User manual OMRON CS1W-413 REV 02-2008

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OMRON CS1W-413 REV 02-2008: Download the complete user guide (5658 Ko)

Manual abstract: user guide OMRON CS1W-413REV 02-2008

Detailed instructions for use are in the User's Guide.

[. . . ] W376-E1-06 SYSMAC CS1W-NC113/213/413/133/233/433 Position Control Units OPERATION MANUAL CS1W-NC113/213/413/133/233/433 Position 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. [. . . ] Origin Detection Method: 1 Deceleration starts on the rising edge of the origin proximity input signal, and an origin adjustment command is output when deceleration is completed. Origin proximity input signal Origin adjustment command output Positioning completed input signal Pulse output Start Busy Flag Stop Time 156 Origin Search Operation Section 6-4 If there is a Z-phase signal during deceleration, the stop position will vary according to the deceleration time. Origin proximity input signal Z-phase signal Pulse output When deceleration time is long Origin adjustment command output Stop Time Start Pulse output When deceleration time is short Origin adjustment command output Stop Time Start Origin Detection Method: 3 Deceleration starts on the rising edge of the limit input signal. After the signal turns OFF, an origin adjustment command output turns ON. If the deceleration is insufficient while the limit input signal is ON, there will be an error. Limit input signal Origin adjustment command output Positioning completed input signal Pulse output Time Start Busy Flag Stop 157 Origin Search Operation Section 6-4 6-4-4 Origin Search Operation and Origin Detection Direction Settings This section provides information about how operation patterns vary according to origin detection methods and the settings in the origin search operation. For the purposes of this explanation, the origin search is conducted in the CW direction. If origin search is conducted in the CCW direction, the search direction and limit input directions will be reversed. Origin detection method 0: Takes origin signal after origin proximity signal turns ON () and OFF (). Origin search operation 0: Reverse mode 1 Origin proximity input signal Origin input signal Pulse output Start Origin search high speed Origin search proximity speed Stop Stop Start CW limit (See note. ) Stop Start Note If a reversal is initiated by a limit signal, a stop without deceleration will occur, and acceleration will occur after reversing. 1: Takes origin signal after origin proximity signal turns ON (). Origin proximity input signal Origin input signal Pulse output Start Stop Stop CW limit (See note. ) Start Stop Start Note If a reversal is initiated by a limit signal, a stop without deceleration will occur, and acceleration will occur after reversing. 158 Origin Search Operation Origin detection method 2: Origin proximity input signal not used Origin search operation 0: Reverse mode 1 Origin input signal Pulse output Start 0 Section 6-4 Origin search proximity speed Stop Stop Start CW limit (See note. ) Stop Start Note If the direction of operation is reversed, the reverse will be sudden, without deceleration or acceleration. 3: Limit input signal used instead of origin proximity input signal Origin detection method 0: Takes origin signal after origin proximity signal turns ON () and OFF (). An origin detection method error (error code 1607) is generated and settings are not possible. Origin search operation 1: Reverse mode 2 Origin proximity input signal Origin input signal Pulse output Start Stop Stop CW limit (See note. ) Start Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. 159 Origin Search Operation Origin detection method 1: Takes origin signal after origin proximity signal turns ON (). Origin proximity input signal Origin input signal Section 6-4 Origin search operation 1: Reverse mode 2 Pulse output Start Stop Stop Start CW limit (See note. ) Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. 2: Origin proximity input signal not used Origin input signal 0 Origin search proximity speed Pulse output Start Stop Stop Start CW limit (See note. ) Start Limit Stop (Error code 6201) Note A limit signal is input and a stop without deceleration will occur as a result. 3: Limit input signal used instead of origin proximity input signal Origin detection method 0: Takes origin signal after origin proximity signal turns ON () and OFF (). An origin detection method error (error code 1607) is generated and settings are not possible. Origin search operation 2: Single-direction mode Origin proximity input signal Origin input signal Pulse output Start Stop CW limit (See note. ) Start Limit Stop (Error code 6200) CW limit (See note. ) Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. Start 160 Origin Search Operation Origin detection method 1: Takes origin signal after origin proximity signal turns ON (). Origin search operation 2: Single-direction mode Origin proximity input signal Origin input signal Pulse output Start Stop Section 6-4 CW limit (See note. ) Start Limit Stop (Error code 6200) CW limit (See note. ) Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. 2: Origin proximity input signal not used Origin input signal Origin search proximity speed Pulse output Start Stop CW limit (See note. ) Start Limit Stop (Error code 6201) CW limit (See note. ) Origin input signal Pulse output Start Limit Stop (Error code 6201) Note A limit signal is input and operation is stopped without deceleration. 3: Limit input signal used instead of origin proximity input signal CCW limit input Origin input signal Pulse output Start Stop Start Stop CW limit (See note. ) Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. 161 Origin Search Operation Origin detection method 0: Takes origin signal after origin proximity signal turns ON () and OFF (). Origin proximity input signal Origin input signal Section 6-4 Origin search operation 3: Reverse mode 3 Pulse output Start Stop Origin search proximity speed Stop CW limit (See note. ) Start Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. 1: Takes origin signal after origin proximity signal turns ON (). Origin proximity input signal Origin input signal Pulse output Start Stop Stop Start CW limit (See note. ) Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. 162 Origin Search Operation Section 6-4 6-4-5 Operation Pattern With Origin Compensation An origin compensation value can be set so that the axis is moved by that amount after the origin input signal is detected. That origin compensation movement will be executed at the origin search proximity speed. Origin input signal Deceleration Pulse output Origin search proximity speed Time Approx. 0. 5 s Movement for origin compensation Note If the speed at the time of the compensation is below the initial speed, there will be no acceleration or deceleration for the compensation pulse output. If that speed is at least equal to the initial speed, there will be acceleration and deceleration. Initial speed Time Initial speed Time The override is not enabled with respect to pulse output during origin search, but it is enabled with respect to the amount of pulse output set for origin compensation. In this case, the origin search proximity speed corresponds to an override setting of 100%. Therefore, if the override is set to 200%, pulse output for the origin compensation value is made at twice the speed of the origin search proximity speed, as shown below. Override 200 Override enable 0 Twice the origin search proximity speed Acceleration Pulse output Time Approx. 0. 5 s Movement for origin compensation Deceleration Note If the speed during movement for compensation is greater than the initial speed as a result of the override, there will be acceleration and deceleration with respect to the pulse output. 163 Origin Search Timing Charts Section 6-5 6-5 6-5-1 Origin Search Timing Charts Without Origin Compensation Origin proximity input signal Origin input signal ORIGIN SEARCH When Using an Origin Proximity Input Signal Pulse output Time Start Positioning Completed Flag Origin Stop Flag No Origin Flag 1 0 1 0 1 0 Busy Flag 1 0 10 ms max. Stop 164 Origin Search Timing Charts When Not Using an Origin Proximity Input Signal Origin input signal Section 6-5 ORIGIN SEARCH 0 Pulse output Time Start Positioning Completed Flag Origin Stop Flag No Origin Flag Busy Flag 0 10 ms max. 1 0 1 0 1 0 1 Stop 6-5-2 With Origin Compensation Origin proximity input signal When Using an Origin Proximity Input Signal Origin input signal ORIGIN SEARCH Pulse output Time Start Positioning Completed Flag Origin Stop Flag No Origin Flag 1 0 1 0 1 0 Busy Flag 1 0 10 ms max. Stop 165 Origin Search Timing Charts When Not Using an Origin Proximity Input Signal Origin input signal Section 6-5 ORIGIN SEARCH 0 Pulse output Time Start Positioning Completed Flag Origin Stop Flag No Origin Flag 1 0 1 0 1 0 1 Busy Flag 0 10 ms max. Stop 166 Origin Search Timing Charts Section 6-5 6-5-3 Origin Search Deceleration Stop When a deceleration stop is executed during an origin search, the origin search is canceled. The following diagram shows an example of a deceleration stop during an origin search when there is an origin proximity input signal reversal. ORIGIN SEARCH Origin proximity input signal Origin input signal Limit signal input, (in search direction) STOP Pulse output Time Start Deceleration Stop Execution Flag Positioning Completed Flag No Origin Flag Start Stop Origin Stop Flag Busy Flag Error counter reset output 167 Origin Search Timing Charts Section 6-5 6-5-4 Emergency Stop of Origin Search The origin search will be interrupted if the emergency stop input signal is input while the origin search is being executed. To execute the origin search again, first release the pulse output prohibition. The following diagram shows an example of an emergency stop during an origin search when there is an origin proximity input signal reversal. ORIGIN SEARCH Origin proximity input signal Origin input signal RELEASE PROHIBIT/ ERROR RESET Emergency stop input Pulse output Time Start Stop Error Flag Deceleration Stop Execution Flag Positioning Completed Flag No Origin Flag Start Stop Origin Stop Flag Busy Flag Error counter reset output 168 Present Position Preset Section 6-6 6-6 6-6-1 Present Position Preset PRESENT POSITION PRESET changes the present position to any value. Outline of Operation When the PRESENT POSITION PRESET Bit is turned ON, the present position is changed to the value set in the operating data area. During present position preset, the Busy Flag will be ON (1 cycle min. ). [. . . ] Page 211: "X-axis" added to "Interrupt feed" in figure. Page 223: Terminal numbers for signals removed and some of them replaced with text. Pages 224 to 226: ""X-axis" added to "Error counter" in figures and information in parentheses removed. Page 305: "X-axis" added to "Emergency stop input signal" in figure and information in parentheses removed. [. . . ]

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