User manual OMRON CS1W-MC221 02-2008

[. . . ] W359-E1-04 CS1W-MC221(-V1)/421(-V1) Motion Control Units OPERATION MANUAL CS1W-MC221(-V1)/421(-V1) Motion Control Units Operation Manual Revised February 2008 iv Notice: OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual. The following conventions are used to indicate and classify precautions in this manual. Failure to heed precautions can result in injury to people or damage to property. !DANGER !WARNING Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. [. . . ] ON: OFF: Negative (The direction that reduces the present value. ) Positive (The direction that increases the present value. ) Signal Function 1 Sets the jog direction to negative. 0 Sets the jog direction to positive. 300 Interface Specifics Timing Chart and Programming Example Refer to the description of the Jogging Bits on page 283. Section 5-4 MPG/Sync Encoder Ratio Specifiers 1, 2 Word MC221 n+7 n+9 ----MC421 n+11 n+13 n+15 n+17 Axis X axis Y axis Z axis U axis Bits 14, 15 I/O Output Valid mode Manual These bits are used to specify which MPG/sync encoder ratio is used in MPG operation. The status of these bits is checked continuously during MPG/sync encoder operation. These bits are used in the following combination. Bit 14 OFF ON OFF ON Bit 15 OFF OFF ON ON MPG ratio used Ratio (1) in the Feedrate Parameters. Ratio (4) in the Feedrate Parameters. Timing Chart and Programming Example Refer to the description of the Enable MPG/Sync Encoder Bits on page 292. 5-4-5 System Status Word MC221 n+10 MC421 n+18 00 to 13 Input --Bits I/O Valid mode Error Type Data The bits in the Error Type Data Word indicate the location of errors that occur. Bit Error Remarks Error Flag will be OFF. 03 02 01 00 0 0 0 0 Normal (no error) 0 0 0 0 0 0 0 1 1 0 0 0 1 1 1 1 0 0 0 1 1 0 0 1 1 0 0 1 0 1 0 1 0 1 0 1 System error Task 1 error Task 2 error Task 3 error (See note. ) Task 4 error (See note. ) X-axis error Y-axis error Z-axis error (See note. ) U-axis error (See note. ) Note The CS1W-MC221 does not support tasks 3, task 4, the Z axis, or the U axis. The Error Type Data can be used to identify the task and axis for which an error occurred when the Error Flag (n+10, 14/n+18, 14) turns ON. An error code will also be stored in n+11/n+19). 301 Interface Specifics Timing Chart Section 5-4 The following timing chart shows the status when an error occurs for task 1. Error Flag (n+10, 14/n+18, 14) Error Type Data (n+10, 00/n+18, 00) (n+10, 01/n+18, 01) (n+10, 02/n+18, 02) (n+10, 03/n+18, 03) Error Code (n+11/n+19) Task 1 Error (n+15, 01/n+23, 00) Task 2 Error (n+19, 00/n+27, 00) Error code Autoloading Flag Word MC221 n+10 MC421 n+18 04 Bit Input I/O Valid mode --- The Autoloading Flag will turn ON when downloading is started for the data for a job number specified in the IOWR instruction in the ladder program. This flag will turn OFF if the Autoloading Error Reset Bit is turned ON. Signal 1 Autoloading has started. Meaning Autoloading has been completed. 302 Interface Specifics Timing Chart Job number Autoloading command (IOWR instruction) Section 5-4 Autoloading Error Reset (n, 05) Autoloading Error (n+10, 05/n+18, 05) Autoloading (n+10, 04/n+18, 04) 10 s Autoloading Time Up (n+10 15/n+18, 15) Error detected during autoloading CX-Motion received job number and started autoloading operation. Communications not restarted within time up time (here, 10 s) after autoloading was started. (Possible cable brake, noise, corrupt data, etc. ) Autoloading completed normally Autoloading Error Flag Word MC221 n+10 MC421 n+18 05 Input --Bit I/O Valid mode The Autoloading Error Flag will turn ON when an error occurs at the start of or during autoloading. Errors on CX-Motion The following items are checked on the CX-Motion when the IOWR instruction is executed in the CPU Unit and errors are generated if any problems are found. · Job number range · Computer setup (e. g. , no floppy disk, hard disk corruption, etc. ) · Nonexistence of specified program · Nonexistence of specified position data Error in MC Unit The Autoloading Time Up Flag will be turned ON if communications are not possible within the monitor time set in the system parameters. 303 Interface Specifics Section 5-4 The Autoloading Error Flag will turn OFF when the Autoloading Error Reset Bit is turned ON. Signal Meaning 1 An error has occurred during autoloading. The Autoloading Error Flag has been turned ON. Timing Chart Refer to the timing chart for the Autoloading Error Reset Bit on page 262. Data Transmission Flag Word MC221 n+10 MC421 n+18 06 Bit Input I/O Valid mode --- The Data Transmission Flag will turn ON when position data is written to the MC Unit as a result of executing the Position Data Write Command (17D6 hex) for the Command Area using the IOWR instruction in the ladder diagram. The flag will turn OFF when the Data Transmission Error Flag turns ON as a result of an error while writing data or when the writing the data has been completed normally. Signal 1 Meaning Data transmission has started. The data transmission has been completed normally or an error occurred during the transmission. Timing Chart Refer to the timing chart for the IOWR instruction in 4-2 IOWR and IORD Specifications. Data Transmission Error Flag Word MC221 n+10 MC421 n+18 07 Input --Bit I/O Valid mode The Data Transmission Error Flag will turn ON when a fatal error occurs while writing position data to the MC Unit as a result of executing the Position Data Write Command (17D6 hex) for the Command Area using the IOWR instruction in the ladder diagram. Using the IOWR instruction for any address other than 17D6 hex will not affect this flag regardless of the results. Signal 1 Meaning An error occurred during data transmission. Data was retransmitted normally. Timing Chart Refer to the timing chart for the IOWR instruction in 4-2 IOWR and IORD Specifications. Data Reception Flag Word MC221 n+10 MC421 n+18 08 Bit Input I/O Valid mode --- The Data Reception Flag will turn ON when position data is read as a result of executing the Position Data Read Command (17D7 hex) for the Command Area using the IOWR instruction in the ladder diagram. This flag will not turn 304 Interface Specifics Section 5-4 ON for read error with the IORD instruction. (Refer to 4-2 IOWR and IORD Specifications for details on IORD. ) Signal 1 Data reception has started. Meaning The data reception has been completed normally or an error occurred during the reception. Timing Chart Refer to the timing chart for the IOWR instruction in 4-2 IOWR and IORD Specifications. Data Reception Error Flag Word MC221 n+10 MC421 n+18 09 Bit Input I/O Valid mode --- The Data Reception Error Flag will turn ON when a fatal error occurs while receiving position data from the MC Unit using the IOWR instruction in the ladder diagram. [. . . ] Operation will vary depending on the position of the workpiece when the origin search is executed. Even if the search direction is set to the + direction (i. e. , CW), if the initial origin search direction is opposite to the phase-Z detection direction, the origin search will be performed in the CCW direction. For operation details, refer to SECTION 9 Establishing the Origin. Reverse-mode Origin Search 1 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Speed (See note. ) Note Operation will vary depending on the setting of the limit signal input. 629 Origin Search Patterns Appendix F Reverse-mode Origin Search 2 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Speed (See note. ) (See note. ) (See note. ) (See note. ) Note Operation will vary depending on the setting of the limit signal input. 630 Origin Search Patterns Appendix F Reverse-mode Origin Search 3 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Error (No origin signal. ) (See note. ) Speed Error (No origin signal. ) (See note. ) Error (No origin signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Note Operation will vary depending on the setting of the limit signal input. 631 Origin Search Patterns Appendix F Reverse-mode Origin Search 4 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Error (No origin signal. ) (See note. ) Speed Error (No origin signal. ) (See note. ) Error (No origin signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Note Operation will vary depending on the setting of the limit signal input. 632 Origin Search Patterns Appendix F Reverse-mode Origin Search 5 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Error (No origin signal. ) (See note. ) Speed Error (No origin signal. ) (See note. ) Error (No origin signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Note Operation will vary depending on the setting of the limit signal input. 633 Origin Search Patterns Appendix F Reverse-mode Origin Search 6 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Error (No origin signal. ) (See note. ) Speed Error (No origin signal. ) (See note. ) Error (No origin signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Note Operation will vary depending on the setting of the limit signal input. 634 Origin Search Patterns Appendix F Reverse-mode Origin Search 7 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Origin proximity signal input Phase-Z signal Speed Error (No origin proximity signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Note Operation will vary depending on the setting of the limit signal input. 635 Origin Search Patterns Appendix F Reverse-mode Origin Search 8 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Origin proximity signal input Phase-Z signal Error (No origin signal. ) (See note. ) Speed Error (No origin signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Note Operation will vary depending on the setting of the limit signal input. 636 Origin Search Patterns Appendix F Reverse-mode Origin Search 9 This origin search is performed with an origin proximity signal, and both phase-Z detection direction and initial origin search direction set to CW with no phase-Z signal input. Limit signal input Origin proximity signal input Phase-Z signal Error (Origin proximity and overtravel simultaneously ON. ) (See note. ) Error (Origin proximity and overtravel simultaneously ON. ) (See note. ) Speed Error (Origin proximity and overtravel simultaneously ON. ) (See note. ) Error (Origin proximity and overtravel simultaneously ON. ) (See note. ) Error (Origin proximity and overtravel simultaneously ON. ) Error (Origin proximity and overtravel simultaneously ON. ) (See note. ) Note Operation will vary depending on the setting of the limit signal input. 637 Origin Search Patterns Appendix F Reverse-mode Origin Search 10 This origin search is performed with an origin proximity input, and both phase-Z detection direction and initial origin search direction set to CW with no phase-Z signal input. Limit signal input Origin proximity signal input Phase-Z signal Error (No origin proximity signal. ) (See note. ) Speed Error (No origin proximity signal. ) (See note. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Error (Origin proximity and overtravel simultaneously ON. ) Error (Origin proximity and overtravel simultaneously ON. ) (See note. ) Note Operation will vary depending on the setting of the limit signal input. 638 Origin Search Patterns Appendix F Reverse-mode Origin Search 11 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW with no phase-Z signal input. Limit signal input Origin proximity signal input Phase-Z signal Error (No origin proximity signal. ) (See note. ) Speed Error (No origin proximity signal. ) (See note. ) (See note . ) Error (No origin proximity signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Error (Origin proximity and overtravel simultaneously ON. ) Error (Origin proximity and o vertravel simultaneously ON. ) (See note . ) Note Operation will vary depending on the setting of the limit signal input. 639 Origin Search Patterns Appendix F Reverse-mode Origin Search 12 This origin search is performed with an origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Origin proximity signal input Phase-Z signal Error (No origin proximity signal. ) (See note. ) Speed Error (No origin proximity signal. ) (See note. ) (See note . ) Error (No origin proximity signal. ) (See note. ) Error (No origin proximity signal. ) (See note. ) Note Operation will vary depending on the setting of the limit signal input. 640 Origin Search Patterns Appendix F If the ON range for the CW limit signal input is small, when the interval between it and the origin proximity signal input is short, an error will result as shown below. Limit signal input Origin proximity signal input Phase-Z signal Error (Overtravel reverse error) Speed When the interval between the CW limit signal input and the origin proximity signal is short, an error will result as shown below. Limit signal input Origin proximity signal input Phase-Z signal Error (Origin proximity reverse error. ) Speed 641 Origin Search Patterns Appendix F Reverse-mode Origin Search 13 This origin search is performed with no origin proximity signal input, and both phase-Z detection direction and initial origin search direction set to CW. Limit signal input Phase-Z signal Speed (See note. ) (See note. ) (See note. ) (See note. ) Note Operation will vary depending on the setting of the limit signal input. 642 Origin Search Patterns Appendix F One-direction Mode Origin Search 1 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Speed Error (No origin proximity signal) (See note. ) Error (Overtravel already ON. ) Note Operation will vary depending on the setting of the limit signal input. 643 Origin Search Patterns Appendix F One-direction Mode Origin Search 2 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Speed Error (No origin proximity signal) (See note. ) Error (Overtravel already ON. ) Note Operation will vary depending on the setting of the limit signal input. 644 Origin Search Patterns Appendix F One-direction Mode Origin Search 3 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Error (No origin signal. ) Speed Error (No origin signal. ) Error (No origin signal. ) Error (No origin proximity signal) (See note. ) Error (No origin proximity signal) (See note. ) Error (Overtravel already ON. ) Note Operation will vary depending on the setting of the limit signal input. 645 Origin Search Patterns Appendix F One-direction Mode Origin Search 4 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Error (No origin signal. ) (See note. ) Speed Error (No origin signal. ) (See note. ) Error (No origin signal. ) (See note. ) Error (No or igin proximity signal) (See note. ) Error (No or igin proximity signal) (See note. ) Error (Overtravel already ON. ) Note Operation will vary depending on the setting of the limit signal input. 646 Origin Search Patterns Appendix F One-direction Mode Origin Search 5 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Error (No or igin signal. ) (See note . ) Speed Error (No or igin signal. ) (See note . ) Error (No or igin signal. ) (See note . ) Error (No or igin proximity signal) (See note. ) Error (No or igin proximity signal) (See note. ) Error (Overtravel already ON. ) Note Operation will vary depending on the setting of the limit signal input. 647 Origin Search Patterns Appendix F One-direction Mode Origin Search 6 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Error (No origin signal. ) (See note. ) Speed Error (No origin signal. ) (See note. ) Error (No origin signal. ) (See note. ) Error (No origin proximity signal) (See note. ) Error (No origin proximity signal) (See note. ) Error (Overtravel already ON. ) Note Operation will vary depending on the setting of the limit signal input. 648 Origin Search Patterns Appendix F One-direction Mode Origin Search 7 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Speed Error (No origin proximity signal) (See note. ) Error (No origin proximity signal) (See note. ) Error (No origin proximity signal) (See note. ) Error (Overtravel already ON. ) Note Operation will vary depending on the setting of the limit signal input. 649 Origin Search Patterns Appendix F One-direction Mode Origin Search 8 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Error (No origin signal. ) (See note. ) Speed Error (No origin signal. ) (See note. ) Error (No origin proximity signal) (See note. ) Error (No origin proximity signal) (See note. ) Error (No origin proximity signal) (See note. ) Error (Overtravel already ON. ) Note Operation will vary depending on the setting of the limit signal input. 650 Origin Search Patterns Appendix F One-direction Mode Origin Search 9 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW with no phase-Z signal input. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Error (Origin proximity and overtravel simultaneously ON. ) Speed (See note. ) Error (Origin proximity and overtravel simultaneously ON. ) (See note. ) Error (Origin proximity and overtravel simultaneously ON. ) (See note. ) Error (Origin proximity and overtravel simultaneously ON. ) (See note. ) Error (Origin proximity and overtravel simultaneously ON. ) Error (Overtravel already ON. ) Note Operation will vary depending on the setting of the limit signal input. 651 Origin Search Patterns Appendix F One-direction Mode Origin Search 10 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW with no phase-Z signal input. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Error (No origin proximity signal) Speed (See note. ) Error (No origin proximity signal) (See note. ) Error (No origin proximity signal) (See note. ) Error (Overtravel always ON. ) Error (Origin proximity and overtravel simultaneously ON. ) Error (Overtravel already ON. ) Note Operation will vary depending on the setting of the limit signal input. 652 Origin Search Patterns Appendix F One-direction Mode Origin Search 11 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Error (No origin proximity signal) Speed (See note. ) Error (No origin proximity signal) (See note. ) Error (No origin proximity signal) (See note. ) Error (Overtravel already ON. ) Error (Origin proximity and overtravel simultaneously ON. ) Note Operation will vary depending on the setting of the limit signal input. 653 Origin Search Patterns Appendix F One-direction Mode Origin Search 12 This origin search is performed with an origin proximity signal input, and the phase-Z detection direction set to CW. CCW Limit signal input CW Origin proximity signal input Phase-Z signal Error (No origin proximity signal) (See note. ) Speed Error (No origin proximity signal) (See note. ) Error (No origin proximity signal) (See note. ) Error (Overtravel already ON. ) Note Operation will vary depending on the setting of the limit signal input. 654 Origin Search Patterns Appendix F One-direction Mode Origin Search 13 This origin search is performed with no origin proximity signal input, and the phase-Z detection direction set to CW. CCW Limit signal input CW Phase-Z signal Speed Error (No origin proximity signal) (See note. ) Error (Overtravel already ON. ) Note Operation will vary depending on the setting of the limit signal input. 655 Origin Search Patterns Appendix F 656 Appendix G Encoder Divider Rate and Rotation Speed for OMRON Servo Drivers The number of pulses output from the Servo Driver can be changed by setting an encoder divider rate with OMNUC W-series AC Servo Drivers. The maximum encoder input frequency of the MC Unit is limited to a maximum value of 500 kpps. [. . . ]