User manual OMRON CP1L CPU UNIT 03-2009

[. . . ] W462-E1-06 SYSMAC CP Series CP1L-L_0D_ CP1L-M_0D_ CP1L CPU Unit OPERATION MANUAL CP1L-L10D@-@ CP1L-L14D@-@ CP1L-L20D@-@ CP1L-M30D@-@ CP1L-M40D@-@ CP1L-M60D@-@ CP1L CPU Unit Operation Manual Revised March 2009 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. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property. !DANGER !WARNING !Caution Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. [. . . ] The FAL Error Flag (A402. 15) or FALS Error Flag (A401. 06) is turned ON. The corresponding error code is written to A400. The error code and time of occurrence are stored in the Error Log. The error indicator on the front of the CPU Unit will flash or light. If FAL(006) has been executed, the CPU Unit will continue operating. If FALS(007) has been executed, the CPU Unit will stop operating. (Program execution will stop. ) 413 Failure Diagnosis Functions Operation of FAL(006) A FAL 002 #0000 Section 6-8 When execution condition A goes ON, an error with FAL number 002 is generated, A402. 15 (FAL Error Flag) is turned ON, and A360. 02 (FAL Number 002 Flag) is turned ON. Errors generated by FAL(006) can be cleared by executing FAL(006) with FAL number 00 or performing the error read/clear operation from the CX-Programmer. Operation of FALS(007) B FALS 003 #0000 When execution condition B goes ON, an error with FALS number 003 is generated, and A401. 06 (FALS Error Flag) is turned ON. Errors generated by FAL(006) can be cleared by eliminating the cause of the error and performing the error read/clear operation from the CX-Programmer. 6-8-2 Failure Point Detection: FPD(269) FPD(269) performs time monitoring and logic diagnosis. The time monitoring function generates a non-fatal error if the diagnostic output isn't turned ON within the specified monitoring time. The logic diagnosis function indicates which input is preventing the diagnostic output from being turned ON. Time Monitoring Function FPD(269) starts timing when it is executed and turns ON the Carry Flag if the diagnostic output isn't turned ON within the specified monitoring time. The Carry Flag can be programmed as the execution condition for an error processing block. Also, FPD(269) can be programmed to generate a non-fatal FAL error with the desired FAL number. When an FAL error is generated, a preset message will be registered and can be displayed on the CX-Programmer. FPD(269) can be set to output the results of logic diagnosis (the address of the bit preventing the diagnostic output from being turned ON) just before the message. The teaching function can be used to automatically determine the actual time required for the diagnostic output to go ON and set the monitoring time. Logic Diagnosis Function FPD(269) determines which input bit is causing the diagnostic output to remain OFF and outputs the result. The output can be set to bit address output (PLC memory address) or message output (ASCII). If bit address output is selected, the PLC memory address of the bit can be transferred to an Index Register and the Index Register can be indirectly addressed in later processing. 414 Failure Diagnosis Functions Section 6-8 If the message output is selected, an error message can be displayed on the CX-Programmer at the same time as a FAL error is generated for time monitoring. FPD(269) execution condition A FPD #0004 &100 Carry Flag (ON for timeout) Control data (FAL 004, bit address output for failure) Monitoring time (0. 1-s units): 10 s First register word of diagnostics output D01000 Error-processing block C (Diagnostic output) Logic diagnosis execution condition B Time Monitoring Monitors whether output C goes ON with 10 seconds after input A. If C doesn't go ON within 10 seconds, a failure is detected and the Carry Flag is turned ON. The Carry Flag executes the error-processing block. Also, an FAL error (non-fatal error) with FAL number 004 is generated. [. . . ] tion 1-1 Search Direction CW Origin Input Signal (Y CPU Units) 1-6 1-7 Proximity Input Signal Search High Speed NC 0 pps (disabled) NC (line driver) NO (line driver) NC NO 0 pps : 100, 000 pps 2 hex 3 hex At start of operation At start of operation 268 261 and 260 04 to 07 00 to 15 0 hex 1 hex 0000 0001 hex : 0001 86A0 hex 000F 4240 hex 1-8 Search Proximity Speed 0 pps (disabled) 1 pps : 100, 000 pps At start of operation 263 and 262 00 to 15 0000 0001 hex : 0001 86A0 hex 000F 4240 hex 1-9 Search Compensation Value 0 pps -2, 147, 483, 648 : 0 : +2, 147, 483, 647 At start of operation 265 and 264 00 to 15 8000 0000 hex : 0000 0000 hex : 7FFF FFFF hex 1-10 Search Accelera- 0 (disabled) tion Ratio 1 (pulses/4 ms) : 65, 535 (pulses/4 ms) 1 (pulses/4 ms) : 65, 535 (pulses/4 ms) 0 ms : 9, 999 ms At start of operation 266 00 to 15 0001 hex : FFFF hex 0001 hex : FFFF hex 0000 hex : 270F hex 1-11 Search Decelera- 0 (disabled) tion Ratio At start of operation 267 00 to 15 1-12 Positioning Moni- 0 ms tor Time At start of operation 269 00 to 15 757 PLC Setup Appendix G Origin Return Settings Name 1 Speed Default 0 pps (disabled) 1 pps : 100, 000 pps Settings When setting is read by CPU Unit At start of operation Internal address 271 and 270 Bits 00 to 15 Settings 0000 0001 hex : 0001 86A0 hex 000F 4240 hex At start of operation 272 00 to 15 0001Hex : FFFF hex At start of operation 273 00 to 15 0001 hex : FFFF hex 2 Acceleration Ratio 0 (disabled) 1 (pulses/4 ms) : 65535 (pulses/4 ms) 3 Deceleration Ratio 0 (disabled) 1 (pulses/4 ms) : 65535 (pulses/4 ms) 758 PLC Setup Appendix G Pulse Output 1 Settings Base Settings Name 1 Default Hold Undefined Search Only Always NC 0 pps (disabled) NC NO 4 Search/Return Initial Speed 0 pps : 100, 000 pps At start of operation 277 and 276 When power is turned ON At start of operation 274 286 Settings When setting is read by CPU Unit At start of operation Internal address 286 Bits 12 to 15 04 to 07 00 to 03 00 to 15 Settings 0 hex 1 hex 0 hex 1 hex 0 hex 1 hex 0000 0001 hex : 0001 86A0 hex 000F 4240 hex When power is turned ON 274 12 to 15 0 hex 1 hex Undefined Origin (oper- Hold ation for limit signal turning ON) Limited Input Signal Operation Limit Input Signal Search Only 2 3 5 Speed Curve Trapezium Trapezium S-shaped 759 PLC Setup Appendix G Define Origin Operation Settings: Origin Search Settings Name 1 Default Settings Do not use. CW CCW 1-2 Detection Method Method 0 Method 0 Method 1 Method 2 1-3 1-4 Search Operation Inverse 1 Operation Mode Mode 0 Inverse 1 Inverse 2 Mode 0 Mode 1 Mode 2 1-5 Origin Input Sig- NC nal (X/XA CPU Units) NC NO Unit version 1. 0 and earlier: At start of operation Unit version 1. 1 and later: When power is turned ON At start of operation 286 08 to 11 At start of operation 275 At start of operation 275 04 to 07 00 to 03 At start of operation 275 When setting is read by CPU Unit When power is turned ON At start of operation Internal address 274 275 Bits 00 to 03 12 to 15 08 to 11 Settings 0 hex 1 hex 0 hex 1 hex 0 hex 1 hex 2 hex 0 hex 1 hex 0 hex 1 hex 2 hex 0 hex 1 hex Use define origin opera- Do not use. tion 1-1 Search Direction CW Origin Input Signal (Y CPU Units) 1-6 1-7 Proximity Input Signal Search High Speed NC 0 pps (disabled) NC (line driver) NO (line driver) NC NO 0 pps : 100, 000 pps 2 hex 3 hex At start of operation At start of operation 286 279 and 278 04 to 07 00 to 15 0 hex 1 hex 0000 0001 hex : 0001 86A0 hex 000F 4240 hex 1-8 Search Proximity Speed 0 pps (disabled) 1 pps : 100, 000 pps At start of operation 281 and 280 00 to 15 0000 0001 hex : 0001 86A0 hex 000F 4240 hex 1-9 Search Compensation Value 0 pps -2, 147, 483, 648 : 0 : +2, 147, 483, 647 At start of operation 283 and 282 00 to 15 8000 0000 hex : 0000 0000 hex : 7FFF FFFF hex 1-10 Search Accelera- 0 (disabled) tion Ratio 1 (pulses/4 ms) : 65, 535 (pulses/4 ms) 1 (pulses/4 ms) : 65, 535 (pulses/4 ms) 0 ms : 9, 999 ms At start of operation 284 00 to 15 0001 hex : FFFF hex 0001 hex : FFFF hex 0000 hex : 270F hex 1-11 Search Decelera- 0 (disabled) tion Ratio At start of operation 285 00 to 15 1-12 Positioning Moni- 0 ms tor Time At start of operation 287 00 to 15 760 PLC Setup Appendix G Origin Return Settings Name 1 Speed Default 0 pps (disabled) 1 pps : 100, 000 pps Settings When setting is read by CPU Unit At start of operation Internal address 289 and 288 Bits 00 to 15 Settings 0000 0001 hex : 0001 86A0 hex 000F 4240 hex At start of operation 290 00 to 15 0001Hex : FFFF hex At start of operation 291 00 to 15 0001 hex : FFFF hex 2 Acceleration Ratio 0 (disabled) 1 (pulses/4 ms) : 65535 (pulses/4 ms) 3 Deceleration Ratio 0 (disabled) 1 (pulses/4 ms) : 65535 (pulses/4 ms) Inverter Positioning 0 Basic Settings Name 1 2 Default Use Do not use Gain 0: 10 (0. 1 incre- 0: 10 (0. 1 increments) ments) 1 (0. 1 increments) : 65, 535 (0. 1 increments) 3 In-position range 0: 1 0: 1 1 : 65, 535 4 Min. output value 0: 1 0: 1 1 : 65, 535 5 Max. 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