Such malfunctions are difficult
to reproduce; hence, determining the cause often requires a great deal of
time.

The Position Control Unit is naturally susceptible to noise malfunction. The
following tips, however, should aid in avoiding noise malfunction and improve
system reliability.

1. Always use designated electrical cables.

2. Separate power cables (AC power supply, motor power supply) and
control cables (pulse outputs, external I/O). Do not group the two types
together or place them in the same conduit.

3. Control cables must be shielded.

4. For inductive loads (relays, solenoids, solenoid valves), connect surge
absorbing circuits. Connect surge absorbing components close to the
relay or solenoid. For a DC relay, use a surge-absorbing diode with a
voltage tolerance at least five times greater than the circuit voltage.

–

+

DC

RY

Solenoid

SOL Surge absorber

Surge absorber

RY

AC

DC Relay AC Relay

Diode for
absorbing surge

5. Noise from the power supply line (e.g., when using the same power sup­ply with an electric welder or electrical discharge unit, or when a
high-frequency noise generator is nearby) can be alleviated by inserting
a noise filter at the power supply input.

6. Use twisted pair cable for power supply lines.

7. Use adequate grounds with a cross-section of 1.25 mm

2

or greater.

Ground at a resistance no greater than 100 Ω.

8. The I/O terminals that operate the 24-V system are isolated with photo­couplers to reduce external noise effects on the control system. In ac­cordance with this provision, avoid connections between the analog con­trol voltage ground (AG) and 24-V ground (DC GND).

1, 2, 3...

Wiring Precautions

Section 2-5

27

SECTION 3

Data Configuration

Before executing positioning actions, you must enter the necessary data into the EEPROM of the Position Control Unit.
The C500-NC222-E Position Control Unit has a large data capacity. The EEPROM can store data for 300 positioning
actions, 100 speeds, 19 parameters, 10 dwell times, and 10 acceleration and deceleration times per axis. You can set data
most conveniently with the Teaching Box, but it is also possible to send data from the PC to the Position Control Unit.

Data is automatically transferred from EEPROM to RAM when the Position Control Unit is powered up. The commands
transferred from the DM area of the PC (see Section 6 Commands for details) contain settings which access this data.

3-1 Overview 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2 Data Allocations 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3 Setting Parameters 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-4 Setting Positioning Actions 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-5 Setting Dwell Times 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-6 Setting Acceleration and Deceleration Times 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-7 Setting Speeds 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-8 Initial Data 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28

3-1 Overview

The Position Control Unit (PCU) outputs control voltage pulses to motor driv­ers. The basic control unit, therefore, is the pulse; control voltages differ by
the number of pulses they contain.

Pulses are signals sent to motor drivers to command precise motor motion.
In order to facilitate programming, the Teaching Box accepts input in units of
pulses, millimeters (mm), or inches. The type of unit is set with the Teaching
Box or PC and entered at parameter address 400 for the X axis and 800 for
the Y axis. The magnitude of the pulse rate is entered at address 401 for the
X axis and 801 for the Y axis.

The pulse rate is equivalent to dividing the movement, x, of an object at­tached to a motor by the number of pulses, n, required for this movement.
The pulse rate thus equals x/n. In actual operation, the data input in normal
units of distance is translated by the Teaching Box so the data is stored di­rectly as pulses.

The most convenient way to set data is with the Teaching Box. Specific
memory areas in the Position Control Unit are designated for certain types of
data. The data provides the precise information necessary to drive a stepping
motor or servomotor through a number of specific motions. There are five
types of data: parameters, speeds, dwell times, acceleration and decelera­tion times, and positioning actions. When setting data for the first time, you
must set parameters first, followed by speeds, dwell times, acceleration and
deceleration times, and then positioning actions.

Pulse Rate

Setting Data

Overview Section 3-1

29

3-2 Data Allocations

Commands, parameters, speeds, positioning actions, dwell times, and accel­eration and deceleration times are stored at the following addresses. Posi­tioning actions include the position, speed, and other attributes. Parameters
categorically establish limits and directions for positioning actions.

Data PCU Address No. of PC Words Description Permitted Settings

Positioning
actions

100 to 399 5 For the X axis 99,999,999 pulses (for

desired position)

400 2 Unit 0 to 2

401 3 Pulse rate (1 to 10,000) x10–4 (unit/

pulse)

402 2 Rotation direction 0 or 1

403 2 Encoder type 0 or 1 and 1, 2, 4

404 2 Gain

(1 to 999) x 10 mV/pulse

405 2 In-position zone 1 to 999 pulses

406 2 Backlash compensation 0 to 9,999 pulses

407 3 Stroke limit (+) 0 to 99,999,999 pulses

Parameters 408 3 Stroke limit (–) 0 to 99,999,999 pulses

409 3 Zone setting 0 to 9,999 pulses

410 3 Home shift 999,999 pulses

414 3 Maximum speed 1 to 300,000 pps

412 3 Maximum jogging speed 1 to 300,000 pps

413 2 Origin search direction 0 or 1

414 3 Origin compensation 999,999 pulses

415 3 High origin search speed 1 to 300,000 pps

416 2 Origin search accel./decel. 0 to 9

417 3 Low origin search speed 1 to 10,000 pps

418 3 Deceleration stop 1 to 10,000 pulses

Dwell times 450 to 459 2 For the X axis 0 to 9,990 ms (in 10-ms

increments)

Acceleration/
Deceleration

460 to 469 3 For the X axis 10 to 4,990 ms (in 10-ms

increments)

Positioning 500 to 799 5 For the Y axis 99,999,999 pulses (for

desired position)

Parameters 800 to 818 2 or 3 For the Y axis; analogous to

400 to 418 for X axis

–

Dwell times 850 to 859 2 For the Y axis 0 to 9,990 ms (in 10-ms

increments)

Acceleration/
Deceleration

860 to 869 3 For the Y axis 10 to 4,990 ms (in 10-ms

increments)

Speeds 900 to 999 3 Speeds for both axes 1 to 300,000 pps (in

1-pps increments)

Data Allocations

Section 3-2

30

3-3 Setting Parameters

When writing data into the Position Control Unit for the first time, you must
start with parameters. The word parameters, as used here, has a rather spe­cific meaning and refers to certain data settings (described below) which de­lineate particular aspects of operation. Each parameter is allocated either two
or three 16-bit words in the EEPROM. The first of these words is always used
to designate the address. The remaining one or two words are used to write
data specific to that particular parameter. You must write two sets of data
(one for each axis) for each parameter.

In the following explanations, the addresses for both axes are listed for each
parameter. The table above provides a comprehensive listing of addresses.
Default settings refer to the initial data loaded for the trial operation. See Sec-
tion 3-8 for a comprehensive listing of initial data settings.

Note The following data is for setup within the PC for transfers. If the Teaching Box

is used, see operation manual W145. The data within the parenthesis con­tains the PCU address for the data being described.

Designates the unit to be used with the Teaching Box (C500-TU002-E) and
External Display (C500-ND201).

Address

1 Word 1 Word

0001

Unit

Pulse: 0 mm: 1 Inch: 2 (Default: 0)

Determines the amount of workpiece movement (with the selected unit) per
pulse. For precision, the setting allows for 4 digits beyond the decimal point;
however, the fourth digit may be rounded off when data is converted from
millimeters.

Previously set parameters do not change their value when the pulse rate
changes. Always reconfirm affected parameters when you change the pulse
rate; as a general rule, always set the pulse rate first. Parameters defined
under a former pulse rate will be ignored. A pulse rate setting of 0 (if the pa­rameter are all cleared, for instance) will actually assign the default pulse rate
of 1.0000.

1 Word

000

1 Word

Pulse rate

1 Word

Setting range:

0.0001 to 1.0000 unit/pulse
(Default: 1.0000)

Address

2

Unit (X axis: 400, Y axis:

800)

Pulse Rate (X axis: 401, Y
axis: 801)

Setting Parameters

Section 3-3

!

31

Relates to the position field sign bit. This parameter designates the control
voltage as positive or negative. The position field sign establishes the posi­tion field as positive or negative.

Rotation

direction

1 Word

000

1 Word

Address

1

Positive voltage output for higher position: 0

Negative voltage output for higher position: 1

The following table shows the relationship between the sign designated for
the positioning action, the rotation direction designated above, the motor driv­er voltage, and the direction of motor rotation.

Position field sign Rotation direction Direction of

motor operation

Driver control

voltage

Resulting rotation

Positive (in direction of Positive voltage (0) CW Positive CW

increasing absolute CCW Positive CCW

positions) Negative voltage (1) CW Negative CW

CCW Negative CCW

Negative (in direction of Positive voltage (0) CW Positive CW

decreasing absolute CCW Positive CCW

positions) Negative voltage (1) CW Negative CW

CCW Negative CCW

Negative range Positive range

Decreasing absolute position Increasing absolute position

0 -99,999,999 99,999,999

(origin)

Increasing positions

Determine in this area if a positive or

negative control voltage is required.

Caution Erroneous settings for this parameter can cause the servomotor system to run

out of control. Change these settings immediately after turning on power when
the motor is not engaged to a load.

Rotation Direction (X axis:
402, Y axis: 802)

Setting Parameters

Section 3-3

32

This parameter determines encoder characteristics.

Pulse

multiplier

logic

1 Word1 Word 1 Word

1 Multiplier 1
2 Multiplier 2
4 Multiplier 4

0 Positive logic
1 Negative logic

Default: 01
(Positive logic, multiplier 1)

00

Phase Z

Address 1

Select positive logic (active high) or negative logic (active low) for the phase
Z encoder. Positive logic phase Z (normally low) goes high at a signal; nega­tive logic phase Z (normally high) goes low at a signal.

Select 1, 2, or 4 for the pulse multiplier depending on what type of phase-dif­ference signals (Phases A and B) you require from the feedback pulses. Mul­tiplier 1 sets the motor resolution equal to the encoder resolution. This means
an encoder with a resolution of 1,000 pulses/revolution connected to a motor
controls minimum motor rotation units in 1/1,000 revolution increments. With
Multiplier 1 for example, for feedback pulses in the CW direction the figure
below shows the generation of feedback pulses at the trailing edge of Phase
A when Phase B is high.

Phase (A)

Feedback pulses

from the encoder

Pulses
with
direction
determined
by PCU

Multiplier 1

Phase (B)

Feedback pulses
(CW direction)

Encoder Type (X axis: 403,
Y axis: 803)

Phase Z Logic

Pulse Multiplier

Setting Parameters

Section 3-3

!

33

Multiplier 2 and Multiplier 4 provide double and quadruple resolutions of the
encoder for the motor, respectively. If an encoder with a resolution of 1,000
pulses/revolution is connected to a motor, the encoder controls minimum mo­tor rotation units in 1/2,000 revolution increments for Multiplier 2 and in
1/4,000 revolution increments for Multiplier 4. The respective precisions dou­ble and quadruple, but speeds drop respectively to 1/2 and 1/4.

Feedback pulses

from the encoder

Feedback pulses

from the encoder

Pulses
with
direction
determined
by PCU

Multiplier 2

Phase (A)

Phase (B)

Feedback
pulses
(CW direction)

Pulses
with
direction
determined
by PCU

Multiplier 4

Phase (A)

Phase (B)

Feedback
pulses
(CW direction)

With Multiplier 2, feedback pulses are generated at the leading edge of
Phase A when Phase B is low and at the trailing edge of Phase A when
Phase B is high. With Multiplier 4, feedback pulses are generated in addition
at the leading edge of Phase B when Phase A is high and at the trailing edge
of Phase B when Phase A is low.

Caution Change the multiplier parameter immediately after power ON or origin search.

Changing it at other times may cause the motor to move to its new “current posi­tion” at high speed based on the new multiplier.

Designates the voltage output per pulse. The servo system gain is normally
adjusted with the variable resistor on the servomotor driver. This gain setting
is used only as a supplement to the resistor adjustment.

1 Word 1 Word

Unit: 10 mV/pulse
Range: 1 to 999
(Default: 200)

GainAddress

1

Error counter value read
0: Not read (default)
1: Read

If the gain is too low, it will reduce the responsiveness of the motor and the
motor will not be able to achieve the desired acceleration. If the gain is too
high, vibration or other irregularities will result.

Gain and Error Counter
Value Read (X axis: 404,
Y axis: 804)

Note

Setting Parameters

Section 3-3

34

This parameter is used for reading the error counter value in the status area.
Decide to read or not to read the error counter value when setting the gain
set value.

If the parameter is set to error counter value read, the error counter value will
be output to words 17 to 20 (the data read area) of the status area in 8-digit
BCD. Words 17 to 18 will be used for single axis error counter value read.

Reading X- and Y-axis Error Counter Values:

Word Bit

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

17 X-axis sign X-axis 10

6

X-axis 10

5

X-axis 10

4

18 X-axis 10

3

X-axis 10

2

X-axis 10

1

X-axis 10

0

19 Y-axis sign Y-axis 10

6

Y-axis 10

5

Y-axis 10

4

20 Y-axis 10

3

Y-axis 10

2

Y-axis 10

1

Y-axis 10

0

21 Top word of data read area

The plus or minus sign will be displayed with 1 or 0 in bit 12.

15 14 13 12

0000

1: Minus
2: Plus

The top word of the data read area varies with the axis when reading the
error counter value.

The top word of the data read area when reading the X- and Y-axis error
counter values: 21

The top word of the data read area when reading the X- or Y-axis error
counter value: 19

The top word of the data read area when not reading the X- or Y-axis error
counter value: 17

Checks the error counter count of the servo system. When the count in the
error counter reaches the value set here, the corresponding In Position flag
turns ON and relays this condition externally. The flag remains ON as long as
the count remains below the in-position zone. This flag will not turn ON while
pulses are being input into the error counter regardless of the value of the
counter.

1 Word 1 Word

In-position

zone

Range: 1 to 999 pulses
(Default: 10)

Address 01

In-Position Zone (X axis:
405, Y axis: 805)

X axis

Y axis

Setting Parameters

Section 3-3

35

The following diagram and timing chart show the relationships between the
error counter count, the in-position zone, the In-position Flag, and other posi­tioning flags. As shown below, positioning is consider complete when the
count in the error counter is less than or equal to the value set for the in-posi­tion zone.

In-position zone
setting

Count in error
counter

Time

In-position
Flag

ON
OFF

In-position
Flag

Positioning
Flag

Positioning
Completed Flag

Stopped
Flag

Desired
position

Within the
in-position zone
setting

Count in
error counter

Backlash refers to the amount of mechanical play present in gears. The
meshing tolerance in the situation shown below would become a problem if
the next positioning action were in the reverse direction. Generally, compen­sation is necessary whenever the direction changes.

1 Word 1 Word

Range: 1 to 9999
(Default: 0)

Backlash

Backlash
compensation

Address 1

Backlash Compensation (X
axis: 406, Y axis: 806)

Setting Parameters

Section 3-3

!

!

36

Designates the limit in pulses for positive (+ area) positioning actions. A posi­tioning action is positive or negative depending on the setting of the sign bit
in the Attribute 1 field. To prevent overrunning of the motor, an error occurs
when execution of positioning actions beyond the set value is attempted.
This parameter occupies two words for a maximum 8-digit entry.

1 Word 1 Word 1 Word

Range: 0 to 99,999,999 pulses
(Default: 999,999)

Stroke limit (+)

Address

2

Caution With both stroke limits at 0 (default settings), the stroke limits are not effective;

i.e., motor overrun cannot be prevented with such settings. Furthermore, the
stroke limit remains unchecked for JOG and pulse operations and for points
passed during circular arc interpolation.

Designates the limit in pulses for negative (– area) positioning actions. A po­sitioning action is positive or negative depending on the setting of the sign bit
in the Attribute 1 field. To prevent overrunning of the motor, an error occurs
when execution of positioning actions beyond the set value is attempted.
This parameter occupies 2 words for a maximum 8-digit entry.

Caution With both stroke limits at 0 (default settings), the stroke limits are not effective;

therefore, motor overrun cannot be prevented with such settings. Furthermore,
the stroke limit remains unchecked for JOG and pulse operations and for points
passed during circular arc interpolation.

1 Word 1 Word 1 Word

Range: 0 to 99,999,999 pulses
(Default: 999,999)

Stroke limit (–)

Address

2

Sets the acceleration zone and deceleration zone pulse counts. You can use
these zones to check the amount of movement during acceleration and de­celeration.

1 Word 1 Word 1 Word

Range: 0 to 9,999 pulses
(Default: 100)

Range: 0 to 9,999 pulses
(Default: 100)

Acceleration

zone

Deceleration

zone

Address

2

Stroke Limit (+) (X axis:
407, Y axis: 807)

Stroke Limit (–) (X axis: 408,
Y axis: 808)

Zone Setting (X axis: 409, Y
axis: 809)

Setting Parameters

Section 3-3

37

Set the acceleration zone in order to check the amount of movement from
the positioning starting point. The Acceleration Zone flag remains ON while
the positioning action executes the number of pulses set for the acceleration
zone. Similarly the Deceleration Zone flag will stay ON while the positioning
action executes the number of pulses in the deceleration zone. The Acceler­ation Zone and Deceleration Zone flags are OFF before and after the start
and end positioning points. They are ON only during part of the positioning
action. The zone setting parameter is invalid during circular arc interpolation.
This parameter is effective for single-axis positioning and for straight-line in­terpolation only.

Acceleration

zone

Deceleration

zone

Positioning
start point

Positioning
end point

Acceleration Zone
flag set

Deceleration Zone
flag set

Address 103102101100

Positioning
start point

Positioning
end point

Acceleration Zone
flag set

Deceleration Zone
flag set

In a series of continuous positioning actions (completion codes = 1) the ac­celeration zone is effective for the first positioning action only; the decelera­tion zone, for the last positioning action only.

You can use home shift to add a designated number of pulses to any posi­tioning action without affecting the origin. If HSFT (the home shift command)
has been executed to enable home shift, the specified positioning action will
shift positions by the amount of pulses set in this parameter. Refer to Section
7 Commands for details on HSFT.

Sign

1 Word 1 Word 1 Word

Home Shift

Range: 0 to 999,999 pulses
(Default: 10,000)

0 Positive
1 Negative

Default: 0

0

Address

2

Home Shift (X axis: 410, Y
axis: 810)

Setting Parameters

Section 3-3

38

In the figure below for example, the parameter is set to shift positioning by
100 pulses. If the HSFT is enabled for positioning from P0 to P1 and to P2
(solid line), then positioning goes to (P1 + 100) and to (P2 + 100) (broken
line). Home shift is not effective for absolute positions of 0, i.e., moves to the
origin.

P

0

P

1

P

2

P1(P2+100)

(P1+100)

Origin

Defines the maximum speed used. You can set this parameter to prevent
overrunning of the motor. The speed set here will be the maximum at which
the motor will run, even if a command is executed with a dangerously high
speed set by mistake. The acceleration and deceleration times also make
use of this parameter.

1 Word

00

1 Word 1 Word

Maximum Speed

1 to 300,000
pps
(Default:
10,000)

Address 2

Defines the maximum JOG speed.You can set this parameter to prevent
overrunning of the motor. The speed set here will be the maximum at which
the motor will run during JOG, even if a command is executed with a danger­ously high speed set by mistake.

1 Word

00

1 Word 1 Word

1 to 30,000 pps
(Default: 2,000)

Maximum jogging
speed

Address 2

Determines the final direction approach for an origin search. The positive di­rection means movement toward the positive (+) position field area. The neg­ative direction means movement toward the negative (–) position field area.
The position field sign is set in the Attribute 1 field of positioning actions. For
more detail on establishing the origin, refer to Section 7.

Origin search

direction

0

0 Positive
1 Negative

1 Word 1 Word

(Default: 0)

10 0

Address

Maximum Speed
(X axis: 411, Y axis: 811)

Maximum Jogging

Speed

(X axis: 412, Y axis: 812)

Origin Search Direction (X
axis: 413, Y axis: 813)

Setting Parameters

Section 3-3

39

Corrects the mechanical origin detected via the phase Z origin search. There
may be times when the mechanical origin which is detected may not be suffi­ciently precise. In such cases, you can use this parameter to add a desig­nated number of pulses to the mechanical origin. The new point then be­comes the origin. For more detail on establishing the origin, refer to Section

7.

Sign

0+
1–

1 Word 1 Word 1 Word

Range: 0 to 999,999 pulses
(Default: 0)

Default: 0

Origin input
detection

Phase Z detection

Moves at low origin
search speed

Mechanical origin

Origin compensation

Origin compensation operation

Origin compensation

2

Address

0

This speed is used in origin search until an origin input is detected. An origin
search starts with this high speed and changes to the low speed with an ori­gin input detection.

High origin

search speed

Origin search start

Origin input detection

Phase Z detection

Low origin

search speed

Origin

1 Word

00

1 Word 1 Word

Range: 1-300,000 pps
(Default: 5,000)

2

Address

High origin
search speed

Origin Compensation
(X axis: 414, Y axis: 814)

High Origin Search Speed
(X axis: 415, Y axis: 815)

Setting Parameters

Section 3-3

40

Sets the acceleration and deceleration times for origin search.

1 Word

000

1 Word

Range: 0 to 9
(Default: 5)

Origin search
acceleration and
deceleration

1

Address

The times available are stored in addresses 460-469 for the X axis and
860-869 for the Y axis. Select the times by storing the last address digit here
(e.g., 8 for time set at address 468). For setting acceleration and deceleration
times, refer to Section 3-6.

Speed

Time

Origin search start

Set according to acceleration

and deceleration time

Phase Z input

Low origin
search

speed

High origin
search speed

Origin input detection

This speed is used in origin search after an origin input is detected. An origin
search starts with the high speed and changes to this low speed from the
origin input detection until the first phase Z detection. See the previous figure
under High Origin Search Speed.

1 Word 1 Word 1 Word

Range: 1 to 10,000 pps
(Default: 1,000)

000

Low origin

search speed

2

Address

The Deceleration Stop setting can be used to control how fast the positioning
system will stop when an external interrupt is received during execution of
JOG. The count in the error counter may, however, affect the stopping speed,
as described below.

1 Word

000

1 Word 1 Word

(Default: 500)

2

Address

Deceleration-stop

pulses

Origin Search Acceleration
and Deceleration (X axis:
416, Y axis 816)

Low Origin Search Speed
(X axis: 417, Y axis: 817)

Deceleration Stop
(X axis: 418, Y axis: 818)

Setting Parameters

Section 3-3

41

When the external interrupt input turns ON, the Deceleration Stop value is
compared to the count in the error counter. If the count in the error counter is
greater than the Deceleration Stop value, the Deceleration Stop value is not
used and the system will stop after the positioning system has moved by the
pulse count already in the error counter. This occurs when the jogging speed
is high (creating a high count in the error counter) and the Deceleration Stop
value is low.

When jogging speed is high, and
number of set pulses is low.

External interrupt input

JOG operation

If the count in the error counter is less than the Deceleration Stop value, then
the count in the error counter is increased to equal the Deceleration Stop val­ue and the system will stop after the positioning system has moved by the
number of pulses designated for the Deceleration Stop.

When jogging speed is low, and
number of set pulses is large.

External interrupt input

JOG operation

Therefore, if you want to stop as soon as possible for external interrupts, set
the Deceleration Stop value low in comparison to the jogging speed. If you
want to ensure that a specific distance is moved after receiving an external
interrupt, set the Deceleration Stop value high in comparison to the jogging
speed.

This parameter is used to limit the error counter capacity while the emer­gency operation stop function of the Position Control Unit is active. Only
while the emergency operation stop function is active, the error counter
capacity will be set to the value that has been preset, in which case no accu­mulated value exceeding the measured value will be stored.

1 Word

Limit value

1 Word

Range: 1 to 9,999 pulses
(Default: 0)
If the value is set to 0, the error
counter capacity will be set to 32,767.
If the value is changed to 1 to 9,999
from 0, the value cannot be reset to 0.

1

Address

To move the object controlled by the Position Control Unit manually, for
example, use this function so that the servo free function will be active while
the emergency stop input is ON to move the object by hand and then disable
the servo free function, in which case the object will not move quickly to
return to the previous position.

Error Counter Capacity for
Emergency Operation Stop
(X axis: 419, Y axis: 819)

Setting Parameters

Section 3-3

42

This parameter is used to set the error counter capacity and external output
control.

When the error counter overflows, external output 1 (OUT1) will be left as it is
or turned OFF by setting external output 1 value to 1 or 0.

When the servo free function is active, external output 2 (OUT2) will be
turned ON or OFF by setting external output 2 value to 1 or 0.

When the error counter overflows, the error counter overflow status will be
turned ON.

1 Word 1 Word 1 Word

Range: 10 to 32,768 pulses
(Default: 32,768)

02

Address

Capacity setting

External Output 2 Setting
1: The output will be left as it is when the error
counter overflows.
0: The output will be turned OFF when the error
counter overflows.
(Default: 0)

External output 1 setting
1: The output will be left as it is when the error
counter overflows.
0: The output will be turned OFF when the error
counter overflows.
(Default: 0)

3-4 Setting Positioning Actions

Write in the data for positioning actions last, after making all of the other set­tings. Parameter settings are described in the previous subsections; dwell
time, acceleration and deceleration, and speed settings are described in the
following subsections. You can store up to 300 positioning actions for each
axis in the EEPROM.

As shown in the following figure, each positioning action requires five words
and consists of eight fields: address, position, speed, M code, dwell time,
acceleration and deceleration time, attribute 1, and attribute 2.

1 Word 2 Words

1 Word 1 Word

Attribute 2
Attribute 1
Acceleration and deceleration time

Dwell time
M code
Speed

Position

(rightmost digit)

Position

(leftmost digit)

Address

4

The first of the five words for each position action is used to store its address.
There are addresses from 100-399 for the X axis and 500-799 for the Y axis
for up to 300 possible positioning actions for each axis.

External Output Control
(X axis: 420, Y axis: 820)

Address Field

Setting Positioning Actions

Section 3-4

43

Positions for positioning actions are set using eight digits and may be be­tween –99,999,999 and +99,999,999 pulses. Out of the eight digits, the left­most four digits are held in one word and the rightmost eight digits are held in
another word. These words only hold the numeric value of the position; the
sign of the position is held in attribute 1 field. If the position field is zero, the
M code and dwell time are still valid.

In this field you designate the speed for the move to the designated position.
You can designate any of the 100 speeds(900-999) which you previously en­tered as speeds. (For setting speeds, see Section 3-7). This field occupies
1/2 of a word. The range 00-99 designates speed addresses 900-999. A set­ting of 12, for example, executes positioning at the speed registered at ad­dress 912.

The M code (machine code) field occupies the other half of the fourth word.
You use this field to directly register an M code (00 to 99) for each positioning
action. The M code is a user-defined number that is passed to the PC for use
in ladder programming. You can use it, for example, to set various code num­bers for various positions so that when the workpiece passes particular posi­tions the PC will respond with appropriate actions. The M code is valid when
the positioning action has been completed.

In this field you designates a dwell time for the positioning action. You may
designate any of the 10 dwell times previously entered (addresses 450-459
for the X axis and 850-859 for the Y axis). For setting dwell times, see Sec-
tion 3-5. This field occupies 1/4 of a word. The range 0-9 designates dwell
time addresses 450-459 for the X axis. For example, a setting of 5 for an
X-axis positioning action executes positioning with the dwell time registered
at address 455.

In this field you designate the acceleration and deceleration time to the de­sired position. You can designate any of the 10 times previously entered (ad­dresses 460-469 for the X axis and 860-869). For setting speeds, see Sec-
tion 3-7. This field occupies 1/4 of a word. For example, a setting of 7 for an
X-axis positioning action executes positioning at the acceleration and decel­eration times registered at address 467. The acceleration/deceleration time is
not used for circular arc interpolation; i.e., the designated speed is reached
immediately.

Position Field

Speed Field

M Code Field

Dwell Time Field

Acceleration and
Deceleration Time Field

Setting Positioning Actions

Section 3-4

44

You use this field to designate the interpolation code, position type (INC/
ABS), and position field sign (+/–).

07 06 Name

0 0 No interpolation
0 1 Interpolation end point
1 0 Circular arc intermediate point
1 1 Circular arc center

Bit 07

Bit 06

Bit 05

Bit 04

0 Positive
1 Negative

0 ABSolute
1 INCremental

Interpolation code

Positive type

Positive field sign

Attribute 1 field

The interpolation code bits determine whether a positioning action uses inter­polating or not, and define what interpolating point the positioning action em­ploys.

The position type bit designates the positioning action as absolute (set to 0)
or incremental (set to 1). An absolute position designates the position from
the origin. An incremental position designates a position relative to the cur­rent position. Incremental positions are subject to an cumulative rounding
error if the selected unit is millimeter or inch.

Finally, the position field sign divides the position field range centered at the
origin from –99,999,999 pulses to +99,999,999 pulses. Setting the rotation
direction parameter to 0 permits a positive voltage output for the speed volt­age when the position increases. Setting the rotation direction parameter to 1
permits a negative voltage output for the speed voltage when the position
increases.

Origin

0

–99,999,999 pulses +99,999,999 pulses

Positive positionsNegative positions

The attribute 2 field designates the completion code, circular arc interpolation
direction, and positioning action enable/disable status.

0 Disabled
1 Enabled

0 CW
1 CCW

0 Terminating
1 Continuous

Bit 03

Bit 02

Bit 01

Bit 00

Completion code

Circular arc interpolation direction

Positioning action enable

Attribute 1 Field

Interpolation Code (Bits 07
and 06)

Position Type (INC/ABS, Bit

05)

Position Field Sign (+/–, Bit

04)

Attribute 2 Field

Setting Positioning Actions

Section 3-4

45

The completion code determines whether a certain positioning action is part
of a series or whether it terminates a series. Setting bit 00 to 0 designates a
positioning action as terminating as shown below.

Speed

Time

Set to 0Code:

Setting bit 00 to 1 designates the positioning action as continuous as shown
below.

Position

Speed

Code:

Set to 0Set to 1Set to 1Set to 1

Continuous positioning actions

Terminating positioning action

A completion code set to 1, however, differs slightly from the meaning in oth­er Position Control Units. Here, positioning actions include the change in
speed (acceleration or deceleration) for the next positioning action, instead of
the change in speed for the current positioning action. The first positioning
action in a series also includes the acceleration time needed to reach the first
speed.

Always set the completion codes for the last positioning actions (addresses
399 and 799) to 0.

Speed Changes in Previous Positioning Action

ÍÍ

Position

Speed

Code: Set to 0Set to 1Set to 1Set to 1

Speed Changes in Current Positioning Action

Position

Speed

Code: Set to 0Set to 1Set to 1Set to 1

Completion Codes

Setting Positioning Actions

Section 3-4

46

This bit establishes the direction of interpolation when the circular arc center
and circular arc end point are defined.

Circular arc start point

(current position)

CCW circular arc interpolation

(set bit 01 to1)

CW circular arc interpolation

(clear bit 01 to1)

Interpolation end point

Circular
arc center

The positioning action enable bit (bit 02) determines whether a positioning
action is enabled or disabled. (Bit 03 is not used.) When positioning actions
are all enabled, they will be executed in sequence. When a positioning action
is disabled, it will be skipped, although its completion code will still be effec­tive (see below).

Execution of disabled positioning actions depends on their completion codes.
If the completion code of the disabled action is 0 (terminating), then no posi­tioning will take place and the address counter will be incremented. If the
completion code of the disabled action is 1 (continuous), the next positioning
action will be executed according to its parameters. Naturally, if the next posi­tioning action is also disabled, operation will then be based on the completion
code for it. In simple terms, the completion codes of all positioning actions
are effective, even if the positioning action is disabled and no positioning is
carried out for it.

The following examples illustrates the relationship between disabled position­ing actions and completion codes. The pertinent parameters for the position­ing actions is as follows:

Address Parameters

101 Incremental position, completion code of 1, enabled

102 Incremental position, completion code of 0, disabled

103 Incremental position, completion code of 0, enabled

If execution was started from address 101, the following action would result
and the address counter would end up being set to 103.

101

102

(disabled)

If the positioning action at address 102 had a completion code of 1, the fol­lowing action would result.

101

102

(disabled)

103 103

Circular Arc Interpolation
Direction

Positioning Action Enable

Disabled Actions and
Completion Codes

Setting Positioning Actions

Section 3-4

47

If the positioning action at address 103 was to an absolute position rather
than an incremental one, the following action would result.

101

103

As you can see, enabling/disabling various positioning actions can be used to
achieve a wide range of positioning without requiring changes in the ladder
program.

The following example also shows how to control positioning without chang­ing the ladder diagram by enabling/disabling positioning actions.

If we set up a ladder diagram program to execute three positioning actions at
addresses 101, 102, and 103, the following positioning movements could be
achieved by enabling/disabling different actions. In all cases, the next ad­dress to be executed would be 104. It is assumed that all actions have a
completion code of 0.

If all three positioning actions were enabled, the following movements would
take place.

101

102

103

If only the positioning actions at 101 and 103 were enabled, the following
movements would take place.

101

103

If only the positioning action at 102 was enabled, the following movements
would take place.

102

Setting Positioning Actions

Section 3-4

48

3-5 Setting Dwell Times

In servomotor positioning, hunting can occur near the positioning destination
because of gain. Sudden deceleration and high-speed movement over a
short distance aggravate the tendency to hunt. To minimize the effects of
hunting, positioning completed signals can be held for a certain duration or
dwell time before they are set. You can enter one of 10 dwell times at ad­dresses 450-459 for the X axis and 850-859 for the Y axis. Positioning ac­tions call these times as abbreviated addresses. The dwell time allows posi­tioning to complete before another positioning action begins. For a compre­hensive listing of default values see 3-8 Initial Data.

Position
hunting

Position

Speed

Address

1 Word

Dwell time

1 Word

Range: 0 to 9,990 ms
(Default: 0 to 900 ms)

Position
destination

1

3-6 Setting Acceleration and Deceleration Times

The acceleration and deceleration times are stored in addresses 460-469 for
the X axis and 869-869 for the Y axis. The values in the addresses set the
time it takes to accelerate to maximum speed (addresses 411, 811) from a
stop and decelerate from maximum speed to a stop. Positioning actions also
call these times as abbreviated addresses. You can set one of 10 accelera­tion and 10 deceleration times (each address stores acceleration and decel­eration times in separate words). Select the times appropriately for your
needs by computing proportionally for acceleration to the operating speed
needed. For a comprehensive list of default values see 3-8 Initial Data.

Address

1 Word

Acceleration

time

1 Word

Deceleration

time

1 Word

00

(1-499) X 10 ms
(1-499) X 10 ms

(Defaults: 100-200, 100-600)

2

Setting Acceleration and Deceleration Times

Section 3-6

49

Acceleration time to operating speed = Acceleration time x (Target speed)/(Maximum
speed)

Deceleration time to operating speed = Deceleration time x (Target speed)/(Maximum
speed)

Maximum speed (411, 811)

Operating speed (900-999)

Deceleration time
(460-469, 860-869)

Acceleration time
(460-469, 860-869)

Acceleration and deceleration times are effective for the following operations
only: Positioning actions; Deceleration-stop commands (XSTP, YSTP, ISTP)
from the PC or Teaching Box (deceleration only); JOG commands (XJOG,
YJOG, IJOG) (acceleration only); Origin search commands (XORG, YORG,
IORG); Pauses (XHLD, YHLD, IHLD) (deceleration only); and Pause re­leases (XREL, YREL, IREL) (acceleration only).

3-7 Setting Speeds

Speeds are allocated three words each, one for the address and two for up
to 6 BCD digits. Speeds occupy addresses 900 through 999 for both axes.
Up to 100 speeds needed in your application may be entered for positioning
and jogging. Positioning actions and the JOG commands call these speeds.
For a comprehensive listing of default values see 3-8 Initial Data.

Address

1 Word

00

1 Word

1 Word

Speed

Range: 1 to 300,000 pps
(Default: 1,000 to 100,000 pps)

2

Setting Speeds

Section 3-7

50

3-8 Initial Data

The following tables list the default data loaded originally in the EEPROM at
the factory. The operation of each of these is described in Section 3 Data
Configuration. This data will be automatically loaded to RAM whenever pow­er is turned on. The contents of EEPROM can be changed with the Write EE­PROM (STORE) command.

X-Axis Positioning Actions

Attributes

Dwell time = 500 ms
Absolute, terminating,
acceleration time = 200 ms
deceleration time = 200 ms

Dwell time = 0 ms
Incremental, continuous,
acceleration time = 100 ms
deceleration time = 100 ms

Dwell time = 500 ms
Absolute, continuous,
acceleration time = 100 ms
deceleration time = 300 ms

Dwell time = 0 ms
Absolute, terminating,
acceleration time = 100 ms
deceleration time = 200 ms

Dwell time = 100 ms
Absolute, interpolating end,
acceleration time = 100 ms
deceleration time = 200ms

Address

100

101

102

103

104

Description

X-axis test data (1)

X-axis test data (2)

X-axis test data (2)

X-axis test data (2)

X- and Y-axes test data (1)

Setting

Position = 500 pulses, speed
= 1 kpps, M code = 01

Position = –500 pulse, speed
= 3kpps, M code = 02

Position = –500 pulses,
speed = 2 kpps, M code = 03

Position = –500 pulses,
speed = 1 kpps, M code = 04

Position = 0 pulse, speed = 1
kpps, M code = 05

Initial Data

Section 3-8

51

X-Axis Parameters

Description

Unit

Pulse rate

Rotation direction

Encoder type

Gain

In-position zone

Backlash
compensation

Stroke limit (+)

Stroke limit (–)

Zone settings

Home shift

Maximum speed

Maximum jogging speed

Origin search direction

Origin compensation

High origin search speed

Origin search acceleration
and deceleration

Low origin search speed

Deceleration-stop

Address

400

401

402

403

404

405

406

407

408

409

410

411

412

413

414

415

416

417

418

Setting

0

1

0

01

200

10

0

999,999

999,999

01000100

0

10,000

2,000

0

0

5,000

5

1,000

500

Attributes

Pulse

1 unit/pulse

Positive voltage output
with incremental
positioning actions

Single multiplier,
positive logic

2,000

µV/pulse

pulses

None

pulses

pulses

Accel. zone 100 pulses
Accel. zone 100 pulses

pulses

pps

pps

Direction of positive
voltage output

pulses

pps

Acceleration time =200ms
Deceleration time =200ms

pps

pulses

Initial Data

Section 3-8

52

Dwell Times (X and Y Axes)

Address

450/850

451/851

452/852

453/853

454/854

455/855

456/856

457/857

458/858

459/859

Description

Dwell time #0

Dwell time #1

Dwell time #2

Dwell time #3

Dwell time #4

Dwell time #5

Dwell time #6

Dwell time #7

Dwell time #8

Dwell time #9

Setting

0

100

200

300

400

500

600

700

800

900

Attributes

ms

ms

ms

ms

ms

ms

ms

ms

ms

ms

Acceleration and Deceleration Times (X and Y Axes)

Address

460/860

461/861

462/862

463/863

464/864

465/865

466/866

467/867

468/868

469/869

Description

Accel./ Decel. time #0

Accel./ Decel. time #1

Accel./ Decel. time #2

Accel./ Decel. time #3

Accel./ Decel. time #4

Accel./ Decel. time #5

Accel./ Decel. time #6

Accel./ Decel. time #7

Accel./ Decel. time #8

Accel./ Decel. time #9

Setting

00100010

00100020

00100030

00100040

00100050

00200020

00200030

00200040

00200050

00200060

Attributes

Acceleration time = 100 ms
Deceleration time = 100 ms

Acceleration time = 100 ms
Deceleration time = 200 ms

Acceleration time = 100 ms
Deceleration time = 300 ms

Acceleration time = 100 ms
Deceleration time = 400 ms

Acceleration time = 100 ms
Deceleration time = 500 ms

Acceleration time = 200 ms
Deceleration time = 200 ms

Acceleration time = 200 ms
Deceleration time = 300 ms

Acceleration time = 200 ms
Deceleration time = 400 ms

Acceleration time = 200 ms
Deceleration time = 500 ms

Acceleration time = 200 ms
Deceleration time = 600 ms

Initial Data

Section 3-8

53

Y-Axis Positioning Actions

Address

500

501

502

503

504

Description

Y-axis test data (1)

Y-axis test data (2)

Y-axis test data (2)

Y-axis test data (2)

X- and Y-axes test
data (1)

Setting

Position = 500 pulses,
speed = 1 kpps, M code = 06

Position = 0 pulses,
speed = 1 kpps, M code = 07

Position = –500 pulses,
speed = 2 kpps, M code = 08

Position = –1,000 pulses,
speed = 3 kpps, M code = 09

Position = 0 pulses,
speed = 1 kpps, M code = 10

Attributes

Dwell time = 500 ms
Incremental, terminating,
acceleration = 200 ms
deceleration = 200 ms

Dwell time = 0 ms
Absolute, continuous,
acceleration = 100 ms
deceleration = 100 ms

Dwell time = 500 ms
Incremental, continuous,
acceleration = 100 ms
deceleration = 300 ms

Dwell time = 0 ms
Absolute, terminating,
acceleration = 100 ms
deceleration = 200ms

Dwell time = 100 ms
Absolute, interpolating end,
acceleration = 100 ms
deceleration = 200 ms

Initial Data

Section 3-8

54

Y-Axis Parameters

Address

800

801

802

803

804

805

806

807

808

809

810

811

812

813

814

815

816

817

818

Description

Unit

Pulse rate

Rotation direction

Encoder type

Gain

In-position zone

Backlash compensation

Stroke limit (+)

Stroke limit (–)

Zone settings

Home shift

Maximum speed

Maximum jogging speed

Origin search speed

Origin compensation

High origin search speed

Origin search acceleration
and deceleration

Low origin search speed

Deceleration-stop

Setting

0

1

0

01

200

10

0

999,999

999,999

01000100

0

10,000

2,000

0

0

5,000

5

1,000

500

Attributes

Pulse

1 unit/pulse

Positive voltage output with
incremental positioning actions

Single multiplier, positive logic

2,000

µV/pulse

10 pulses

None

pulses

pulses

Accel. Zone 100 pulses
Decel. zone 100 pulses

pulses

pps

pps

Direction of positive voltage
voltage output

pulses

pps

Acceleration time = 200 ms
Deceleration time = 200 ms

pps

pulses

Initial Data

Section 3-8

55

Speeds

Address

900

901

902

903

904

905

906

907

908

909

Description

Speed #0

Speed #1

Speed #2

Speed #3

Speed #4

Speed #5

Speed #6

Speed #7

Speed #8

Speed #9

Setting

10,000

1,000

2,000

3,000

4,000

5,000

6,000

7,000

8,000

9,000

Attributes

pps

pps

pps

pps

pps

pps

pps

pps

pps

pps

Initial Data

Section 3-8

57

SECTION 4

Data Communication with PC

4-1 Compatible Models and Words 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2 PC Programs 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2-1 Basic Command Transmission Program (PC to Position Control Unit) 60. . . . . . . .

4-2-2 Basic Status Flag Reception Program (Position Control Unit to PC) 60. . . . . . . . . .

4-2-3 Transferring and Saving Data 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

58

4-1 Compatible Models and Words

Both data and commands can be transferred between the Position Control
Unit (PCU) and Programmable Controller (PC) through the use of Intelligent
I/O Read and Write instructions executed by the PC.

The Intelligent I/O Read instruction READ(88) and Intelligent I/O Write in­struction WRIT(87) control PCU-PC communication. The CPU must be able
to use these two instructions. Use of the NC222-E is thus possible with the
following PCs only.

• C500 (with CPU model C500-CPU11-EV1 only)

• C1000H (with any CPU)

• C2000H (with any CPU)

Note The NC222-E must be mounted either to a CPU Rack or Expansion I/O Rack

to operate. Communications via READ(88) and WRIT(87) will not be possible
if it is mounted to a Slave Rack.

Two I/O words are allocated for the Position Control Unit for communication
with the PC.

Word

n (OUT)

n+1 (IN)

Bit

00

01

02

03

15

00

01

02

03

15

Name

(PC Busy)

(PC Writing)

(PC Read Completed)

–

(PCU Busy)

(Reading PCU)

(PCU Write Completed)

–

Description

Used in WRIT(87)
/ READ(88) in­struction.

Uses within the
PCU,and not avail­able to the user.

Used in WRIT(87)
/ READ(88) in­struction.

Used within the
PCU,and not avail­able to the user.

Note 1. The input and output words allocated to the Position Control Unit must not

be used by any instruction other than WRIT(87) or READ(88).
Do not use MOV(21) or OUT with these words.

2. The mode of the PC has no affect on the operation of the NC222-E, i.e.,

the NC222-E will continue to operate regardless of the PC mode.

3. Commands and/or data can be sent to the NC222-E from either the PC

(i.e., the program) or the Teaching Box. If a transmission is attempted
from both at the same time, the transmission that arrives first will be given
priority.

Compatible Models

IR Area Allocations

Compatible Models and Words Section 4-1

59

4-2 PC Programs

The PC program maintains two data flow directions.

• PC to Position Control Unit (PCU) command and parameter transmission

uses the Intelligent I/O Write instruction WRIT(87). Commands and param­eters are differentiated by address inside the PCU.

• Position Control Unit to PC status reception uses the Intelligent I/O Read

instruction READ(88).

IN word n + 1 OUT word n

Command(1)

Command(2)

Command(m)

Flag(1)
Flag(2)

Flag(3)

Flag(l)

Flag(1)
Flag(2)

Flag(l)

Status flag
reception

READ(88)

WRIT(87)

Command
transmission

I/O words Common RAM

Command
analysis

Status flag
logic

PC

DM area

AR area

Position Control Unit

Data (2)

Data (n)

Data (1)

Commands

Data

addresses
100 to 999

addresses
000 to 052

RAM

EEPROM

• One or more commands stored in the DM area of the PC are transmitted in

a stream to the Position Control Unit, where they are executed sequentially.
The Position Control Unit functions according to the commands sent.

• Data (parameters) stored in the DM area are transmitted to the PCU and

stored in RAM. Commands can then be used to transfer RAM contents to
EEPROM.

• For status flag reception, flag allocations are determined by the Position

Control Unit; therefore, the same status flags are transferred to the AR area
each time the Intelligent I/O Read instruction is executed.

• Because command transmission and status reception rely on the Intelligent

I/O Read and Write instructions, a standard PC program can be developed.
The use of such a standard program is strongly recommended.

PC Programs

Section 4-2

60

4-2-1 Basic Command Transmission Program

(PC to Position Control Unit)

C

0

B

0

WRIT(87)

N
S
D

EQ

B

0

A

0

C

0

C

R

A0: Start input (differentiated input)
B

0

: Status-holding work bit

C

0

: Transmission completed work bit

C

R

: Command Ready (bit 15 of first word ON when READ (85) is executed)

N

0

: Differentiation no.
N: Transferred word count
S: Transfer source start word
D: I/O word for transfer destination (word n occupied by the PCU)
EQ: Equals flag

4-2-2 Basic Status Flag Reception Program

(Position Control Unit to PC)

Status flag reception should be written at the end of the PC program.

READ(88)

N
S
D

Normally ON

N: Transfer word count (17 words minimum)
S: Transfer source I/O word (word n + 1 occupied by the PCU)
D: Transfer destination start word (see Section 5-2 Status Word Allocation)

Refer to your PC’s Operation Manual for further details on the Intelligent I/O
Read and Write Instructions.

PC Programs

Section 4-2

61

Status Reception Problems The RAM in the PCU that contains status data is accessed both by the PCU

to write the status and by the PC to read status (READ(88)). Both of these
operation cannot take place at the same time.

EEPROM

PC NC222-E

Every 10 ms

RAM

READ(88) sent

Status Status

READ(88) response

If a READ(88) is attempted while the PCU is writing status, READ(88) will be
ignored. The status write operation is performed approximately every 10 ms
and requires approximately 1 ms to complete, i.e., there is up to about a 1 in
10 chance that READ(88) will not be executed as programmed. This situation
is illustrated below.

Writing status to RAM (PCU)

Approx. 10 ms

READ(88) (reading status from PC)

Scan time

Not executed

ABCDEFG

ABEFStatus stored in PC

If it is necessary to ensure that status is read during each program scan,
block programming can be used. One example of how to do this is shown
below. This example reads out 17 status words to IR 100 to IR 116 for a PCU
allocated IR 000 and IR 001. The loop in the block program will be taken until
the Equals Flag (=) turns ON (i.e., until IR 1200 turns ON).

BPRG(96) 00

25313
(Always ON)

LOOP <09>
READ(88)

#0017

001
LEND <10> 25506
BEND <01>

(Equals Flag)

PC Programs

Section 4-2

62

Note READ(88) can be executed for the NC222 PCU only once each time the sta-

tus is updated in the PCU (i.e., each time PCU internal status is written to the
shared RAM). If the scan time of the CPU Unit is shorter than the status up­date time of the PCU (approx. 10 ms), the above type of ladder programming
can be used to extend the scan time of the CPU Unit to at least the status
update time of the PCU.

Start Time The time required for the Position Control Unit to output an instruction volt-

age after the Position Control Unit receives the start instruction varies with
the combination of positioning data.

Pattern Start time

Y-axis single start

with X axis not in

operation

X-axis single start

with Y axis not in

operation

Y-axis single start

with X axis in

operation

X-axis single start

with Y axis in

operation

Both axes start Interpolation start

0 14 ms 16 ms 16 ms 22 ms

1 (Number of consecutive
data x 2)

16 ms 17 ms 19 ms 26 ms

1 (Number of consecutive
data y 3)

17 ms 19 ms 21 ms 30 ms

4-2-3 Transferring and Saving Data

Data Transfers Parameters and positioning actions stored in the DM area can be transferred

to RAM in the PCU using a program like the one shown below. Be sure the
first DM word contains an addresses and that no more than 127 words are
transferred at once. If it is necessary to transfer more words, repeat the pro­gram section. When repeating the transfer, always used the work bit turned
on by the Equals Flag (=) in the first transfer (IR 5002 in the following exam­ple) to activate the second transfer.

When transferring data, addresses need not be consecutive. If they are not
consecutive, each address will need to be specified individually. If they are
consecutive, only the first address need be designated (see transfer of Y-axis
data in 8-2 Data Transmission Program).

Data Transmission Example The following program can be used to transfer data written in the DM area of

the PC to the NC222-E. When transferring data, it is important that the first
word designate the address and that data for the required number of words is
set properly.

NC222-E

RAM

Address

100
101
102
103

998
999

Data is
transferred with
WRIT(87) from
DM area inside
the PC to RAM
inside the PCU.

É

É

PC

DM area

Address

100

PC Programs

Section 4-2

63

Up to 127 words can be transferred each time WRIT(87) is executed. When it
is necessary to transfer more words, the Equals Flag should be used to acti­vate further transmissions with WRIT(87), as shown below.

When data is transferred into the NC222-E, data is automatically stored in
RAM according to the addresses given. If the addresses of the data being
transferred are consecutive, it is only necessary to designate the address of
the first one. An example of this is given in 8-2 Data Transmission Program.

The data prepared for transfer and the program used are shown below.

Note Data cannot be transferred while the NC222-E is positioning, i.e., while one

or more axes are moving.

DM 1000
DM 1001
DM 1002
DM 1003
DM 1004
DM 1005
DM 1006
DM 1007
DM 1008
DM 1009
DM 1010
DM 1011
DM 1012
DM 1013
DM 1014
DM 1015
DM 1016
DM 1017
DM 1018
DM 1019
DM 1020
DM 1021
DM 1022
DM 1023
DM 1024
DM 1025
DM 1026

Data

4112
0005
0000
4131
0001
4501
0010
4662
0030
0040
2004
0002
5000
0010
0644
9002
0000
1000
8042
0020
8052
0020
6004
0001
0000
0010
0644

Maximum speed (X)
Address: 411

Origin search direction (X)
Address: 413
Dwell time 0 (X)
Address: 450
Acceleration pattern 6 (X)
Address: 466

Positioning action 100 (X)
Address: 200

Speed 0 (X, Y)
Address: 900

Gain (Y)
Address: 804
In-position zone (Y)
Address: 805
Positioning action 100 (Y)
Address: 600

PC Programs

Section 4-2

64

Bit to initiate
data transfer

When NC222-E is allocated
IR 000 and IR 001

Program

This section can be used for
a second transfer when more
than 127 words are required.

DIFU(13)

5000

WRIT(87)

#0027

DM1000

00

5000

5002

5001

5001

5002

(=)

WRIT(87)

5002

5004

5003

5003

5004

(=)

25506

25506

Storing RAM Data PCU operation is based on the parameters and positioning actions contained

in RAM. When power is turned on, the data in EEPROM is read into RAM.
The data in RAM can then be changed by transferring data with WRIT(87) or
from the Teaching Box. This data will be deleted and replaced by EEPROM
data the next time power is turned off and back on. There is a command
available, however, to write RAM data to EEPROM (STORE), as well as one
to restore EEPROM data to RAM (RESTR). These commands can be used
along with WRIT(88) (or the Teaching Box) to control the data in RAM. This
situation is illustrated below.

Data transfer
(WRIT(87) or
from Teaching
Box)

EEPROM

RAM

STORE

RESTR or
power-on

Refer to 6-2 Command Descriptions for details on STORE and RESTR.

Note STORE should not be executed more than 5,000 times.

PC Programs

Section 4-2

65

SECTION 5

Operating Status

This section describes the status information available from the PCU. This information is read into the PC by executing
the Intelligent I/O Read instruction, READ(88). Also explained in this section is the relationship between certain PCU
commands and the status information.

5-1 Flag Transitions and Types 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2 Status Word Allocations 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3 Status Word Details 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-1 System Flags 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-2 Error Code and System Error Flags 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-3 Error Op Codes 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-4 Status Flags (1) 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-5 Status Flags (2) 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-6 Current Position 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-7 M Code 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-8 Multiplier and Current Positioning Action Address 76. . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-9 Current Speed Address and Override Coefficient 77. . . . . . . . . . . . . . . . . . . . . . . . . . .

5-4 Flag Changes 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

66

5-1 Flag Transitions and Types

Flags and other status information will change as commands are executed.
These changes are illustrated in the following illustration. When the com­mands along the arrow are executed, the flags given at the ends of the ar­rows turn ON. See the command allocations table at the beginning of Section
6 for command code definitions.

Emergency StopPause

Positioning

Jogging

Inching

Origin Search

Positioning Completed

HLD REL

SRT

PLS

ORG

STP

SRT

JOG

PLS

ORG

EMG

ERST

Dwelling

Origin

Flags

Command codes

STP

EMG

EMG

EMG

Stop

IR Area Flags Flags are assigned to the IN I/O word.

Wd

Bit

00

01

02

15

Word n+1

IN

(PCU Busy)*

(PCU Reading)*

(PCU Writing Completed)*

Not used by the user

*These bits are used by READ(88) and WRIT(87) and are not designed to be ac­cessed by the user.

Relationship between Flags
and Commands

Flag Transitions and Types Section 5-1

67

Types of Flags The Intelligent I/O Read instruction READ(88) is used to read blocks of flags

and status data into a memory area in the PC. Their contents are as follows:

System status flags

Error codes

System error status flags

Error codes

Status flags

Current position

M code

Multiplier data

Current positioning action address

Current speed address

Override coefficient

Read data

Flag Transitions and Types Section 5-1

68

5-2 Status Word Allocations

The PC uses the Intelligent I/O Read instruction READ(88) to read status
from the Position Control Unit. Refer to the end of 4-2 PC Programs for the
READ(88) format. Data word allocations are summarized as follows:

Interpo­lating
Circular
Arc

Interpo­lating
Error

Hard­ware
Error

Teach­ing
Box
Ready

Constant
Speed

X–Y common area

Error code (101 digit) Error code (100 digit)

Error-related OP code

(leftmost digit)

Error-related OP code

(middle digit)

Error-related OP code

(rightmost digit)

Number of error-related OP

codes

BCD (107 digit) BCD (106 digit) BCD (105 digit) BCD (104 digit)

BCD (103 digit) BCD (102 digit) BCD (101 digit) BCD (100 digit)

M code (101 digit) M code (100 digit)

Multiplier: 1, 2, 4

Current positioning action ad-

dress (10

2

digit)

Current positioning action ad-

dress (10

1

digit)

Current positioning action ad-

dress (10

0

digit)

Current speed address

(10

1

digit)

Current speed address

(10

0

digit)

Override coefficient

(10

1

digit)

Override coefficient

(10

0

digit)

Com­mand
Ready

PCU
Ready

Teach­ing
Box
Con­nected

External
Display
Con­nected

PC
Commu­nications
Disabled

Interpo­lating
Straight
Line

Reading
EE­PROM

Writing
EE­PROM

EE­PROM
Write
Com­pleted

Speeds
Cleared

Commu­nications
Error

Y-axis
System
Error

X-axis
System
Error

System
/data
Pro­cessing
Error

Y-axis
Com­mand
Error

X-axis
Com­mand
Error

Parame­ters En­abled

Origin
Set

Parame­ters
Cleared

Posi­tioning
Data
Cleared

Home
Shift

Override Dwelling Position-

ing Com­pleted

Origin
search

Inching Jogging Position-

ing

Stop Pause Emer-

gency
Stop

Current
Position
Sign

CW
Move­ment

CCW
Move­ment

Accel­erating

Deceler­ating

In Posi­tion

Accel­eration
Zone

Decel­eration
Zone

Origin OUT2

Output

OUT1
Output

CWLS
Input

CCWLS
Input

External
Interrupt

External
Emer­gency
Stop

Origin
Input

b

15

b

14

b

13

b

12

b

11

b

10

b

9

b

8

b

7

b

6

b

5

b

4

b

3

b

2

b

1

b

0

Wd

Bit

System status flags

Error code and system error status flags

Error codes

Status flags (1)

Status flags (2)

Current position (leftmost digits)

Current position (rightmost digits)

M code

Multiplier/Current positioning action address

Current speed address/Override coefficient

X-axis area

D + 0D + 1D + 2D + 3D + 4D + 5D + 6D + 7D + 8D + 9

Data
read
comple­tion

Status Word Allocations

Section 5-2

69

Y-axis area

X–Y common area

BCD (107 digit) BCD (106 digit) BCD (105 digit) BCD (104 digit)

BCD (103 digit) BCD (102 digit) BCD (101 digit) BCD (100 digit)

Unused

M code (101 digit) M code (100 digit)

Multiplier: 1, 2, 4

Current positioning action ad-

dress (10

2

digit)

Current positioning action ad-

dress (10

1

digit)

Current positioning action ad-

dress (10

0

digit)

Current speed address

(10

1

digit)

Current speed address

(10

0

digit)

Override coefficient

(10

1

digit)

Override coefficient

(10

0

digit)

Parame­ters En­abled

Origin
Set

Parame­ters
Cleared

Posi­tioning
Data
Cleared

Home
Shift

Override Dwelling Position-

ing Com­pleted

Origin
search

Inching Jogging Position-

ing

Stop Pause Emer-

gency
Stop

Current
Position
Sign

CW
Move­ment

CCW
Move­ment

Accel­erating

Constant
Speed

Deceler­ating

In Posi­tion

Accel­eration
Zone

Decel­eration
Zone

Origin OUT2

Output

OUT1
Output

CWLS
Input

CCWLS
Input

External
Interrupt

External
Emer­gency
Stop

Origin
Input

b

15

b

14

b

13

b

12

b

11

b

10

b

9

b

8

b

7

b

6

b

5

b

4

b

3

b

2

b

1

b

0

Wd

Bit

Status flags (1)

Status flags (2)

Current position (leftmost digits)

Current position (rightmost digits)

M code

Multiplier/Current positioning action address

Current speed address/Override coefficient

Read Data Area

Read Data Area

D + 10D + 11D + 12D + 13D + 14D + 15D + 16D + 17D + 126

Note 1. When a READ(88) is executed, data values are placed in the Read Data

Area. There are 110 words (17-126) set aside for this use.

2. During interpolation, the X-axis attributes and parameters are used for all
shaded parameters above.

Status Word Allocations

Section 5-2

70

5-3 Status Word Details

5-3-1 System Flags

Word D + 0

Bit Function Content ON OFF Initially On error

0 – Unused – – – –

1 Data read

completion

Indicates that data
has been read in the
data read area with
the data read
command (READ

045).

Turns ON from OFF or OFF from ON
whenever data is read in the data read
area.

0 No

change

2 Speeds Cleared Indicates all speeds

cleared.

When CLR (clear) is
processed to set all
speeds to 0.

When one or more
speeds is not 0.

0 or 1 No

change

3 EEPROM Write

Completed

Indicates EEPROM
has been written
normally.

When STORE (write
to EEPROM
command) is
completed.

When STORE
(EEPROM write
command) is
received.

0 No

change

4 Writing EEPROM Indicates data is

being written to
EEPROM.

When STORE is
being processed.

When STORE is
completed.

0 No

change

5 Reading EEPROM Indicates data is

being read from
EEPROM.

When RESTR (read
from EEPROM
command) is being
processed.

When RESTR has
been processed.

0 No

change

6 Interpolating Straight

Line

Indicates straight
line interpolation.

When processing
straight line
interpolation.

When processing
other than straight
line interpolation.

0 0

7 Interpolating Circular

Arc

Indicates circular arc
interpolation.

When processing
circular arc
interpolation

When processing
other than circular
arc interpolation.

0 0

8 PC Communications

Disabled

Ignores commands
from PC except
emergency stops
and the error reset.

When disable
command is
received from
Teaching Box.

When disable
command is
cancelled from
Teaching Box.

0 No

change

9 – Unused – – 0 0

10 – Unused – – 0 0

11 External Display

Connected

Indicates whether
the External Display
is connected.

When external
display connection is
confirmed.

When external
display
disconnection is
confirmed.

0 or 1 No

change

12 Teaching Box

Connected

Indicates whether
the Teaching Box is
connected.

When Teaching Box
connection is
confirmed.

When Teaching Box
disconnection is
conformed.

0 or 1 No

change

13 Teaching Box Ready Indicates whether

Teaching box is
operable.

When Teaching Box
is operable.

When Teaching Box
is inoperable.

0 to 1 No

change

14 PCU Ready Indicates whether

PCU hardware is
operable.

When PCU internal
initialization is
completed.

During initialization
or when initialization
fails.

0 to 1 No

change

15 Command Ready Indicates the PCU is

operable.

When command
inputs are enabled.

While commands
are being
interpreted.

0 to 1 No

change

Status Word Details

Section 5-3

Error Code Code in BCD (100 dig-

it) indicating cause of
error.

Code in BCD (10

1

dig­it) indicating cause of
error.

When either a system er­ror, communication er­ror, or command error
occurs.

If system error or
communication er­ror, when reset com­mand is received. If
command error,
when a valid com­mand is received.

Corre­spond­ing error
code

71

5-3-2 Error Code and System Error Flags

Refer to Appendix D for error codes.

Word D + 1

Bit Function Content ON OFF Initially

On

system

error

0

1

2

3 0 0

4

5

6

7

8 X-Axis

Command Error

Indicates command
error affecting X-axis.

When error code of 30,
31, 32, 33, 40, or 41 is
generated for a servo
control command.

When proper
command is
received.

0 No

change

9 Y-Axis

Command Error

Indicates command
error affecting Y-axis.

When error code of 30,
31, 32, 33, 40, or 41 is
generated for a servo
control command.

When proper
command is
received.

0 No

change

10 Interpolation

Error

Indicates command
error affecting
interpolation.

When error code of 50
to 53 is generated for a
Start command.

When proper
command is
received.

0 No

change

11 System / Data

Processing Error

Indicates command
error affecting
system or data
processing.

When error code of 54
to 58, 40, or 41 is
generated for a system
or data processing
command.

When proper
command is
received.

0 No

change

12 X-Axis System

Error

Indicates system
error affecting X-axis.

When error code of 10,
12, or 20 is generated.

When ERST (error
reset) is processed.

0 or 1 1

13 Y-Axis System

Error

Indicates system
error affecting Y-axis.

When error code of 11,
13, or 21 is generated.

When ERST (error
reset) is processed.

0 or 1 1

14 Communications

Error

Indicates
communications
error with Teaching
Box or External
Display.

When error code of 70
to 72 is generated.

When ERST (error
reset) is processed.

0 or 1 No

change

15 Hardware Error Indicates internal

malfunction.

When error code of 00
to 02 is generated.

When ERST (error
reset) is processed.
Reset will not be
possible for error
codes of 01 or 02.

0 or 1 No

change

Status Word Details

Section 5-3

72

5-3-3 Error Op Codes

Word D + 2

Bit

0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

Content

Displays number of oper­ands in BCD of preced­ing Op code.

Displays error-causing
Op code rightmost digit
in BCD.

Displays error-causing
Op code middle digit in
BCD.

Displays error-causing
Op code leftmost digit in
BCD.

Function

Error Op
Codes

ON

When a
command
error has
occurred.

OFF

When a proper
command has
been received.

Initially0On error

0

5-3-4 Status Flags (1)

Command abbreviations are listed below the table (also see the beginning of
Section 7 Commands). “X,” “Y,” and “I” indicate the X axis, Y axis, and inter­polation and precede some commands. These prefixes are mostly dropped
in the table because the flags are the same for the three different servo con­trol modes.

X-Axis: Word D + 3
Y-Axis: Word D + 10

Bit Function Content ON OFF Initially

On

system

error

0 Current

Position
Sign

Indicates current
position as positive
or negative.

When current position
is negative (–).

When current position is zero
(0) or positive (+), or when
origin is not defined.

0 0

1 Emergency

Stop

Indicates an
emergency stop.

When EMG or external
interrupt is received.

When ERST (error reset) is
received.

0 or 1 1 or no

change

2 Pause Indicates pause. When HLD is received. When REL, STP, or EMG is

received, when external
interrupt is received, or when
system error occurs.

0 0

3 Stop Indicates positioning

has stopped.

When there is no
movement.

When SRT, JOG, ORG, or
PLS is received.

1 1

4 Positioning Indicates positioning. When SRT is received. When a terminating

completion code is executed
and positioning is completed,
when a system error occurs,
or when STP or external
interrupt is completed.

0 0

5 Jogging Indicates jogging. When JOG is received. When STP or external

interrupt completed or
system error occurs.

0 0

Status Word Details

Section 5-3

73

Bit Function Content ON OFF Initially

On

system

error

6 Inching Indicates inching. When PLS is received. When inching is completed,

or a system error occurs.

0 0

7 Origin

Search

Indicates origin
search

When ORG is received. When origin search or STP is

completed, or when a system
error occurs.

0 0

8 Positioning

Completed

Indicates positioning
has completed.

After positioning end
and dwell time has
expired.

When SRT is received or a
system error occurs.

0 0

9 Dwelling Indicates dwell time

is active.

When positioning ends
and dwell time starts.

When dwell time expires or
emergency stop or system
error occurs.

0 0

10 Override Indicates override

coefficient other than

1.0.

When override
command received is
other than 1.0.

When 1.0 override command
is received.

0 No

change

11 Home Shift Indicates home shift

status.

When home shift
enable is received.

When home shift disable is
received.

0 No

change

12 Positioning

Data
Cleared

Indicates all
positioning actions
cleared.

When CLR clears all
positioning data.

When at least one positioning
action is registered.

0 or 1 No

change

13 Parameters

Cleared

Indicates parameters
all cleared.

When CLR clears all
parameters.

When at least one parameter
is registered.

0 or 1 No

change

14 Origin Set Indicates

establishment and
existence of origin.

After ORG is
completed, or when
CCHG is received.

When a system error occurs. 0 0

15 Parameters

Enabled

Indicates all
parameters are
within established
range.

When parameters are
within established
ranges.

When one or more
parameters are outside
established ranges.

0 or 1 No

change

Prefixes: X = X axis, Y = Y axis, I = interpolation.

Main codes: SRT = start, STP = deceleration-stop, JOG = jogging, PLS =
inching, ORG = origin search, OVR = override, HLD = pause, REL = pause
release, and EMG = emergency stop.

Non-prefixing codes: END = command end, NOP = no operation, ERST =
error reset, OUT = external output control, ACLR = all clear, CLR = clear,
BCLR = block clear, STORE = EEPROM write (data save), RESTR = EE­PROM read, READ = data read, MOV = data transfer, TEACH = teaching,
CCHG = change current position, and HSFT = home shift.

5-3-5 Status Flags (2)

X-Axis: Word D + 4
Y-Axis: Word D + 11

Bit Function Content ON OFF Initially

On

system

error

0 Origin Input Indicates origin input

status.

When origin input is
ON.

When origin input is OFF. 0 or 1 No

change

1 External

Emergency
Stop

Indicates external
emergency stop
status.

When external
emergency stop input is
ON (open).

When external emergency
stop input is OFF.

0 or 1 No

change

Command Codes

Status Word Details

Section 5-3

74

Bit Function Content ON OFF Initially

On

system

error

2 External

Interrupt

Indicates external
interrupt status.

When external interrupt
input is ON.

When external interrupt input
is OFF.

0 or 1 No

change

3 CCWLS

Input

Indicates CCW limit
switch status.

When CCWLS input is
ON (open).

When CCWLS input is OFF 0 or 1 No

change

4 CWLS

Input

Indicates CW limit
switch status.

When CWLS input is
ON (open).

When CWLS input is OFF. 0 or 1 No

change

5 OUT1

Output

Indicates OUT1
status.

When OUT1 output is
ON.

When OUT1 output is OFF. 0 No

change

6 OUT2

Output

Indicates OUT2
status.

When OUT2 output is
ON.

When OUT2 output is OFF. 0 No

change

7 Origin Indicates positioning

at origin.

When stopped at zero. When origin is not defined,

when moving, when stopped
at any point other than the
origin, or when a system
error occurs.

0 0

8

Deceleration
Zone

Indicates position is
within deceleration
zone.

When current position
and positioning
destination differ by
less than the set value.

When positioning or EMG is
completed, or when a system
error occurs.

0 0

9

Acceleration
Zone

Indicates position is
within acceleration
zone.

When SRT* or JOG is
received.

When the starting position
and current position differ by
the set value, when STP is
completed, or when a system
error occurs.

0 0

10 In Position Indicates the error

counter status
according to the set
zone.

When error counter
does not exceed
in-position zone.

When error counter exceeds
setting for in-position zone or
when pulses are being input
to counter.

0 or 1 No

change

11

Decelerating

Indicates
deceleration.

At the deceleration
starting position.

When positioning action or
STP ends.

0 or 1 0

12 Constant

Speed

Indicates constant
speed.

At acceleration end
point.

At acceleration start point. 0 0

13

Accelerating

Indicates
acceleration.

When SRT or JOG is
received.

At constant speed point or
deceleration point.

0 0

14 CCW

Movement

Indicates CCW
movement.

During CCW positioning
actions.

When stopped, during CW
positioning actions, or when
movement is zero.

0 0

15 CW

Movement

Indicates CW
movement.

During CW positioning
actions.

When stopped, during CCW
positioning actions, or when
movement is 0

0 0

*See abbreviations list at the end of 5-3-4 Status Flags (1).

Status Word Details

Section 5-3

75

5-3-6 Current Position

X-Axis: Word D + 5
Y-Axis: Word D + 12

Leftmost Digits

Bit Function Content Updated Cleared Initially

On

system

error

0
1
2
3

Current
position
(leftmost 4
digits)

Designates current
position in BCD (10

4

digit)

When the origin (either
by ORG or CCHG) is
established.

When system error occurs. 0 0

4
5
6
7

Designates current
position in BCD (10

5

digit)

8

9
10
11

Designates current
position in BCD (10

6

digit)

12
13
14
15

Designates current
position in BCD (10

7

digit)

X-Axis: Word D + 6
Y-Axis: Word D + 13

Rightmost Digits

Bit Function Content Updated Cleared Initially

On

system

error

0

1

2

3

Current
position
(rightmost
4 digits)

Designates current
position in BCD (10

0

digit)

When the origin (either
by ORG or CCHG) is
established.

When system error occurs. 0 0

4

5

6

7

Designates current
position in BCD (10

1

digit)

8

9
10
11

Designates current
position in BCD (10

2

digit)

12
13
14
15

Designates current
position in BCD (10

3

digit)

Status Word Details

Section 5-3

76

5-3-7 M Code

X-Axis: Word D + 7
Y-Axis: Word D + 14

Bit Function Content Updated Cleared Initially

On

system

error

0

1

2

3

M code Designates M code

in BCD (10

0

digit )

When execution of a
positioning action with a
registered M code has
been completed

When execution of a posi­tioning action without an M
code has been completed or
when a system error occurs.

0 0

4

5

6

7

Designates M code
in BCD (10

1

digit )

8

9
10
11
12
13
14
15

Unused Positioning

actions that are set.

– – 0 0

5-3-8 Multiplier and Current Positioning Action Address

X-Axis: Word D + 8
Y-Axis: Word D + 15

Bit Function Content Updated Cleared Initially

On

system

error

0

1

2

3

Current
positioning
action
address

Designates current
positioning action
address in BCD (10

0

digit )

When power is turned
on or when SRT is
executed.

– X: 100

Y: 500Nochange

4

5

6

7

Designates current
positioning action
address in BCD (10

1

digit )

8

9
10
11

Designates current
positioning action
address in BCD (10

2

digit )

12
13
14
15

Multiplier Multiplier is

designated 1, 2, or 4
in BCD.

When power is turned
on or when the
multiplier is changed.

– 4 No

change

Status Word Details

Section 5-3

77

5-3-9 Current Speed Address and Override Coefficient

X-Axis: Word D + 9
Y-Axis: Word D + 16

Bit Function Content Updated Cleared Initially

On

system

error

0

1

2

3

Override
coefficient

Designates 10–1 digit
of override
coefficient in BCD.

When OVR is received. – 10 No

change

4

5

6

7

Designates 100 digit
of override
coefficient in BCD.

8

9
10
11

Current
speed
address

Designates current
speed address in
BCD
(10

0

digit ).

When power is turned
on or when a start
command is received.

– 0 No

change

12
13
14
15

Designates current
speed address in
BCD
(10

1

digits).

5-4 Flag Changes

For ordinary positioning, flags change in the following manner, where the
flags are set during the shaded times. The M codes for the positioning ac­tions are indicated in this example with capital letters.

Positioning action

Stop

Dwelling

Positioning

Positioning
Completed

M code

Accelerating

Constant Speed

Decelerating

Time

Dwell time

Speed

ABC

D

A B C D

Flag Changes during
Positioning

Flag Changes

Section 5-4

78

During origin search, status flags change in the following manner. Flags are
set during the shaded area.

Speed

Origin Input

Origin

Time

Stop

Positioning

Positioning
Completed

Origin Search

CW/CCW
Movement

Origin Input

Origin

Origin Set

During JOG operations, flags change in the following manner. Flags are set
during the shaded areas.

STP

Time

Speed

Stop

Positioning

Jogging

Decelerat­ing

CW/CCW
Movement

Origin Set

Positioning
Completed

Dwelling

Stop

Flag Changes during Origin
Search

Flag Changes during JOG

Flag Changes

Section 5-4

79

Flag Changes for Pauses Flags change in the following manner when HLD (Pause) and REL (Pause

Release) are executed:

HLD

Time

Speed

Stop

Positioning

Positioning
Completed

Pause

M Code

Accelerating

Constant Speed

Decelerating

CW and CCW
Movement

In Position

REL

BA

Flag Changes

Section 5-4

81

SECTION 6

Commands

This section describes the commands that are available to control PCU operation from the PC.

6-1 Command Format 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2 Command Descriptions 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2-1 System Commands 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2-2 Servo Control Commands 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2-3 Data Processing Commands 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3 Command Processing 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-4 Interpolation 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-5 Relation between SRT and Positioning Actions 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

82

6-1 Command Format

There are three types of commands used. First, four system commands sup­port other command processing. Second, the servo control commands oper­ate the motors. Third, data processing commands handle data stored in the
Position Control Unit.

Each command comprises at least one data word with an OP code and an
operand count. As the following layout shows, the OP code is unique for
each command. The operand count usually designates the number (0-9) of
additional data words assigned to the command. In this section, these ac­companying data words are depicted below the OP code and operand word.
If the number of additional data words exceeds 8, you enter 9 for the operand
count, and an extra data word that follows provides the entry space for a
larger operand count.

Servo control

commands

b15 b0

Operand count*OP code

OP code

OP code

Leftmost
digits

Rightmost
digits

Contents

System
commands

00

01

02

03

04

05

0-3

0-8

0-8

0-8

0-6

0-2

X axis

Y axis

Data
processing
commands

Interpo­lation

*Operand count equals value entered here if between 0 and 8. A “9” indicates that the
following word contains the count, as follows:

Operand count

9OP code

0

In this case, the count must be between 9 and 125.

Command Format Section 6-1

83

Command OP Code Allocations and Abbreviations

–––

Rightmost digit

Type Leftmost

digits

0 1 2 3 4 5 6 7 8 9

System commands 00 END

Com­mand
end

NOP
No op­eration

ERST
Error re­set

OUT
Exter­nal out­put con­trol

– – – – – –

X axis

01 XSRT

Start

XSTP
Decel­eration
stop

XJDG
Jogging

XPLS
Inching

XORG
Origin
search

XOVR
Over­ride

XHLD
Pause

XREL
Pause
release

XEMG
Emer­gency
stop

–

Servo
control
com­mands

Y axis

02 YSRT

Start

YSTP
Decel­eration
stop

YJOG
Jogging

YPLS
Inching

YORG
Origin
search

YOVR
Over­ride

YHLD
Pause

YREL
Pause
release

YEMG
Emer­gency
stop

–

Interpola­tion

03 ISRT

Start

ISTP
Decel­eration
stop

IJOG
Jogging

IPLS
Inching

IORG
Origin
search

IOVR
Over­ride

IHLD
Pause

IREL
Pause
release

IEMG
Emer­gency
stop

–

Data
proceeding com­mands

04 ACLR

All clear

CLR
Clear

BCLR
Block
clear

STORE
EE­PROM
write
(data
save)

RESTR
EE­PROM
read

READ
Data
read

MOV
Data
transfer

– – –

05 TEACH

Teach­ing

CCHG
Change
current
position

HSFT
Home
shift

– – – – – –

–

Command Format Section 6-1

84

6-2 Command Descriptions

6-2-1 System Commands

The following commands are used with WRITE(87) from the PC.

Name Format Function Format explanation

Command end (END)

00 00

OP code

Indicates the end of
a command train.

No operation (NOP)

OP code

00 1a

b0

Does not do any­thing, but can be
used to skip com­mands by designat­ing the number of
words to be
skipped.

a.... Operand count: 0-9

b.... Extended operand

count: 009 to 125
(when a is set to 9)

Error reset (ERST)

00 20

OP code

Clears the error.

External output control
(OUT)

00 31

0-9 09 0-9 0-9

OP code

Designates external
outputs ON or OFF.

0-9 0-9 0-9 0-9

X axis Y axis

The corresponding output goes
ON if the digit is set to 1 ; OFF, if
set to 0 ; and unchanged, if 2-9.

OUT1 X axis

OUT2 X axis

OUT1 Y axis

OUT2 Y axis

Command Descriptions

Section 6-2

85

6-2-2 Servo Control Commands

The following commands are used with WRITE(87) for operations between
the PC and PCU.

00 c

03 22

01 02

0A 1

00 a

Name

c0

0A 0a

b0

Start

XSRT
YSRT
ISRT

Deceleration

stop

XSTP
YSTP
ISTP

0A 2

0b

Jogging

XJOG
YJOG
IJOG

0A 31

ab

0A 40

0A 51

a0

Inching

Origin search

Override

XPLS
YPLS
IPLS

XORG
YORG
IORG

XOVR
YOVR
IOVR

a

Format

OP code

OP code

OP code

OP code

OP code

OP code

Function

Positioning
is executed
according to
a position­ing action
as specified
by the oper­and.

Stops desig­nated axes ac­cording to the
designated ac­celeration and
deceleration
patterns.

Instructs
jogging for
designated
axes.

Moves the
designated
axis the des­ignated num­ber of pulses.
All pulses are
transmitted in
one string.

Performs ori­gin search on
designated
axes.

Designates
the override
coefficient
for the posi­tioning
speed.

Description

A.....Axis designation

1: X axis
2: Y axis
3: Both axes

a.....Operand number

0: Address specified according
to internal address counter.
1 to 8: Operand number
9: Extension operand designa­tion

b.....Positioning action address

(when a = 1 to 8)

b.....Extension operand number

009 to 125 (when a = 9)

c.....Positioning action address

A.....Axis designation

1: X axis
2: Y axis
3: both axes

a.....Acceleration and decelera-

tion patterns: 0 to 9

A.....Axis designation

1: X axis
2: Y axis
3: Both axes

a.....Speed data: 00 to 99

b.....Feeding direction

0: + direction
1: – direction

c.....Acceleration and decelera-

tion patterns: 0 to 9

A.....Axis designation

1: X axis
2: Y axis
3: Both axes

a.....Number of pulses (000 to 999)

b.....Feeding direction

0: + direction
1: – direction

A.....Axis designation

1: X axis
2: Y axis
3: Both axes

A.....Axis designation

1: X axis
2: Y axis

3: Both axes

a.....Override coefficient: 0001

to 9999 (0.1% units)

10 20

03 11

00 20

00 20

01 31

10 00

02 51

15 00

03 40

Examples

Executing start with
X-axis addresses 100
and 102.

Executing deceleration
stop, along both axes,
with acceleration/deceler­ation pattern 2 (address­es 462 and 862).

Jogging in the + direc­tion, along both axes,
with speed no. 12 (ad­dress 912) and accelera­tion/deceleration pattern
2 (addresses 462 and

862).

Inching for 100 pulses,
along the X axis, in the +
direction.

Determining the origin
along both axes.

Designating 150% as the
override coefficient along
the Y axis.

1

0

2

0

10 00

01 20

Command Descriptions

Section 6-2

86

Name Format Function Description Examples

Pause

XHLD
YHLD
IHLD

Pause release

Emergency
stop

0A 60

OP code

0A 70

OP code

0A 80

OP code

Pauses
positioning

Releases pause
on positioning

Executes an
emergency stop
for the desig­nated axis.
Works the
same as an ex­ternal interrupt.

A.....Axis designation

1: X axis
2: Y axis
3: Both axes

A.....Axis designation

1: X axis
2: Y axis
3: Both axes

A.....Axis designation

1: X axis
2: Y axis
3: Both axes

Executing a pause
on the X axis.

Releasing the
pause on the X
axis.

Executing an
emergency stop
on both axes.

XREL
YREL
IREL

XEMG
YEMG
IEMG

03 80

01 70

01 60

Command Descriptions

Section 6-2

87

6-2-3 Data Processing Commands

The following commands are used with WRITE(87) for operations within the
PCU.

04 01

01 33

50 00

04 12

10 00

01 00

04 52

10 00

04 41

01 22

04 31

01 11

39 90

04 22

10 00

Name

c0

04 1a

b0

ACLR

b0

04 22

a0

04 31

0a bc

04 41

0a bc

Format

OP code

OP code

OP code

OP code

OP code

Function Description Examples

OP code

All clear

Clear

Block clear

Write EE­PROM

Read EE­PROM

Read data

CLR

BCLR

STORE

READ

RESTR

Clears all data
designated by
the operand.

Clears the
data from the
designated ad­dresses.

Clears the
data in the
range of ad­dresses desig­nated by the
operand (as
long as the
data is of the
same type).

Writes data
from internal
RAM to EE­PROM.

Reads data
from EEPROM
to internal
RAM. This
command ex­ecutes auto­matically when
power is turned
on so that all
data is read.

Reads data from
the designated
data addresses
to the status
readout area
(words 17 to

126). Does not
read out the ad­dresses them­selves.

a.....Speed data

0: Does not clear
1: Clears

b.....Parameter data

0: Does not clear
1: Clears X axis
2: Clears Y axis
3: Clears both axes

c.....Positioning data: Same as b.

a.....Operand number

1 to 8: Operand number
9: Extension operand designation

b.....Address to be cleared (when a =

1 to 8)

b.....Extension operand number: 009

to 125 (when a = 9)

c.....Address to be cleared

a.....Beginning address to be cleared

b.....End address to be cleared

a.....Speed data

0: Does not write
1: Writes

b.....Parameter data

0: Does not write
1: Writes X axis data
2: Writes Y axis data
3: Writes data from both axes

c.....Position data: Same as b.

a.....Speed data

0: Does not read
1: Reads

b.....Parameter data

0: Does not read
1: Reads X axis data
2: Reads Y axis data
3: Reads data from both axes

c.....Position data: Same as b.

a.....Start address for read

b.....Number of addresses

to be read.

Clearing all data.

Clearing position­ing action address­es 100 and 500.

Clearing all posi­tioning actions on
the X axis from
addresses 100 to

399.

Writing all X axis
data to EEPROM.

Reading all Y axis
data to internal
RAM.

Reading the con­tents of X axis posi­tioning action ad­dresses 100 to 109.

1

04 0

0a bc

04 52

b0

a0

Command Descriptions

Section 6-2

88

00 aA

x10

7

x10

6

x105 x10

4

a.....Positioning action address

A....Axis designation

1: X axis
2: Y axis

3: Interpolation

b.....Speed address: 00 to 99

c.....M code: 00 to 99

d.....Dwell time address: 0 to 9

e.....Acceleration/deceleration pat-

tern: 0 to 9

f.....Attributes: 0 to F

g.....Positioning pattern: 0 to 7

00 05

00 00

05 13

00 01

10 10

01 00

x10

3

x102 x101 x10

0

Name

b0

04 62

a0

MOV

05 01

aA

05 21

00 ab

Format

OP code

OP code

OP code

OP code

Function Description

20 00

04 63

04 62

10 00

05 01

50 02

05 03

10 03

01 23

20 40

Examples

05 21

00 11

BMOV

TEACH

DTEACH

HSFT

CCHG

Transfer data

Block transfer

Teaching

Data teaching

Change current
position

Home shift

OP code

05 13

OP code

Transfers data
within internal
RAM.

Transfers multi­ple data words
within internal
RAM.

Stores current
position for
designated axis
as the position
for a position­ing action.

Stores current
position for
designated axis
along with all
non-position
fields as a posi­tioning action.

Changes the
contents of the
current position
to the desig­nated value for
the designated
axis.

When the digit
in the desig­nated data
word field is 1,
home shift is
enabled for po­sitioning that
follows.

a.....Source address

b.....Destination address

a.....Source start address

b.....Source end address

c.....Number of addresses to be

moved.

a.....Positioning action address

A.....Axis designation

1: X axis
2: Y axis
3: Interpolation

When using interpolation, designate
the address for the X axis in a; the
current position will also be set for
the corresponding Y axis.

a.....Direction digit

0: +

1: –

A....Axis designation

1: X axis

2: Y axis

a.....X axis home shift

0: Disabled
1: Enabled
2 to 9: Maintains present condi­tion

b.....X axis home shift

Same as a.

04 63

a0

b0

c0

Transferring contents of
X-axis positioning action
address 100 to address

101.

Transferring 10 position­ing actions from ad­dress 100 (and up) to
address 200 (and up).

Storing the current po­sition in Y-axis address

500.

10 00

Storing the current posi­tion, with the designated
attributes, in X-axis ad­dress 100 and Y-axis
address 500.

Changing the contents of
the current position on
the X-axis to +50,000.

Enabling home shift for
both axes.

05 03

aA

de fg

b

c

Command Descriptions

Section 6-2

89

6-3 Command Processing

The various commands have the following processing conditions.

Command Processing condition Other conditions

END
NOP, OUT
XOVR, YOVR, KIOVR
XEMG, YEMG, IEMG
ERST

When Command Ready flag is ON. The command is ignored.

XHLD, YHLD, IHLD
XSTP, YSTP, ISTP

While Position Control Unit is operating. The command is ignored.

XREL, YREL, IREL While XHLD, YHLD, or IHLD is ON. The command is ignored.

XSRT, YSRT, ISRT
XJOG, YJOG, IJOG
XPLS, YPLS, IPLS
XORG, YORG, IORG
ACLR, CLR, BCLR
STORE, RESTR
READ, MOV
TEACH, DTEACH
CCHG
HSFT

While Position Control Unit is stopped. Command error occurs.

Start Command Delays The time required from when a start command is received until a speed volt-

age is output is as follows:

Normally: Approx. 6 ms.

When one axis is started while the other one is moving or when data reads or
other time-consuming processes are being handled: 10 ms.

The following table shows which commands are valid when certain flags are
ON. These are indicated as follows:

∅ Command acknowledged.
X Command ignored.
⊗ Command error results.

Condition

Command

Posi-

tioning

Stop

Origin

Search

Deceler-

ation
Stop

Jogging Inching Pause

Emer­gency

Stops

Upon

initial-

ization

END

∅ ∅ ∅ ∅ ∅ ∅ ∅ ∅ ∅

NOP

∅ ∅ ∅ ∅ ∅ ∅ ∅ ∅ ∅

ERST

∅ ∅ ∅ ∅ ∅ ∅ ∅ ∅ ∅

OUT

∅ ∅ ∅ ∅ ∅ ∅ ∅ ∅ ∅

SRT

⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ X ⊗

STP

∅ X ∅ ∅ ∅ ∅ ∅*

1

X X

JOG

⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ X ∅

PLS

⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ X ∅

ORG

⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ X ∅

OVR

∅ ∅*

2

∅ ∅*

2

∅ ∅*

2

∅*

2

∅*

2

∅*

2

HLD

∅ X ∅ ∅ ∅ X ∅ X X

Relationship between Flags
and Commands

Command Processing

Section 6-3

90

Condition

Command

Upon

initial-

ization

Emer­gency

Stops

PauseInchingJogging

Deceler-

ation

Stop

Origin

Search

Stop

Posi-

tioning

REL

X X X X X X X X X

EMG

∅ ∅ ∅ ∅ ∅ ∅ ∅ X ∅

ACLR

⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅

CLR

⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅

BCLR

⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅

STORE

⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅

RESTR

⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅

READ

∅ ∅ ∅ ∅ ∅ ∅ ∅ ∅ ∅

MOV

⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅

TEACH

⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅

CCHG

⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ X ∅

HSFT

⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅

*1: Clears HLD and stops.
*2: The command is acknowledged, but is effective from the next SRT.

6-4 Interpolation

For interpolated positioning, both X and Y motor axes operate together. Al­though the position field is used for both the X- and Y-axis positioning ac­tions, all other positioning action parameters are taken from the X-axis fields
only, and corresponding Y-axis fields are ignored.

For example, in the circular arc interpolation below the intermediate interpo­lation point P

0

and end point P1 are selected.

0301
1 230

Consider the command:

P

1

P

0

Starting Point

Interpolation start with one operand
Positioning action designating intermediate interpolation point

The OP code designates ISRT (interpolation start) with an operand count of 1
referring to the word for the single positioning action immediately below. The
address 123 is an X-axis positioning action and assumed to be the intermedi­ate interpolation point. The corresponding Y-axis positioning action is 523
(same last two digits). You must set the positioning action address with the
circular arc interpolation command as the intermediate interpolation point.
The end point will automatically be searched in the address following the in­terpolation point address.

Interpolation

Section 6-4

91

Position Positioning action X-axis

data

Y-axis

data

During

interpolation

Remarks

P

0

Address 123 523 X=123

Y= 523

X-axis and Y-axis addresses
automatically correspond
through their last two digits.

Position

P0 (x) P

0

(y) X= P

0

(x)

Y= P

0

(y)

Positive

Speed

V

0

ad

(x) V

0

ad

(y) V

0

ad

(x)

100 <–> 500
101 <–> 501

M code

M

0

(x) M

0

(y)

There is no
M code.

Dwell time

DT0 (x) DT

0

(y)

Dwelling is
disabled.

399 <–> 799

Accel./decel. time

PT0 (x) PT

0

(y)

–

Attrib­ute 1

Position field sign Positive Positive Positive

Position type ABS ABS ABS

Interpolation code Intermedi-

ate point

No interpo­lation

Intermediate
point

Attrib­ute 2

Completion code 0 0 0 –

Circular arc
interpolation direc­tion

CW CCW Automatically

determined

Positioning action
enable

Enabled Enabled Enabled X and Y axes must both be

enabled to avoid an error.

P

1

Address 124 524 X=124

Y= 524

–

Position

P1 (x) P

1

(y) X=P

1

(x)

Y=P

1

(y)

Speed

V

1

ad

(x)

V

1

ad

(y)

V

0

ad

(x)

M code

M1 (x) M

1

(y) M

1

(x)

Dwell time

DT

1

(x) DT

1

(y) DT

1

(x)

Accel./decel. time

PT

1

(x) PT1 (y)

–

Attrib­ute 1

Position field sign Positive Positive Positive

Position type ABS ABS ABS

Interpolation code End point Circular arc

center

End point

Attrib­ute 2

Completion code 0 0 0

Circular arc
interpolation direc­tion

CW CW CW

Positioning action
enable

Enabled Enabled Enabled

Interpolation

Section 6-4