Omron SYSMAC C200H-NC111 Bedienungsanleitung

Cat. No. W137-E1-04

Position Control Unit

SYSMAC

C200H-NC111

SYSMAC C200H-NC111

Position Control Unit

Operation Manual

Revised September 2003

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, 1990

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.

vii

TABLE OF CONTENTS

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

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

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

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

4 Operating Environment Precautions xiii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

SECTION 1

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

1–1 Features 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1–2 Components 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1–3 System Configuration 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1–4 Control System Principles 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 2

Before Operation 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2–1 Switch Settings 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2–2 Wiring 13.................................................................

2–3 Dimensions 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 3

Operation 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–1 Operational Flow 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–2 Output Pulses 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–3 Writing Data 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–4 Data Configuration and Allocation 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–5 IR Area Data Format 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–6 Flags and Other Input Data 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–7 DM Area Allocation 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 4

Commands 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–1 Start 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–2 Origin Search 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–3 Origin Return 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–4 Release Prohibit 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–5 Read Error 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–6 Reset Origin 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–7 Teach 69.................................................................

4–8 Transfer Data 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–9 Manual Operations 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–10 External Interrupt Commands 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

viii

SECTION 5

Programming Examples 91. . . . . . . . . . . . . . . . . . . . . . . . . .

5–1 Operation with Minimum Data: Displaying JOG Positions 92. . . . . . . . . . . . . . . . . . . . . . .

5–2 Positioning at Intervals: Using RESET ORIGIN 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–3 Feeding Selectively with START 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–4 Transfer Data from Other PC Areas 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–5 Transfer Data from External Switches 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–6 Using START to Carry Out Positioning Actions 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–7 Using Origin and Origin Proximity Signals 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–8 Using Zones to Control Jogging 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–9 Controlling an R88D-EP06 Servodriver 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–10 Controlling a V-series Servodriver 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 6

Error Processing 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–1 Alarms and Errors 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–2 Outputs to the IR Area 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–3 Alarm/Error Indicators 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–4 Troubleshooting from the PC 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–5 Basic Troubleshooting Chart 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–6 Detection of Abnormal Pulse Outputs 116. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendices

A Alarm Code List 119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B Error Code List 123. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C DM Area Allocations 127. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D IR Area Allocations 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E Specifications 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F Standard Models 139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Glossary 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Index 147. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Revision History 151. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

About this Manual:

The C200H–NC111 Position Control Unit is a Special I/O Unit for C200H PCs. It is designed to control

equipment positioning through pulse train outputs to a motor driver. The degree of movement is

based on the program installed into the PC and the external control inputs.

This manual covers the specifications and procedures necessary for installation and efficient opera-

tion. Before attempting to operate the C200H Position Control Unit, be sure to thoroughly familiarize

yourself with the information contained within this and any other relevant manuals.

Section 1 describes the basic features and components of the Position Control Unit. It also gives de-

tails on configurations for positioning control systems and their principles of operation.

Section 2 describes how to incorporate the Positioning Control Unit into a system. It provides infor-

mation on how to set switches so that the Unit provides the desired operating functions. It also gives

mounting and wiring information.

Section 3 gives details on the procedures for setting up and operating a positioning control system. It

includes information on PC operations (such as flags, zone settings, the range of output pulses, back-

lash compensation, etc.), data areas and data formats.

Section 4 outlines the thirteen commands available on the Positioning Control Unit. It describes each

command, how it works, the data required,and the data areas used. Examples are given (in timing

chart form) which show the status of the relevant inputs, outputs, bits, and flags during the execution

of the commands.

Section 5 provides programming examples which give practical illustrations of how the Positioning

Control Unit commands can be used to implement effective positioning control.

Section 6 explains various error and alarm conditions and the steps that can be taken to avoid and/or

prevent them.

Appendix A provides more detailed information on alarm codes, including the type of operations in

which the alarm may arise, the type of error, the alarm code, and the most probable cause.

Appendix B lists the error codes in numeric sequence and provides information on the cause of, and

remedy for, the existing problem.

Appendix C describes the functions that each of the different parts of the DM Area performs.

Appendix D describes the functions for which each of the different parts of the IR Area can be used.

Appendix E provides the performance and electrical specifications for the Positioning Control Unit.

Appendix F lists the models which are used with the Positioning Control Unit.

A comprehensive Glossary is provided which explains many of the terms and abbreviations com-

monly used when referring to Positioning Control Units and PC Systems.

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

personal injury or death, damage to the product, or product failure. Please read each

section in its entirety and be sure you understand the information provided in the section

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

PRECAUTIONS

This section provides general precautions for using the Programmable Controller (PC), Position Control Unit (PCU), and

related devices.

The information contained in this section is important for the safe and reliable application of the Programmable Con-

troller and the Position Control Unit. You must read this section and understand the information contained before

attempting to set up or operate a PC system.

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

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

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

4 Operating Environment Precautions xiii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

5Safety Precautions

xii

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.

Before using the product under conditions which are not described in the manual

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

systems, vehicles, combustion systems, medical equipment, amusement

machines, safety equipment, and other systems, machines, and equipment that

may have a serious influence on lives and property if used improperly, consult

your OMRON representative.

Make sure that the ratings and performance characteristics of the product are

sufficient for the systems, machines, and equipment, and be sure to provide the

systems, machines, and equipment with double safety mechanisms.

This manual provides information for programming and operating Position Con-

trol Unit. Be sure to read this manual before attempting to use the PCU and keep

this manual close at hand for reference during operation.

3 Safety Precautions

WARNING Never attempt to disassemble any Units while power is being supplied. Doing so

may result in serious electrical shock or electrocution.

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

result in serious electrical shock or electrocution.

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

Controller), including the following items, to ensure safety in the system if an

abnormality occurs due to malfunction of the PC or another external factor

affecting the PC operation. Not doing so 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 when a severe failure alarm (FALS) instruction is executed. As a coun-

termeasure for such errors, external safety measures must be provided to

ensure safety in the system.

•The PC outputs may remain ON or OFF due to deposits on or burning of the

output relays, or destruction of the output transistors. As a countermeasure for

such problems, external safety measures must be provided to ensure safety in

the system.

•When the 24-V DC output (service power supply to the PC) is overloaded or

short-circuited, the voltage may drop and result in the outputs being turned

OFF. As a countermeasure for such problems, external safety measures must

be provided to ensure safety in the system.

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