User manual OMRON C200HG DATASHEET

[. . . ] Jogging MC Unit functions Manual Mode (Executes manual commands from the CPU Unit or Teaching Box. ) Deceleration stop Present position preset Origin search (manual) Servo lock, etc. Data bits Operating commands C200H-MC221 System Configuration MC Support Software Analog input servodriver Servomotor Teaching Box MC Terminal Block Conversion Unit Pass Mode Dwell timer Automatic Mode MC Unit G language program CPU Unit Common to Automatic and Manual Modes Teaching Zones Backlash correction Override Manual Mode MC Unit Teaching Box Data bits Manual controls CPU Unit Manual controls "Programmable Controller" is abbreviated as "PC" in these Specification Sheets. 1 Motion Control Unit Features Multitasking G Language to Reduce CPU Unit Programming The MC Unit is provided with a multitasking G language, an ideal language for motion control. Up to 100 programs can be registered. Product Specifications · The MC Unit can perform high-speed-response positioning by itself. · · Multiaxis control programs can be easily created. Position control can be performed by specifying program numbers using the PC interface area and executing operation commands, reducing the workload on the CPU Unit's ladder program. Axis configuration can be set, such as controlling X-Y robot operations or controlling operations separately for each axis. Interrupt Feeding Function Provided as Standard The MC Unit can perform high-speed positioning for feeding operations (such as for feeders) by external sensors. [. . . ] (program execution units) When 1 task is used: 100 max. When 2 tasks are used: 50 max. /task When 1 task is used: 800 blocks max. When 2 tasks are used: 400 blocks max. /task 2, 000 positions max. (when only one axis is used) (A0000 to A1999) 32 (Mainly used for specifying position data numbers. ) (E00 to E31) 5 levels max. 000 to 999 MC programs, system parameters, and position data can be stored in the flash memory in the MC Unit. C200H Special I/O Units can be divided into the following four groups according to the maximum number of Units that can be mounted. Group Units A ASCII Unit, High-speed Counter Unit, Position Control Unit (NC111/112/113/213), Analog I/O Unit, ID Sensor Unit, Fuzzy Logic Unit 4 Units B Multipoint I/O Unit, Temperature Control Unit, PID Control Unit, Heating/Cooling Control Unit, Cam Positioner Unit C Temperature Sensor Unit, Voice Unit D Position Control Unit (NC211/413), Motion Control Unit Maximum number of Units that can be mounted in each group under one Master Maximum number of Units that can be mounted in all groups 8 Units 6 Units 2 Units 3A + B + 2C + 6D x 12, and A + B + C + D x 8 MC Unit Functions and Execution Methods The MC Unit functions can be executed using either of the following three methods. Specifying functions from the CPU Unit to the MC Unit through the PC interface area 3. Specifying system parameters by using MC Support Software, IOWR instructions, or I/O transfer bits Function MC program (G language) Positioning with linear interpolation Positioning with circular interpolation Speed control Interrupt feeding Switching to Pass Mode Switching to Stop Mode Dwell timer setting/execution In-position setting Workpiece origin return Position loop gain setting Cycle start Single block Pause Forced block end Origin search Reference origin return Override setting Error counter reset Driver alarm reset M code reset Teaching Jogging Deceleration stop Forced origin Absolute encoder origin setting Servo-lock Servo-unlock Trapezoidal/S-curve specification Zone settings Backlash correction setting Origin deceleration method (G01) (Automatic Mode) (G02/03) (Automatic Mode) (G30) (Automatic Mode) (G31) (Automatic Mode) (G10) (Automatic Mode) (G11) (Automatic Mode) (G04) (Automatic Mode) --(G27) (Automatic Mode) ----------(G28) (Automatic Mode) (G26) (Automatic Mode) --------------------------------------------------(Automatic Mode) (Automatic Mode) (Automatic Mode) (Automatic Mode) (Manual Mode) (Manual Mode) (Automatic/Manual Mode) (Automatic/Manual Mode) (Automatic/Manual Mode) (Automatic Mode) (Automatic/Manual Mode) (Manual Mode) (Manual Mode) (Manual Mode) (Manual Mode) (Manual Mode) (Manual Mode) --------Execution methods (Modes in parentheses: Valid modes) PC interface area --------------(Automatic/Manual Mode) --(Automatic/Manual Mode) ----------------------------------(Automatic/Manual Mode) (Automatic/Manual Mode) (Automatic/Manual Mode) (Automatic/Manual Mode) System parameters 6 Product Specifications G Language Example Motion Control Unit Block number (N000 to N999): Equivalent to a program line number. N000 P001 XY Program number and axis declaration N001 G91 G code: 2-digit number following "G" represents the command. Incremental Specification N002 G00 X100 Y50 M001 Positioning: Moves the X axis by 100 and the Y axis by 50 from the present position, and outputs M code 001 after positioning hs been completed. Code G00 G01 Positioning Name Function Performs positioning according to maximum rapid feed rate × override (%). (PTP control) Performs linear interpolation on 1, 2, 3, or 4 axes (1 or 2 axes for MC221). The feed rate can be specified. Linear Interpolation G02 G03 G04 G10 G11 G17 G26 G27 G28 G29 G30 G31 G50 G51 G53 G54 G60 G63 G69 G70 G71 G72 G73 G74 G75 G76 G79 G90 G91 Circular Interpolation (Clockwise) Circular Interpolation (Counterclockwise) Dwell Timer Pass Mode Stop Mode Circular Plane Specification (X-Y) Reference Origin Return Workpiece Origin Return Origin Search Origin UNDEFINED SPEED CONTROL INTERRUPT FEEDING Select Reference Coordinate System Select Workpiece Coordinate System Change Workpiece Origin Offset Change Reference Coordinate System PV Arithmetic Operations Substitution Change Parameter Unconditional Jump Conditional Jump Subroutine Jump Subroutine End Optional End Optional Skip Optional Program Stop Program End Absolute Specification Incremental Specification Performs 2-axis circular interpolation in the clockwise direction at the specified interpolation feed rate. Performs 2-axis circular interpolation in the counterclockwise direction at the specified interpolation feed rate. Performs operations one-by-one in sequence without waiting for deceleration to stop. Performs the next operation after completing positioning. Sets the X-Y plane as the plane for circular interpolation. Performs an origin search on the specified axis. Feeds up to 2 axes simultaneously at the controlled feed rate. Performs an interrupt feeding operation. Specifies the reference coordinate system. Specifies the workpiece coordinate system. Changes the origin of the workpiece coordinate system. [. . . ] SEN signal ground for the X-axis SEN signal output for the X-axis (absolute encoder driver) Feedback ground for the X-axis Phase A feedback input for the X-axis Phase A feedback input for the X-axis Phase B feedback input for the X-axis Phase B feedback input for the X-axis Phase Z feedback input for the X-axis Phase Z feedback input for the X-axis Speed control voltage to the X-axis driver Ground for the X-axis's speed control voltage 24-VDC input to the driver (for the X-Y axes) Ground for 24-VDC outputs (for the X-Y axes) Driver alarm input for the Y-axis Driver run output for the Y-axis Reset output for the Y-axis's driver alarm. SEN signal ground for the Y-axis SEN signal output for the Y-axis (absolute encoder driver) Feedback ground for the Y-axis Phase A feedback input for the Y-axis Phase A feedback input for the Y-axis Phase B feedback input for the Y-axis Phase B feedback input for the Y-axis Phase Z feedback input for the Y-axis Phase Z feedback input for the Y-axis Speed control voltage to the Y-axis driver Ground for the Y-axis's speed control voltage 13 Motion Control Unit Servodriver Cables (Optional) When using OMRON's U-, H-, or M-series Servodrivers, use Special Servodriver Cables that are available as options to connect the MC Unit to Servodrivers. Se es Series U-series R88D-U for 30 W to 30-W 750-W Servodrivers R88D-U for 1-W to 1W 5-kW Servodrivers H-series se es M-series se es R88D-H 88 R88D-M 88 Cable model number For two axes R88A-CPU001M2 R88A-CPU002M2 R88A-CPUB001M2 R88A-CPUB002M2 R88A-CPH001M2 R88A-CPH002M2 R88A-CPM001M2 R88A-CPM002M2 For single axis R88A-CPU001M1 R88A-CPU002M1 R88A-CPUB001M1 R88A-CPUB002M1 R88A-CPH001M1 R88A-CPH002M1 R88A-CPM001M1 R88A-CPM002M1 1. 0 2. 0 1. 0 2. 0 1. 0 2. 0 1. 0 2. 0 Length ( ) e g (m) Product Specifications Connector: When the Special Cables shown on the left are not to be used, wire and assemble the connector by using the connector case provided with the Unit. U-series Servodrivers: R88A-CPU001M2/002M2 (30 to 750 W) R88A-CPUB001M2/002M2 (1 to 5 kW) Connect to a battery when using the absolute encoder. Servodri ver DRV X-Y connector Servodr iver H-series Servodrivers: R88A-CPH001M2/002M2 M-series Servodrivers: R88A-CPM001M2/002M2 Servodri ver DRV X-Y connector Servodr iver DRV X-Y connector Servodr ver Connect to +24 V Connect to +24 V Connect to +24 V Servodr iver 14 Product Specifications Connection Examples Connection to U-series 30-W to 750-W Models (Using an Absolute Encoder) Special Servodriver Cable: R88A-CPU00jM2 MC Unit DRV X-Y connector 24-VDC input 24-VDC input ground X-axis alarm input X-axis run output X-axis alarm reset output DC Power Supply Red Black +24V Motion Control Unit AC Servodriver R88D-UAjjj CN1 +24V X-axis SEN signal ground X-axis SEN signal output X-axis feedback ground X-axis phase A input X-axis phase A input X-axis phase B input X-axis phase B input X-axis phase Z input X-axis phase Z input X-axis speed control X-axis speed control ground 24-VDC output 24-VDC output ground Battery + (+2. 8 to 4. 5 V) Red Black AC Servodriver R88D-UAjjj +A ­A +B ­B +Z ­Z Y-axis alarm input Y-axis run output Y-axis alarm reset output +24V Y-axis SEN signal ground Y-axis SEN signal output Y-axis feedback ground Y-axis phase A input Y-axis phase A input Y-axis phase B input Y-axis phase B input Y-axis phase Z input Y-axis phase Z input Y-axis speed control Y-axis speed control ground +A ­A +B ­B +Z ­Z + Battery (+2. 8 to 4. 5 V) Red Black Dimensions Note: All units are in millimeters unless otherwise indicated. C200H-MC221 Dimensions with the Unit Mounted Unit: mm Dimensions with the Unit Mounted U/H/M-series Servodriver Cable 200 to 240 ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters into inches, multiply by 0. 03937. [. . . ]