Omron CS1W-NC113 - REV 02-2008 Manual de usuario

CS1W-NC113/213/413/133/233/433

Position Control Units

Notice:

OMRON products are manufactured for use according to proper procedures by a qualified operator

and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed

the information provided with them. Failure to heed precautions can result in injury to people or dam-

age to property.

DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or

serious injury.

WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or

serious injury.

Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or

moderate injury, or property damage.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers

to an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means

“word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for any-

thing else.

Visual Aids

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

information.

Note Indicates information of particular interest for efficient and convenient operation

of the product.

1, 2, 3... 1. Indicates lists of one sort or another, such as procedures, checklists, etc.

OMRON, 2000

form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permis-

sion 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 informa-

tion contained in this publication.

TABLE OF CONTENTS

vii

PRECAUTIONS xiii.................................

1 Intended Audience xiv...........................................................

2 General Precautions xiv..........................................................

3 Safety Precautions xiv...........................................................

4 Operating Environment Precautions xv.............................................

5 Application Precautions xvi......................................................

6 Conformance to EC Directives xviii.................................................

SECTION 1

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

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

1-2 System Configuration 3.....................................................

1-3 Basic Operations 5........................................................

1-4 List of Functions 8.........................................................

1-5 Specifications 9...........................................................

1-6 Comparison with Existing Models 11...........................................

1-7 Control System Principles 13.................................................

SECTION 2

Basic Procedures 15................................

2-1 Basic Operational Flow 16...................................................

SECTION 3

Installation and Wiring 19...........................

3-1 Nomenclature and Functions 20...............................................

3-2 Installation 22.............................................................

3-3 External I/O Circuitry 25....................................................

3-4 Wiring 33.................................................................

3-5 Connection Examples for Different Types of Motor Driver 41.......................

3-6 Connection of Unused Axes 52................................................

3-7 Servo Relay Unit 52........................................................

SECTION 4

Data Areas 55.....................................

4-1 Overall Structure 56........................................................

4-2 Common Parameter Area 61..................................................

4-3 Axis Parameter Area 65.....................................................

4-4 Operating Memory Area 82..................................................

4-5 Operating Data Area 86.....................................................

4-6 Memory Operation Data 89..................................................

4-7 Zone Data Area 92.........................................................

SECTION 5

Transferring and Saving Data 95.....................

5-1 Transferring and Saving Data 96..............................................

5-2 Writing Data with the WRITE DATA Bit 103.....................................

5-3 Reading Data with the READ DATA Bit 108......................................

5-4 Writing Data with IOWR 113..................................................

5-5 Reading Data with IORD 119..................................................

5-6 Saving Data 123............................................................

5-7 Transferring Data with CX-Position 124.........................................

TABLE OF CONTENTS

viii

SECTION 6

Defining the Origin 127..............................

6-1 Outline 128................................................................

6-2 Origin Search Procedure 129..................................................

6-3 Data Settings Required for Origin Search 130.....................................

6-4 Origin Search Operation 132..................................................

6-5 Origin Search Timing Charts 146...............................................

6-6 Present Position Preset 151....................................................

6-7 Origin Return 152...........................................................

6-8 Z-phase Margin 154.........................................................

SECTION 7

Direct Operation 157................................

7-1 Outline 158................................................................

7-2 Direct Operation Procedure 159................................................

7-3 Setting Data for Direct Operation 159...........................................

7-4 Operations With Direct Operation 161...........................................

7-5 Direct Operation Timing Charts 163............................................

7-6 Acceleration/Deceleration 165.................................................

7-7 Sample Program 168.........................................................

SECTION 8

Memory Operation 171..............................

8-1 Outline 172................................................................

8-2 Memory Operation Procedure 175..............................................

8-3 Setting Data for Memory Operation 176.........................................

8-4 Positioning Sequences 178....................................................

8-5 Completion Codes 184.......................................................

8-6 Linear Interpolation 188......................................................

8-7 Transferring Positioning Sequences 192..........................................

8-8 Timing Chart for Memory Operation 194.........................................

8-9 Acceleration/Deceleration 197.................................................

8-10 Sample Program 200.........................................................

SECTION 9

Other Operations 203................................

9-1 Jogging 205................................................................

9-2 Teaching 206...............................................................

9-3 Interrupt Feeding 209........................................................

9-4 Forced Interrupt 212.........................................................

9-5 Deceleration Stop 214........................................................

9-6 Override 219...............................................................

9-7 Error Counter Reset Output and Origin Adjustment Command Output 223..............

9-8 Backlash Compensation 226...................................................

9-9 Software Limit 228..........................................................

9-10 Stop Function 231...........................................................

SECTION 10

Program Examples 233..............................

10-1 Operating Procedures for Program Examples 234..................................

10-2 Memory Operation 236.......................................................

10-3 Direct Operation 251.........................................................

TABLE OF CONTENTS

10-4 Linear Interpolation 257......................................................

10-5 Origin Search 263...........................................................

10-6 Override 266...............................................................

10-7 Transferring and Saving Data 269..............................................

SECTION 11

Troubleshooting 275.................................

11-1 Troubleshooting Tables 276...................................................

11-2 Introduction 283............................................................

11-3 LED Error Indicators 284.....................................................

11-4 Reading Error Codes 287.....................................................

11-5 Error Code Lists 288.........................................................

11-6 Releasing Pulse Output Prohibition and Resetting After Errors 303....................

11-7 Error Display at the CPU 306..................................................

11-8 Reading Error Information with CX-Position 306..................................

SECTION 12

Maintenance and Inspection 307.......................

12-1 Inspection 308..............................................................

12-2 Routine Inspections 309......................................................

12-3 Handling Precautions 310.....................................................

12-4 Procedure for Replacing a PCU 310.............................................

Appendices

A Performance Characteristics 313..................................................

B Estimating Times and Pulses for Acceleration/Deceleration 319........................

C Common Parameter Area 321....................................................

D Error Code Lists 323...........................................................

E Replacing the C200HW-NCj13 327..............................................

F Parameter Coding Sheets 331....................................................

Index 339..........................................

Revision History 343.................................

About this Manual:

This manual describes the operation of the CS1W-NC113/NC133/NC213/NC233/NC413/NC433 Posi-

tion Control Units and includes the sections described below.

Pleasereadthismanualcarefully andbesureyouunderstandthe informationprovidedbeforeattempting

to install and operate the CS1W-NC113/NC133/NC213/NC233/NC413/NC433 Position Control Units.

Section 1 introduces the features of the Position Control Unit and explains the system configuration in

which it is used.

Section 2 gives an overview of the procedures required to use the Position Control Unit.

Section 3 provides information on nomenclature andthe function of each part, describes the procedures

required for wiring and installation, and gives connection examples. Information on using Servo Relay

Units is also provided.

Section4providesanoverviewoftheparameteranddatasettingsusedinPositionControlUnitoperation

and provides information on memory allocation.

Section 5 explains how to transfer and save parameters and data using the data transfer bits, the IOWR

and IORD instructions, and CX-Position.

Section 6 explains the origin search and origin return operations.

Section7providesanoverviewofdirectoperation,describestheparameteranddatasettingsrequiredto

perform direct operation, and gives sample programs.

Section 8 provides an overview of memory operation, describes the parameter and data settings

required to perform memory operation, and gives sample programs.

Section 9 describes the followingoperations:jogging, teaching, interruptfeeding,forced interrupt,decel-

eration stop, override, error counter reset output/origin-adjustment command output, backlash com-

pensation, and software limits.

Section 10 provides examples of programs for using the Position Control Unit.

Section 11 describes how to diagnose and correct errors that can occur during operation.

Section 12 describes methods for maintaining the Position Control Unit.

TheAppendicesprovideinformationonestimatingtimesandpulsesforacceleration anddeceleration,a

memory map for the common parameter area, error code lists, information on replacing the C200HW-

NCj13, and parameter 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 providedin the section

and related sections before attempting any of the procedures or operations given.

xiii

PRECAUTIONS

This section provides general precautions for using the Position Control Units and related devices.

The information contained in this section is important for the safe and reliable application of the Position Control

Unit. You must read this section and understand the information contained before attempting to set up or operate a

Position Control Unit.

1 Intended Audience xiv...........................................................

2 General Precautions xiv..........................................................

3 Safety Precautions xiv...........................................................

4 Operating Environment Precautions xv.............................................

5 Application Precautions xvi.......................................................

6 Conformance to EC Directives xviii.................................................

6-1 Applicable Directives xviii..............................................

6-1-1 Concepts xviii........................................................

6-1-2 Conformance to EC Directives xviii.......................................

6-1-3 Installation Within Control Panel xviii.....................................

5Safety Precautions

xiv

1 Intended Audience

This manual is intended for the following personnel, who must also have knowl-

edge 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.

Beforeusingtheproductunderconditionswhicharenotdescribedinthemanual

or applying the product to nuclear control systems, railroad systems, aviation

systems, vehicles, combustion systems, medical equipment, amusement

machines,safetyequipment,andothersystems,machines,and equipmentthat

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 sureto provide the

systems, machines, and equipment with double safety mechanisms.

This manual provides information for using the Position Control Unit. Be sure to

readthismanualbeforeattemptingtousetheUnit andkeepthismanualcloseat

hand for reference during operation.

WARNING It is extreme important that Position Control Units and related devices 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 Position Control Units and

related devices to the above mentioned applications.

3 Safety Precautions

WARNING Neverattempttodisassembleany Unitswhilepowerisbeingsupplied. Doingso

may result in serious electric shock.

WARNING Do not attempt todisassemble, repair, or modify any Units. Any attempt to doso

may result in malfunction, fire, or electric shock.

WARNING Never touch any of the terminals while power is being supplied. Doing so may

result in serious electric shock.

WARNING Provide safety measures in external circuits (i.e., not in the Programmable

Controller or Position Control Unit) to ensure safety in the system if an

abnormality occurs due to malfunction of the PC, malfunction of the PCU

(Position Control Unit), or external factors affecting the operation of the PC or

PCU. Not providing sufficient safety measures may result in serious accidents.

•Emergency stop circuits, interlock circuits, limit circuits, and similar safety

measures must be provided in external control circuits.

•The PC will turn OFF all outputs when its self-diagnosis function detects any

error or whenasevere failurealarm(FALS) instructionisexecuted. As acoun-

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