User manual OMRON C200H-MC221 DATASHEET

[. . . ] Position control can be performed by specifying program numbers using the PC interface area and executing operation commands, reducing the workload on the CPU Unit's ladder program. Axis configuration can be set, such as controlling X-Y robot operations or controlling operations separately for each axis. Interrupt Feeding Function Provided as Standard The MC Unit can perform high-speed positioning for feeding operations (such as for feeders) by external sensors. Compatible with Absolute Encoders This MC Unit is compatible with OMNUC U-series and other Servomotors with absolute encoders. It no longer requires origin searches, and allows quick start and reset at system start-up or power-down. [. . . ] There are a total of 10 Manual Mode commands, including origin search, reference origin return, jogging, and present position preset. The operation command (cycle start) is started in Automatic Mode using the PC interface area of the CPU Unit. Number of controlled axes Number of simultaneously controlled axes PTP (independent) control Automatic/Manual Mode (for each task) Positioning os o g operations ti Independent Linear interpolation Circular interpolation Interrupt feeding Independent operations for a maximum of two axes Linear interpolation for a maximum of two axes Circular interpolation for a maximum of two axes on a plane. Operations for each axis Operating positions can be specified in MC programs by using one of the following three methods. Direct Specification of Coordinate Values Example: When G00 X100 is specified with absolute specification, the X axis moves to a position of 100. Address Specification of Position Data Example: When G00 XA0000 is specified, the axis moves to the position set as position data address 0000. Indirect Register Specification Example: When G00 X(E00) is specified, the X axis moves to the position set as the position data address in the E00 indirect register. Position specification method Control u Co o unit Minimum setting unit Units 1, 0. 1, 0. 01, 0. 001, 0. 0001 mm, inch, degree, pulse (There is no unit conversion function. ) ­39, 999, 999 to +39, 999, 999 Trapezoidal or S-curve (Can be selected for each axis. ) Individual acceleration/deceleration settings possible: 0 to 9, 998 ms (2-ms increments) Speed control for a maximum of two axes. When the unit is pulses, the setting range is from 1 p/s to 1, 000 kp/s (after multiplication by 4). Feed rate = High speed × Override value/100 Real-time speed can be changed by altering the override value. Maximum command value Acceleration/deceleration curve Acceleration/deceleration time Speed reference Feed rate (PTP operation) specification method 3 Motion Control Unit Model number External I/O Input Individual axis control Product Specifications C200H-MC221 The following signals are each provided for two axes: CCW limit inputs CW limit inputs Origin proximity inputs Emergency stop inputs The following signal is provided for two axes: Driver alarm signal Line receiver inputs For two axes 250 kp/s max. before multiplication Fixed at ×4 Note: When using a manual pulse generator (MPG), connect it to the Y-axis encoder input terminal. (X-axis + MPG) Generalpurpose inputs 2 points (for external start commands, etc. ) The following signals are each provided for two axes: Speed command voltage output (±10 V) Operation command output SEN signal (for absolute encoder) Driver alarm reset signal 1 serial channel for Teaching Box or MC Support Software (switchable using the slide switch on the front panel) Teaching Box: 9, 600 bits/s for RS-422 MS Support Software: 9, 600 bits/s for RS-422 and RS-232C Servodriver relationships Encoder Output Servodriver relationships Peripheral device Feed operations Maximum rapid feed rate Maximum feed rate for PTP operation 36. 86 m/min under the following conditions: Encoder resolution: 2, 048 p/r Motor speed: 4, 500 r/m Control unit: 0. 001 mm/pulse Maximum interpolation feed rate Rapid feed override Interpolation feed override Jog feed override Axis control s co o Zone settings Backlash correction In-position zone Position loop gain Position loop feed-forward gain Task program as og a management t Number of tasks Number of programs Program capacity Position data capacity Number of registers Subroutine nesting Auxiliary function Saving program data M code MC Unit External peripheral devices Self-diagnostic function Error detection functions Maximum feed rate for interpolation operations 36. 86 m/min under the same conditions as above 0% to 100. 0% (Setting unit: 0. 1%) 0% to 199. 9% (Setting unit: 0. 1%) 0% to 100. 0% (Setting unit: 0. 1%) Up to 8 zones/axis can be set. Number of accumulated pulses for determining the positioning completed status Can be set from 0 to 999 pulses. Servo system response adjustment gain 5 to 250 (1/s) Servo system response adjustment gain 0% to 100% 2 max. When 2 tasks are used: 50 max. /task When 1 task is used: 800 blocks max. (when only one axis is used) (A0000 to A1999) 32 (Mainly used for specifying position data numbers. ) (E00 to E31) 5 levels max. 000 to 999 MC programs, system parameters, and position data can be stored in the flash memory in the MC Unit. C200H Special I/O Units can be divided into the following four groups according to the maximum number of Units that can be mounted. Group Units A ASCII Unit, High-speed Counter Unit, Position Control Unit (NC111/112/113/213), Analog I/O Unit, ID Sensor Unit, Fuzzy Logic Unit 4 Units B Multipoint I/O Unit, Temperature Control Unit, PID Control Unit, Heating/Cooling Control Unit, Cam Positioner Unit C Temperature Sensor Unit, Voice Unit D Position Control Unit (NC211/413), Motion Control Unit Maximum number of Units that can be mounted in each group under one Master Maximum number of Units that can be mounted in all groups 8 Units 6 Units 2 Units 3A + B + 2C + 6D x 12, and A + B + C + D x 8 MC Unit Functions and Execution Methods The MC Unit functions can be executed using either of the following three methods. Specifying functions from the CPU Unit to the MC Unit through the PC interface area 3. Specifying system parameters by using MC Support Software, IOWR instructions, or I/O transfer bits Function MC program (G language) Positioning with linear interpolation Positioning with circular interpolation Speed control Interrupt feeding Switching to Pass Mode Switching to Stop Mode Dwell timer setting/execution In-position setting Workpiece origin return Position loop gain setting Cycle start Single block Pause Forced block end Origin search Reference origin return Override setting Error counter reset Driver alarm reset M code reset Teaching Jogging Deceleration stop Forced origin Absolute encoder origin setting Servo-lock Servo-unlock Trapezoidal/S-curve specification Zone settings Backlash correction setting Origin deceleration method (G01) (Automatic Mode) (G02/03) (Automatic Mode) (G30) (Automatic Mode) (G31) (Automatic Mode) (G10) (Automatic Mode) (G11) (Automatic Mode) (G04) (Automatic Mode) --(G27) (Automatic Mode) ----------(G28) (Automatic Mode) (G26) (Automatic Mode) --------------------------------------------------(Automatic Mode) (Automatic Mode) (Automatic Mode) (Automatic Mode) (Manual Mode) (Manual Mode) (Automatic/Manual Mode) (Automatic/Manual Mode) (Automatic/Manual Mode) (Automatic Mode) (Automatic/Manual Mode) (Manual Mode) (Manual Mode) (Manual Mode) (Manual Mode) (Manual Mode) (Manual Mode) --------Execution methods (Modes in parentheses: Valid modes) PC interface area --------------(Automatic/Manual Mode) --(Automatic/Manual Mode) ----------------------------------(Automatic/Manual Mode) (Automatic/Manual Mode) (Automatic/Manual Mode) (Automatic/Manual Mode) System parameters 6 Product Specifications G Language Example Motion Control Unit Block number (N000 to N999): Equivalent to a program line number. N000 P001 XY Program number and axis declaration N001 G91 G code: 2-digit number following "G" represents the command. Incremental Specification N002 G00 X100 Y50 M001 Positioning: Moves the X axis by 100 and the Y axis by 50 from the present position, and outputs M code 001 after positioning hs been completed. Code G00 G01 Positioning Name Function Performs positioning according to maximum rapid feed rate × override (%). (PTP control) Performs linear interpolation on 1, 2, 3, or 4 axes (1 or 2 axes for MC221). The feed rate can be specified. Linear Interpolation G02 G03 G04 G10 G11 G17 G26 G27 G28 G29 G30 G31 G50 G51 G53 G54 G60 G63 G69 G70 G71 G72 G73 G74 G75 G76 G79 G90 G91 Circular Interpolation (Clockwise) Circular Interpolation (Counterclockwise) Dwell Timer Pass Mode Stop Mode Circular Plane Specification (X-Y) Reference Origin Return Workpiece Origin Return Origin Search Origin UNDEFINED SPEED CONTROL INTERRUPT FEEDING Select Reference Coordinate System Select Workpiece Coordinate System Change Workpiece Origin Offset Change Reference Coordinate System PV Arithmetic Operations Substitution Change Parameter Unconditional Jump Conditional Jump Subroutine Jump Subroutine End Optional End Optional Skip Optional Program Stop Program End Absolute Specification Incremental Specification Performs 2-axis circular interpolation in the clockwise direction at the specified interpolation feed rate. [. . . ] Connects to the ­ terminal (0 V) of the 24-VDC external power supply. 7 YSTOP (NC) 8 8 9 10 11 14 IN1 (NO) IN2 (NO) XORG (NC, NO) YORG (NC, NO) DC GND 4 9 13 18 0 "NC" stands for normally closed and "NO" stands for normally open. External Connection Diagram Using the MC Unit Input Connector Example: X-axis Wiring Input Connector Pin No. 24-VDC input X-axis CW limit input Y-axis CW limit input X-axis CCW limit input Y-axis CCW limit input X-axis emergency stop input Emergency stop input Y-axis emergency stop input General input 1 General input 2 X-axis origin proximity input Origin proximit y input Y-axis origin proximity input 24-VDC input ground Connector: Wire and assemble the connector by using the connector case provided with the Unit or by using the XW2Z-100J-F1 MC Unit Terminal Block Connecting Cable. + 24 VDC ­ CW limit input CCW limit input 11 Motion Control Unit Using the MC Unit Terminal Block Product Specifications Example: X-axis wiring XW2Z-100J-F1 MC Unit Cable XW2Z-100J-F1 MC Unit Terminals 24-VDC input ground + 24 VDC ­ XW2B-20J6-6 MC Unit Terminals CW limit input CCW limit input Emerg ency stop input General input 1 Origin proxim ity input Y-axis emergency stop input General input 2 XCW, XCCW, origin proximity, and emergency stop YCW, YCCW, origin proximity, and emergency stop 24-VDC input X-axis CW limit input X-axis CCW limit input X-axis origin proximity input X-axis emergency stop input Y-axis CW limit input Y-axis CCW limit input Y-axis origin proximity input 12 Product Specifications DRV X-Y Connector: Servodriver Connection Pin 1 2 3 4 5 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 26 27 28 29 30 31 32 33 34 35 36 Symbol +24 V DC GND XALM XRUN XALMRS XSGND XSOUT X-GND X-A X-A X-B X-B X-Z X-Z XOUT XAGND +F24V FDC GND YALM YRUN YALMRS YSGND YSOUT Y-GND Y-A Y-A Y-B Y-B Y-Z Y-Z YOUT YAGND Name 24 VDC input 24 VDC input ground X-axis alarm input X-axis run output X-axis alarm reset output X-axis SEN signal ground X-axis SEN signal output X-axis feedback ground X-axis phase A input X-axis phase A input X-axis phase B input X-axis phase B input X-axis phase Z input X-axis phase Z input X-axis speed control X-axis speed control ground 24 VDC output 24 VDC output ground Y-axis alarm input Y-axis run output Y-axis alarm reset output Y-axis SEN signal ground Y-axis SEN signal output Y-axis feedback ground Y-axis phase A input Y-axis phase A input Y-axis phase B input Y-axis phase B input Y-axis phase Z input Y-axis phase Z input Y-axis speed control Y-axis speed control ground Motion Control Unit Function External power supply's 24-VDC input (for the X-Y axes) External power supply's 24-VDC ground (for the X-Y axes) Driver alarm input for the X-axis Driver run output for the X-axis Reset output for the X-axis's driver alarm. SEN signal ground for the X-axis SEN signal output for the X-axis (absolute encoder driver) Feedback ground for the X-axis Phase A feedback input for the X-axis Phase A feedback input for the X-axis Phase B feedback input for the X-axis Phase B feedback input for the X-axis Phase Z feedback input for the X-axis Phase Z feedback input for the X-axis Speed control voltage to the X-axis driver Ground for the X-axis's speed control voltage 24-VDC input to the driver (for the X-Y axes) Ground for 24-VDC outputs (for the X-Y axes) Driver alarm input for the Y-axis Driver run output for the Y-axis Reset output for the Y-axis's driver alarm. SEN signal ground for the Y-axis SEN signal output for the Y-axis (absolute encoder driver) Feedback ground for the Y-axis Phase A feedback input for the Y-axis Phase A feedback input for the Y-axis Phase B feedback input for the Y-axis Phase B feedback input for the Y-axis Phase Z feedback input for the Y-axis Phase Z feedback input for the Y-axis Speed control voltage to the Y-axis driver Ground for the Y-axis's speed control voltage 13 Motion Control Unit Servodriver Cables (Optional) When using OMRON's U-, H-, or M-series Servodrivers, use Special Servodriver Cables that are available as options to connect the MC Unit to Servodrivers. [. . . ]