Omron SYSMAC C500-NC222-E Operation Manual Download

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TABLE OF CONTENTS

vii

PRECAUTIONS

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1 Intended Audience

xii

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2 General Precautions

xii

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3 Safety Precautions

xii

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4 Operating Environment Precautions

xii

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5 Application Precautions

xiii

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SECTION 1
Introduction

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1-1

Features

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1-2

Basic Operating Principles

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1-3

Operational Flow

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1-4

System Configuration

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1-5

Control System Configuration

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1-6

Control System Principles

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1-7

Precautions When Using C500-NC222-E in NC221 Mode

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SECTION 2
Wiring

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2-1

M/D Connector

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2-2

EXT-IN Connector

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2-3

Faulty Wiring Diagnostic Function

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2-4

Motor Driver Connection Examples

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2-5

Wiring Precautions

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SECTION 3
Data Configuration

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3-1

Overview

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3-2

Data Allocations

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3-3

Setting Parameters

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3-4

Setting Positioning Actions

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3-5

Setting Dwell Times

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3-6

Setting Acceleration and Deceleration Times

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3-7

Setting Speeds

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3-8

Initial Data

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SECTION 4
Data Communication with PC

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4-1

Compatible Models and Words

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4-2

PC Programs

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SECTION 5
Operating Status

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5-1

Flag Transitions and Types

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5-2

Status Word Allocations

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5-3

Status Word Details

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5-4

Flag Changes

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Summary of Contents for SYSMAC C500-NC222-E

Page 1: ...OPERATION MANUAL Two axis Position Control Unit NC221 Mode SYSMAC C500 NC222 E Cat No W138 E1 03...

Page 2: ...C500 NC222 E Two axis Position Control Unit NC221 Mode Operation Manual Revised June 2003...

Page 3: ...iv...

Page 4: ...llowing 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 opera tion of the p...

Page 5: ...vi...

Page 6: ...g 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 Overvie...

Page 7: ...ssion 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 S...

Page 8: ...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...

Page 9: ...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 I...

Page 10: ...ing 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 U...

Page 11: ...er 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 provi...

Page 12: ...rol 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...

Page 13: ...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...

Page 14: ...along the X axis the Y axis or both simulta neously Before beginning execution of positioning actions it is necessary to define the origin as a reference point by for example executing origin search...

Page 15: ...ge 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 t...

Page 16: ...ed 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 switc...

Page 17: ...a particular operation is carried out according to programmed instructions but in which no feedback is provided for auto matic adjustments In a closed loop system PC controls an external process with...

Page 18: ...d 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...

Page 19: ...alent 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 consta...

Page 20: ...or 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 p...

Page 21: ...ode 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 dif ferent from those of the C500 NC221 E...

Page 22: ...e 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 mov...

Page 23: ...Pattern 1 accel eration and deceleration pattern 2 103 Position data 500 pulses speed data 1 M code 04 dwell timer 1 INC Pattern 0 accel eration and deceleration pattern 1 Position data 1 000 pulses...

Page 24: ...768 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 tim...

Page 25: ...s speed data 3 M code 07 dwell timer 0 ABS Pattern 1 acceleration and deceleration pat tern 0 Position data 0 pulses speed data 3 M code 07 dwell timer 0 ABS Pattern 1 acceleration and deceleration pa...

Page 26: ...0 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 direc tion 0 0 0 814 Origin com pensation 0 0...

Page 27: ...903 Speed data 3 3000 3000 3000 904 Speed data 4 4000 4000 4000 905 Speed data 5 5000 5000 5000 906 Speed data 6 6000 6000 6000 907 Speed data 7 7000 7000 7000 908 Speed data 8 8000 8000 8000 909 Spee...

Page 28: ...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...

Page 29: ...ver I O Control voltage outputs and feedback pulse inputs go through here The con nector 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...

Page 30: ...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 feed...

Page 31: ...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...

Page 32: ...in 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...

Page 33: ...ter is larger than the value in the error counter when the external interrupt is received In this ca pacity an external interrupt can be used to stop the workpiece after an estab lished number of puls...

Page 34: ...igure 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...

Page 35: ...6 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 Ser...

Page 36: ...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 2...

Page 37: ...e 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...

Page 38: ...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 Contr...

Page 39: ...f an object at tached 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...

Page 40: ...ulses 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...

Page 41: ...C for transfers If the Teaching Box is used see operation manual W145 The data within the parenthesis con tains the PCU address for the data being described Designates the unit to be used with the Tea...

Page 42: ...ge 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...

Page 43: ...e dif ference signals Phases A and B you require from the feedback pulses Mul tiplier 1 sets the motor resolution equal to the encoder resolution This means an encoder with a resolution of 1 000 pulse...

Page 44: ...hase 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 Caut...

Page 45: ...0 in bit 12 15 14 13 12 0 0 0 0 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...

Page 46: ...ag 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 mechani...

Page 47: ...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 param...

Page 48: ...ositioning start point Positioning end point Acceleration Zone flag set Deceleration Zone flag set Address 103 102 101 100 Positioning start point Positioning end point Acceleration Zone flag set Dece...

Page 49: ...s 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...

Page 50: ...tection 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...

Page 51: ...r 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...

Page 52: ...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 com...

Page 53: ...Default 0 3 4 Setting Positioning Actions Write in the data for positioning actions last after making all of the other set tings Parameter settings are described in the previous subsections dwell tim...

Page 54: ...positions so that when the workpiece passes particular posi tions the PC will respond with appropriate actions The M code is valid when the positioning action has been completed In this field you desi...

Page 55: ...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 pulse...

Page 56: ...om the meaning in oth er 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...

Page 57: ...tioning action will be executed according to its parameters Naturally if the next posi tioning action is also disabled operation will then be based on the completion code for it In simple terms the co...

Page 58: ...et 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 ca...

Page 59: ...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 8...

Page 60: ...ly JOG commands XJOG YJOG IJOG acceleration only Origin search commands XORG YORG IORG Pauses XHLD YHLD IHLD deceleration only and Pause re leases XREL YREL IREL acceleration only 3 7 Setting Speeds S...

Page 61: ...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...

Page 62: ...d 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 Attribut...

Page 63: ...cel 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 0020...

Page 64: ...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 cont...

Page 65: ...rch 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...

Page 66: ...07 908 909 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 p...

Page 67: ...C 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...

Page 68: ...l 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...

Page 69: ...ddresses 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 T...

Page 70: ...rd 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 en...

Page 71: ...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 execu...

Page 72: ...aving 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 a...

Page 73: ...le 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 1...

Page 74: ...an 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 ava...

Page 75: ...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 Flag...

Page 76: ...command code definitions Emergency Stop Pause 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 E...

Page 77: ...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 positioni...

Page 78: ...Teach ing Box Con nected External Display Con nected PC Commu nications Disabled Interpo lating Straight Line Reading EE PROM Writing EE PROM EE PROM Write Com pleted Speeds Cleared Commu nications Er...

Page 79: ...cy Stop Current Position Sign CW Move ment CCW Move ment Accel erating Constant Speed Deceler ating In Posi tion Accel eration Zone Decel eration Zone Origin OUT2 Output OUT1 Output CWLS Input CCWLS I...

Page 80: ...rpolation 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...

Page 81: ...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 comma...

Page 82: ...tion 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 o...

Page 83: ...ears 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 syst...

Page 84: ...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 S...

Page 85: ...ates current position in BCD 106 digit 12 13 14 15 Designates current position in BCD 107 digit X Axis Word D 6 Y Axis Word D 13 Rightmost Digits Bit Function Content Updated Cleared Initially On syst...

Page 86: ...t 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...

Page 87: ...dress in BCD 100 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 101 digits 5 4 Flag Changes For ordinary positioning...

Page 88: ...ompleted 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 J...

Page 89: ...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 I...

Page 90: ...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...

Page 91: ...his section these ac companying 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 tha...

Page 92: ...ol com mands Y axis 02 YSRT Start YSTP Decel eration stop YJOG Jogging YPLS Inching YORG Origin search YOVR Over ride YHLD Pause YREL Pause release YEMG Emer gency stop Interpola tion 03 ISRT Start IS...

Page 93: ...skip com mands by designat ing 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 0 0 2 0 OP code Clears the error External...

Page 94: ...tion 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 deceler...

Page 95: ...stop for the desig nated axis Works the same as an ex ternal 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...

Page 96: ...esses them selves 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 Opera...

Page 97: ...ents of the current position to the desig nated value for the designated axis When the digit in the desig nated data word field is 1 home shift is enabled for po sitioning that follows a Source addres...

Page 98: ...ed 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...

Page 99: ...terpolation below the intermediate interpo lation point P0 and end point P1 are selected 0 3 0 1 1 2 3 0 Consider the command P1 P0 Starting Point Interpolation start with one operand Positioning acti...

Page 100: ...int No interpo lation Intermediate point Attrib ute 2 Completion code 0 0 0 Circular arc interpolation direc tion CW CCW Automatically determined Positioning action enable Enabled Enabled Enabled X an...

Page 101: ...following table presents a short list of hypothetical positioning actions For specific field entries refer to 3 4 Setting Positioning Actions Address Position Interpolation Code Positioning Action En...

Page 102: ...aight Line Interpolation The following table presents a hypothetical list of positioning actions all with interpolation code 01 as end points The accompanying figure shows two interpolation routes The...

Page 103: ...and circular interpolation For circular arc interpolation this speed will be the speed along the tangent to the arc as shown below Y X V For linear interpolation the speeds along the X and Y axes can...

Page 104: ...X axis continuous positioning Straight line inter polation Continuous straight line interpolation Circular arc interpolation using in termediate point Circular arc interpo lation using center Axis Fi...

Page 105: ...tion describes how to establish the origin either by defining the current position as the origin or by using origin and limit inputs to establish the mechanical origin 7 1 CCHG 98 7 2 Origin Search XO...

Page 106: ...es to a halt and then movement starts again at the low origin search speed parameter stored at addresses 417 for the X axis and 817 for the Y axis The motor axis or axes stops at the first phase Z pul...

Page 107: ...edge of the origin input 3 The origin is established at the first phase Z pulse after the trailing edge of the origin input 0 Speed Origin search high speed Origin search low speed Phase Z CCWLS CWLS...

Page 108: ...metimes the origin may be preferred a few pulses CW or CCW from the phase Z pulse In order to correct the origin s position set the origin compensation parameter addresses 414 for the X axis and 814 f...

Page 109: ...s 108 8 3 1 Positioning to a Single Point X Axis 108 8 3 2 Positioning to a Single Point Y Axis 108 8 3 3 Straight Line Interpolation to a Single Point X Y Axis 110 8 3 4 Circular Arc Interpolation Ce...

Page 110: ...11 b8 b7 b4 b3 b0 Remark m 0 1 0 1 Positioning to point A Section 8 3 1 m 1 1 0 0 0 m 2 m 3 0 3 0 1 Straight line interpolation to origin Section 8 3 3 m 4 1 0 2 0 m 5 m 6 0 3 0 1 Circular arc interpo...

Page 111: ...k 9 1 5 4 4 k 10 1 0 3 4 X axis address 103 Point C circular arc center k 11 0 0 0 1 k 12 0 0 0 0 k 13 0 2 0 0 k 14 0 0 C 6 k 15 1 0 4 4 X axis address 104 interpolation end point k 16 0 0 0 0 k 17 0...

Page 112: ...0 0 k 58 0 1 2 1 k 59 1 1 0 4 k 60 0 0 0 0 Y axis address 502 origin straight line interpolation end point k 61 0 0 0 0 end point k 62 0 2 3 0 k 63 1 1 4 4 k 64 0 0 0 1 Y axis address 503 m point C c...

Page 113: ...en closed in parentheses For example l 3 08 would be word 3 bit 08 in the tables of subsection 5 2 Refer to the tables keeping in mind that all words begin with l l 0 for word 0 8 2 Data Transmission...

Page 114: ...tes Refer to 3 4 Setting Posi tioning Actions for further details X Axis Address Position pulses Speed M code Dwell time Acceleration and Decelera tion time Attribute 1 Attribute 2 Remarks 100 10 000...

Page 115: ...sitioning actions j 6 00 set as differentiated input l 15 Command Ready Transfers the 9 positioning actions of the Y axis Without any empty ad dresses the group of 9 positioning actions is considered...

Page 116: ...gin j 01 j 03 l 15 Command Ready j 02 25506 25506 j 15 j 02 j 03 Normally ON Positioning Completed Position of point A Reads flags l 3 08 25313 Start command to point A Ladder Diagram 8 3 2 Positionin...

Page 117: ...dy j 1 02 25506 25506 j 15 j 1 02 j 1 03 Normally ON Positioning Completed Reads flags l 3 08 25313 25506 j 1 04 READ 88 0017 n 1 l Point A Positioning Completed Point A CMP 20 l 14 0021 25506 j 1 15...

Page 118: ...point C to indicate completed posi tioning Y axis pulse 0 origin X axis pulse Time s 1 kpps Speed pps C 10 000 10 000 X Y axes Origin C DIFU 13 j 2 01 WRIT 87 0002 DM m 3 n CMP 20 l 7 0030 l 7 CMP 20...

Page 119: ...id an error An error occurs when the three points chosen cannot produce a circular arc Compu tation in millimeter and inch units can generate rounding errors Acceleration and deceleration times are no...

Page 120: ...indicate completed positioning For circular arc inter polation with a designated intermediate point the entire circumference of a circle cannot be produced because the center cannot be computed Again...

Page 121: ...triggers the integrated signal the Y axis motor to move via point B to point C Next the Y axis M code 21 triggers the straight line inter polation to the origin followed by two consecutive circular ar...

Page 122: ...eady j 5 09 25506 j 5 10 j 5 09 l 7 CMP 20 0030 25506 j 5 11 DIFU 13 j 5 12 READ 88 0017 n 1 l j 5 11 l 4 00 Start input Origin 25313 Normally ON 25313 Normally ON Point C Origin Reads flags Start com...

Page 123: ...atically return to the origin Y axis pulse 0 origin X axis pulse X Y Origin Time s Origin Positioning point Speed pps X Y axes interpolation AR Area Allocations n n 1 n 2 n 3 n 4 n 5 n 6 n 7 n 8 n 9 O...

Page 124: ...0 9 0 X axis position leftmost digits X axis position rightmost digits Y axis position leftmost digits Y axis position rightmost digits Speed rightmost digits b7 b4 0 5 4 0 5 4 1 0 0 0 4 1 0 0 0 4 0...

Page 125: ...sitioning Completed l 3 08 TIM 000 j 10 07 l 7 MOV 21 n 8 0000 MOV 21 n 8 TIM 000 WRIT 87 0002 DM q 3 n j 10 08 j 10 09 l 15 Command Ready j 10 10 j 10 10 j 10 09 25506 READ 87 0017 n 1 n Normally ON...

Page 126: ...n and returning to the origin at a speed of 1 pps X axis pulse 0 origin 5 000 2 500 5 000 5 000 R R radius 0 Speed pps Speed pps X axis Y axis 0 Origin Y axis pulse IR Area Allocations n n 1 n 2 n 3 n...

Page 127: ...36 r 37 r 38 r 39 b15 b12 1 0 0 0 0 1 0 2 0 0 1 0 2 0 0 1 0 2 0 0 1 0 5 0 0 1 0 5 0 0 1 0 0 0 0 0 0 0 1 5 0 0 5 1 5 0 0 5 1 5 0 0 5 1 5 0 0 0 1 5 0 0 0 1 5 0 0 0 1 5 b11 b8 b7 b4 0 0 0 7 4 1 0 0 7 4...

Page 128: ...73 r 74 r 75 r 76 r 77 r 78 r 79 b15 b12 5 0 0 0 5 0 0 0 5 0 5 0 0 5 0 0 0 5 0 0 0 5 0 0 0 0 5 0 0 0 0 0 0 1 5 0 0 1 5 0 0 0 1 5 0 0 1 5 0 0 1 5 0 0 0 1 5 0 0 0 1 5 b11 b8 b7 b4 0 0 7 4 1 0 7 4 2 0 0...

Page 129: ...DM r n j 11 04 j 11 07 l 15 Command Ready j 11 06 l 11 06 l 11 07 25506 WRIT 87 0035 DM r 40 n j 11 07 j 11 09 l 15 Command Ready j 11 08 l 11 08 l 11 09 25506 WRIT 87 0005 DM s n j 11 10 j 11 11 l 1...

Page 130: ...5 are respectively output at each position while the axes stop for 0 5 second After the 25 positions the motors return to the origin Y axis pulse X axis pulse 0 origin 10 000 5 6 15 25 16 4 7 14 17 24...

Page 131: ...50 b15 b12 1 0 0 0 0 1 0 5 0 0 1 0 0 0 0 1 0 5 0 0 1 0 0 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 5 b11 b8 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0...

Page 132: ...b12 0 5 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 5 b11 b8 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 1 0 0 1 0 1 0 0 1 0 1 0 0 1 0 1 0 0 1 0...

Page 133: ...4 t 135 t 136 t 137 t 138 t 139 b15 b12 0 5 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 5 0 5 0 0 5 0 0 0 0 1 0 0 0 0 5 0 0 0 0 b11 b8 0 0 1 0 1 0 0 1 0 1 0 0 1 0 1 0 0 1 0 1 0 0 1 0 2 0 0 1 0 2 0 0 1 0 2 0 0 0...

Page 134: ...8 t 199 t 200 t 201 t 202 b7 b4 0 0 0 1 0 2 0 3 0 4 0 1 0 5 0 6 0 7 0 8 0 2 0 9 0 0 0 1 0 2 0 3 0 3 0 4 0 5 0 6 0 4 0 7 0 8 0 9 0 0 0 5 b11 b8 3 0 2 0 2 0 2 0 2 0 1 0 2 0 2 0 2 0 2 0 1 0 2 0 2 1 2 1 2...

Page 135: ...mmands Transfers commands j 12 12 DIFU 13 l 3 08 0005 TIM01 l 7 MOV 21 n 2 j 12 13 DIFU 13 l 10 08 0005 TIM002 l 14 MOV 21 n 2 CMP 20 l 7 0026 j 12 07 25506 Origin Origin j 12 14 DIFU 13 TIM001 START...

Page 136: ...129 SECTION 9 External Display Switches and Indicators 9 1 External Display 130 9 2 Display Descriptions 131 9 3 Switches and Indicators 133...

Page 137: ...g Current Position mode and the error code during Error Code mode Moving Between Display Modes The C500 ND201 External Display has four display modes which can be se lected by pressing the MODE and RE...

Page 138: ...tion is displayed in the selected unit pulse mm inch The various units have the following ranges 1 For pulse 99 999 999 to 99 999 999 This is the maximum range of the device in absolute figures 2 For...

Page 139: ...de coefficient if in effect 0 7 in the figure Displays system and command error codes whenever an error occurs The display mode automatically turns to Error Code mode in such cases E0 lights at the ax...

Page 140: ...ion operation No CCW direction operation No errors RUN X Y CW CCW ERROR LED Display M D Motor Driver Converter Connect the servomotor drivers here This port has I O assignments for speed voltage feedb...

Page 141: ...135 SECTION 10 Error Processing 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...

Page 142: ...rror code 3 Correct the cause of the error 4 Reset the Position Control Unit ERST 10 3 System Errors Caused by reasons other than PC commands System errors have error codes 00 21 See Appendix D Possib...

Page 143: ...r less for 5 VDC 50 mA or less for 24 VDC Between all external terminals and frame ground 500 VAC for 1 minute at 50 60 Hz Power 100 VAC a Normal mode 1 2 kV b Common mode 1 2 kV I O 24 VDC a Normal m...

Page 144: ...Origin external interrupt CW limit CCW limit Emergency stop Input voltage 24 VDC 10 Input current 8 mA ON voltage 12V min OFF voltage 4V max ON delay time 2 ms or less OFF delay time 2 ms or less Pha...

Page 145: ...ification OUT1 OUT2 Open collector 40 mA at 24 VDC 0 1 mA or less 1 1 V or less 24 VDC 10 Speed voltage 10 to 10 VDC 10 mA approx 1 kW impedance Item Output types Maximum open close capacity Leak curr...

Page 146: ...hing Box or External Display 300 positions per axes Straight line interpolation end point Circular arc interpolation arc center and end point or arc intermediate and end points 100 for both axes 1 300...

Page 147: ...00 VA or less Between all AC external terminals and frame ground 50 MW or greater at 500 VDC Between all external terminals and frame ground 1 000 VAC for 1 minute 50 60 Hz Power a Normal mode 1 2 kV...

Page 148: ...External Display Specifications Appendix B 142 External Dimensions Unit mm 262 270 15 15 70 40 40 66 252 4 M4 Square hole 262 5 Mounting Hole Dimensions 64 148 135 137 180 2...

Page 149: ...ther 1 the PC sent an EMG 2 the external emergency stop input turned ON or 3 an emer gency stop was entered at the Teaching Box The error counter count exceeded its maximum value 215 bits when a workp...

Page 150: ...and status Correction 50 Data errors Interpolation data error 1 When ISRT is transferred Data designated by ISRT is not interpolation data Correct the data and re transmit the data 51 Interpolation d...

Page 151: ...arity error Constant Parity check uncovered an abnormality Clear the error with ERST and follow the steps below If the error does not clear there may be a hardware problem which is not user serviceabl...

Page 152: ...99 Zones 0 9 999 acceleration 0 9 999 deceleration Home shift 999 999 Maximum speed 1 300 000 Maximum jogging speed 1 300 000 Origin search direction 0 1 Origin compen sation 999 999 High origin searc...

Page 153: ...ction 8 Positioning action 9 Positioning action 10 Positioning action 11 Positioning action 12 Positioning action 13 Positioning action 14 Positioning action 15 Positioning action 16 Positioning actio...

Page 154: ...21 Speed 22 Speed 23 Speed 24 Speed 25 Speed 26 Speed 27 Speed 28 Speed 29 Speed 30 Speed 31 Speed 33 Speed 32 Speed 34 Speed 35 Speed 36 Speed 37 Speed 38 Speed 39 Speed 40 Speed 41 Speed 42 Speed 43...

Page 155: ...om which the shaft extends from the motor for connection CW CCW limits Limits on the CW and CCW sides of the origin which can be internally set to restrict rotation of the shaft data area A memory sto...

Page 156: ...n time origin compensation A parameter used to correct the origin from the position determined according to the origin input signal origin proximity signal A signal input to indicate when the position...

Page 157: ...tion is to be reached at the completion of the action teaching Writing the present position into memory via the Teaching Box as the target position for the designated positioning action terminating co...

Page 158: ...ber of 2 control system configuration of 6 D data allocations 29 backup 2 capacity and storage 2 communication between PC and PCU 58 Intelligent I O Read and Write instructions 59 configuration 2 27 s...

Page 159: ...on and deceleration 40 addresses for parameters 98 high and low speed 98 high speed 39 low speed 40 P parameter deceleration stop 22 multiplier 32 origin search 98 parameters 2 allocations 29 number p...

Page 160: ...ection parameters 44 S semiclosed loop system 6 servoclamp 8 servolock 8 servomotor drivers 6 7 9 18 23 32 133 solenoids protection for 26 speeds application 49 changes for positioning 44 current addr...

Page 161: ...orrected High Origin Search Speed graph and Origin Search Acceleration and Deceleration graph on p 44 Corrected operations for which acceleration and deceleration times are effective p 52 Command OP C...

Page 162: ...adquarters OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 OMRON ELECTRONICS LLC 1 East Commerce Drive Schaumburg IL 60173 U S A Tel 1 847 84...

Page 163: ...Cat No W138 E1 03 Note Specifications subject to change without notice Printed in Japan Authorized Distributor...

Page 164: ...Cat No W138 E1 03 SYSMAC C500 NC222 E Two axis Position Control Unit NC221 Mode OPERATION MANUAL...

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