Detailed instructions for use are in the User's Guide.
[. . . ] 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. "PC" is used, however, in some Programming Device displays to mean Programmable Controller.
The following headings appear in the left column of the manual to help you locate different types of information. [. . . ] input
Operation m+5 mode Origin search operation Origin detection method Origin search direction Origin search preset (supported for unit version 2. 3 or later) m+33 m+61 m+89 00 to 03 04 to 07 08 to 11 12 to 15
Operation mode 0 to 3: Modes 0 to 3 Origin search operation 0: Reverse mode 1 1: Reverse mode 2 2: Single-direction mode 3: Reverse mode 3 Origin detection method 0: With origin proximity input signal reversal 1: Without origin proximity input signal reversal 2: Origin proximity input signal not used 3: Limit input signal used instead of origin proximity input signal Bit 12: Origin search direction (0: CW direction; 1: CCW direction) Bit 13: Origin search preset (0: Not set; 1: Set)
m+34 m+35 m+36 m+37 m+38 m+39 m+40 m+41
m+62 m+63 m+64 m+65 m+66 m+67 m+68 m+69
m+90 m+91 m+92 m+93 m+94 m+95 m+96 m+97
Origin search m+10 high speed m+11 Origin search n+12 proximity speed n+13
00 to 15 (rightmost) 00 to 15 (leftmost) 00 to 15 (rightmost) 00 to 15 (leftmost) 00 to 15 (rightmost) 00 to 15 (leftmost) 00 to 15 (rightmost) 00 to 15 (leftmost)
Set range: 0 to 7A120 Hex (0 to 500, 000 pps) Only the initial speed can be set to 0.
Data Settings Required for Origin Search
Name Word (in axis parameter area) Bit Details
NC1@3 NC2@3 NC4@3 X axis Y axis Z axis U axis m+14 m+42 m+70 m+98
00 to 15 (rightmost)
00 to 15 (leftmost)
Set range: C0000001 to 3FFFFFFF Hex (1, 073, 741, 823 to 1 073 741 823
15 Leftmost 00 15 Rightmost 00
Origin search m+20 acceleration time m+21 Origin search m+22 deceleration time m+23
m+48 m+49 m+50 m+51
m+76 m+77 m+78 m+79
m+104 m+105 m+106 m+107
00 to 15 (rightmost) 00 to 15 (leftmost) 00 to 15 (rightmost) 00 to 15 (leftmost)
Set range: 0 to 3D090 Hex (0 to 250, 000 ms)
1. input: 1 kpps max. ) If a higher value is set, it may not be possible to stop at the origin accurately. When setting using the IOWR instruction, set both the origin search high speed and origin search proximity speed at the same time. It is not possible to set only one of these settings.
Operating Memory Area
The origin search is started when the ORIGIN SEARCH Bit is turned ON.
Model Operating memory area Bit Details
NC113 ORIGIN SEARCH NC413 NC213 NC113 NC413 NC213 NC113 X axis n n n n+8 n+4 n+2
NC213 Y axis n+2 n+2 n+11 n+7
NC413 Z axis U axis n+4 n+6 06
: ORIGIN SEARCH start
No Origin Flag Origin Stop Flag Position Completed Flag Busy Flag
06 07 05 13
1: No origin, 0: Origin 1: Stopped at origin, 0: Other
: Positioning completed
Origin Search Operation
Allocation of Operating Data Areas (Supported for Unit Version 2. 3 or Later)
To set the position where the origin search is completed to a desired position, enable the origin search preset function (e. g. , bit 13 in word m+5 for the X axis) and set the position data.
Operating memory area X axis Y axis Z axis U axis l+8 l+9 l+8 l+9 l+8 l+9 l+20 l+21 l+20 l+21 l+32 l+33 l+44 l+45
Bit 00 to 15 (rightmost) 00 to 15 (leftmost)
Position- NC4@3 ing command NC2@3 NC1@3
Setting range: C0000001 to 3FFFFFFF Hex (1, 073, 741, 823 to 1, 073, 741, 823)
Origin Search Operation
Operation Pattern Settings for Origin Search
Operation patterns when determining the origin using origin search are determined by the settings of 5 of the parameters described in 6-3 Data Settings Required for Origin Search. Operation mode: Set the optimum operation mode for the driver (servomotor, stepping motor) used. Set to mode 0 for a stepping motor and set to modes 1, 2, or 3 for a Servo Drive. Mode for origin search operation: Set the movement of the motor during origin search. Origin detection method: Set the method used for detecting the origin. Origin compensation data: If fine adjustment is required after the origin has been determined (e. g. , if there is inaccuracy in the position at which the proximity sensor turns ON or if the motor has been changed), set the amount of compensation (the origin compensation value) required. Note There are drivers for stepping motors that can output positioning completed signals in the same way as Servo Drives. It is possible to set modes 1 or 2 if this kind of driver is used.
Details of Parameters
The settings for the 5 parameters that determine the operation pattern for origin search are given here. Using a switch with contacts may cause the position of the origin to be displaced due to chattering. When origin search is executed, the operation will differ according to whether or not origin proximity signal is used in the way shown below.
With an Origin Proximity Input Signal
There is no deceleration when stopping from the origin search proximity speed with the origin input signal.
Origin search high speed Acceleration Initial speed Start Stop Deceleration Origin search proximity speed
Without an Origin Proximity Input Signal
The origin search is conducted at low speed (the origin search proximity speed). There is no deceleration when stopping with the origin input signal.
Acceleration Initial speed Start Stop Origin search proximity speed
If the origin search proximity speed is less than or equal to the initial speed, there will be no acceleration.
Origin Search Direction
This setting determines the direction when detecting the origin input signal. During origin search, the origin input signal in the direction of the origin search direction is always being detected. 0: CW direction, 1: CCW direction
Origin Search Operation Origin Compensation Value
The origin compensation value setting determines the amount of adjustment that is applied when adjustment is necessary after the origin has been determined (e. g. , if there is inaccuracy in the position at which the proximity sensor turns ON or if the motor has been changed). After the origin is initially detected using origin search, the number of pulses specified with this setting are output, the present position is set to 0, and at the same time, the origin is established (the No Origin Flag turns OFF). Setting range: C0000001 to 3FFFFFFF Hex (1, 073, 741, 823 to 1, 073, 741, 823) The operation patterns that are determined by the above settings are illustrated on the following pages.
Operation Mode Settings
An open collector output signal such as a sensor is connected to the origin input signal, and the origin input signal response time is 0. 1 ms. contact setting) In this mode, an origin input signal error (error code 6202) will be generated if an origin input signal is input during the deceleration from origin search high speed to origin search proximity speed which is initiated by the input of an origin proximity input signal (or a limit input signal if the origin detection method is set to 3).
Origin proximity input signal Origin input signal
Pulse output Start Origin input signal error (error code 6202)
The Z-phase signal from the Servo Drive is connected to an origin input signal. 20 ms after the stop, a error counter reset signal is output.
Origin input signal (Z-phase signal) Pulse output
Error counter reset Approx. 20 ms (See note)
In this mode, if an origin input signal is input during the deceleration from origin search high speed to origin search proximity speed which is initiated by the input of an origin proximity input signal, positioning will be stopped by the first origin input signal after the deceleration has been completed.
Origin Search Operation
During error counter reset output, if the origin input signal turns ON again, the Servo Drive's error counter reset function is deemed to have been used, and the error counter reset output is turned OFF. In this case, the output time of the error reset counter will be less than 20 ms. [. . . ] ((
Parameter Coding Sheets
NC1@3 X axis
NC2@3 Y axis
NC4@3 Z axis
Function Dwell time No. 19
Zone #0, CCW side Zone #0, CW side
Zone #1, CCW side
Zone #1, CW side Zone #2, CCW side
Zone #2, CW side
Parameter Coding Sheets
acceleration time estimating, 353 applications precautions, xxv automatic completion in memory operation, 212 axis designation for memory operation, 199 axis parameters coding sheet, 364 axis parameters area details, 78 INDEPENDENT START, 95 INTERRUPT FEEDING, 95 JOG, 96 origin adjustment command output, 96 ORIGIN RETURN, 95 ORIGIN SEARCH, 95 override enable, 96 PRESENT POSITION PRESET, 95 READ DATA, 96 Read Data, 127 RELATIVE MOVEMENT, 95 RELEASE PROHIBIT, 96 SAVE DATA, 96 sequence number enable, 95 START, 95 STOP, 96 TEACH, 96 WRITE DATA, 96 Write Data, 121 control system principles, 1415 CX-Position creating and transferring data, 145
backlash compensation basic explanation, 7 backlash compensation operation explanation, 256 with linear interpolation, 258 bank end completion in memory operation, 214
data reading with IORD, 139 reading with the Read Data bit, 127 saving, 143 time required to read data, 349 time required to write data, 349 writing with IOWR, 132 writing with the Write Data bit, 122 data areas overall structure, 66 data calculation standards, 347 data flow diagram, 14 deceleration stop basic explanation, 8 during origin search, 172 during positioning, 246 deceleration stop operation explanation, 244 deceleration time estimating, 353 direct operation program examples, 285 sample program, 191 starting, 183
cables, 46 changing present position basic explanation, 7 commands ORIGIN RETURN, 175 ORIGIN SEARCH examples in mode 0, 4849 examples in mode 1, 5051 examples in mode 2, 53, 58 common parameters coding sheet, 363 completion codes for memory operation, 211 connections and circuitry, 269 continuous completion in memory operation, 213 with linear interpolation, 218 control bits ABSOLUTE MOVEMENT, 95 direction designation, 96 error counter reset output, 96 FORCED INTERRUPT, 96
EC Directives, xxvii emergency stop during origin search, 173 emergency stop input, 79 processing time, 351 error counter reset wiring, 42 error counter reset output explanation, 252 error counters, 14 error indicators, 319 external interrupt processing time, 351
interrupt feeding completion in memory operation, 215 interrupt feeding operation, 239 IORD specifications, 139 IOWR specifications, 133
JOG operation explanation, 235
LED indicators error indicators, 319 limit input signal type, 79 linear interpolation, 217 program examples, 292 with backlash compensation operation, 258 with continuous completion, 218
flags busy, 97 data transferring, 97 deceleration stop execution, 97 error, 97 no origin, 97 origin stop, 97 positioning completed, 97 teaching completed, 97 waiting for memory operation, 97 zone 0, 97 zone 1, 97 zone 2, 97 flash memory, 143 forced interrupt processing time, 351 forced interrupt operation explanation, 242
magnetizing distribution circuits, 14 memory operation completion codes, 211 program examples, 270 sample program, 229 starting, 211 starting direct operation during, 186 modes origin search mode 0 connection, 48 origin search mode 1 connection, 50 origin search mode 2 connection, 53 multiple starts with direct operation, 183
I/O electrical specifications, 3637 inductive loads, 47 inspection, 344 tools, 345 instruction execution errors description, 317 instruction execution checks, 325, 360 INTELLIGENT I/O READ See also IORD INTELLIGENT I/O WRITE See also IOWR
noise (electronic) prevention, 46 open-loop systems, 15 operating data area details, 9899
operating environment precautions, xxiv operation mode description of operation modes, 81 setting, 80 operation patterns, 167 origin adjustment command output explanation, 252 origin compensation and operation patterns, 167 origin compensation value, 167 origin detection method setting, 81 origin proximity signal type, 79 origin return, 175 origin search basic explanation, 7 effect of deceleration stop, 172 effect of emergency stop, 173 with origin proximity signal, 156 without origin proximity signal, 156 origin search direction setting, 81 origin search operation setting, 80 origin signal type, 79 origin undefined designation, 79 output pulse selection, 78 override basic explanation, 7 override operation explanation, 249 general, xxixxii operating environment, xxiv safety, xxii PRESENT POSITION PRESET explanation, 174 program examples cancelling positioning, 279 changing speed during continuous output, 300 checking positioning operations, 270 inching, 289 origin search using limit input, 298 positioning with positions in DM, 285 repeat operation, 275 two-axis linear interpolation, 292 pulse generators, 14 pulse rate computation of, 15 pulse trains, 1415
reading data example program, 130, 142 time required, 349 with IORD, 139 with Read Data bit, 127 resistors built-in, 38 response time for speed change, 351 for target position change, 352 rotary encoders, 14
parameter coding sheets, 363 pass time and operation time, 350 positioning with absolute value, 5 with incremental value, 5 power amplifiers, 14 power lines, 46 power supply, 38, 46 24 V DC, 40 24-V DC, 3839 precautions applications, xxv
safety precautions, xxii saving data, 143 program examples, 303 sequences #0 through #99 setting, 102 Servo Drive, 14 servomotor, 14 signals direction connecting, 40 external sensor, 48 origin, 49 origin proximity, 49, 51, 58, 156 origin search completed, 45
output pulses connecting, 40 positioning completed, 45 Z-phase, 51, 58 solenoids, 47 speed calculations, 347 speed control completion in memory operation, 214 startup errors data check at startup, 322, 359 description, 317 startup procedures, 268 stepping motor drivers, 14 stepping motors, 1415 angle of rotation, 15 used with external sensor, 48 with continuous linear interpolation, 218 surge absorbers, 47
wiring error counter reset, 42 I/O circuit diagrams, 33 precautions, 4664 writing data example program, 127, 138 time required, 349 with IOWR, 132 with Write Data bit, 122 zones basic explanation, 8
tachogenerators, 14 teaching basic explanation, 7 teaching operation explanation, 237 terminals with and without resistance, 33 terminating completion in memory operation, 211 timing charts for deceleration stop operation, 249 for direct operation, 186 for error counter reset output, 254 for forced interrupt operation, 244 for interrupt feeding operation, 242 for JOG operation, 236 for memory operation, 223 for origin adjustment command output, 254 for origin return, 176 for origin search, 169 for override operation, 252 for RESET PRESENT POSITION, 175 for teaching operation, 238 transferring data program examples, 303 time required, 349
A manual revision code appears as a suffix to the catalog number on the front cover of the manual.
Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
Revision code 01 02 Date October 2001 September 2002 Revised content Original production "PC" was changed globally to "PLC" in the sense of Programmable Controller. [. . . ]