User manual OMRON CS1W-433 REV 02-2008

[. . . ] 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. Always heed the information provided with them. 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. [. . . ] If the present position is changed to "0, " then that position will become the origin. 6-6-2 Beginning Words of Operating Memory Area, Operating Data Area, and Parameter Areas The beginning words of the operating memory area, operating data area, and common parameter area used for a Position Control Unit (PCU) are determined (or set) according to the following. · Beginning word of the operating memory area, n = CIO 2000 + 10 × unit number · Beginning word of the common parameter area, m = D20000 + 100 × unit number · Beginning word of the operating data area, l, is specified in m and m+1. Set the beginning words of the operating data area and designate the axis parameters used with the common parameters as shown below. Word m m+1 m+2 Name Operating data area 00 to 15 designation Beginning word of 00 to 15 operating data area Axis parameter designation 00 to 15 Bit Reference SECTION 4 6-6-3 Operating Memory Area Allocation and Operating Data Area Settings Model NC4@3 NC2@3 NC1@3 NC4@3 NC2@3 NC1@3 Operating memory area X axis Y axis Z axis U axis n n n n+8 n+4 n+2 n+2 n+2 n+11 n+7 n+4 n+6 Bit 08 Details Operating Memory Area Name PRESENT POSITION PRESET No Origin Flag Busy Flag : Start present position preset n+14 n+17 06 13 1: No origin 0: Origin established 1: Busy 169 Origin Return Operating Data Area Name Model Operating data area X Y Z U axis axis axis axis I+8 I+9 I+8 I+9 I+8 I+9 I+20 I+21 I+20 I+21 I+32 I+33 I+44 I+45 Bit Details Section 6-7 Position NC4@3 NC2@3 NC1@3 00 to 15 (rightmost) 00 to 15 (leftmost) 15 Leftmost 00 15 Rightmost 00 Setting range: C0000001 to 3FFFFFFF Hex (­1, 073, 741, 823 to 1, 073, 741, 823) 6-6-4 Timing Chart In the following timing chart, the X-axis present position for a 4-axis PCU is changed to "0. " When the present position is changed to "0" it becomes the origin, so the Origin Stop Flag is turned ON. There will be no change in the status of the Positioning Completed Flag. Value to be changed to (I+8, I+9) PRESENT POSITION PRESET (word n, bit 08) Origin Stop Flag (word n+8, bit 07) No Origin Flag (word n+8, bit 06) Busy Flag (word n+8, bit 13) 1 scan min. 6-7 Origin Return The origin return operation is used to return the axis to the origin from any position. It is executed by the rising edge of the ORIGIN RETURN command. Note Execute ORIGIN RETURN when the origin has been established. If the origin has not been established, a present position unknown error (error code 5040) will be generated. 6-7-1 Allocation of Operating Memory Area and Setting of Operating Data Area Model NC4@3 NC2@3 NC1@3 NC4@3 NC2@3 NC1@3 Operating memory area X axis n n n n+8 n+4 n+2 Bit Details Operating Memory Area Name ORIGIN RETURN Y axis Z axis U axis n+2 n+4 n+6 07 n+2 n+11 n+7 n+14 n+17 07 13 : Start of origin return Origin Stop Flag Busy Flag 1: Stopping at origin; 0: Other 1: Busy 170 Origin Return Operating Data Area Name Speed Model NC4@3 NC2@3 NC1@3 Operating memory area X axis Y axis Z axis U axis I+10 I+11 I+10 I+11 I+10 I+11 I+12 I+13 I+12 I+13 I+12 I+13 I+14 I+15 I+14 I+15 I+14 I+15 I+22 I+23 I+22 I+23 I+34 I+35 I+46 I+47 Bit 00 to 15 (rightmost) 00 to 15 (leftmost) 15 Leftmost Section 6-7 Details 00 15 Rightmost 00 Setting range: 1 to 7A120 Hex (1 to 500, 000 pps) Deceleration time NC4@3 NC2@3 NC1@3 I+24 I+25 I+24 I+25 I+36 I+37 I+48 I+49 00 to 15 (rightmost) 00 to 15 (leftmost) 15 Leftmost 00 15 Rightmost 00 Setting range: 0 to 3D090 Hex (0 to 250, 000 ms) Deceleration time NC4@3 NC2@3 NC1@3 I+26 I+27 I+26 I+27 I+38 I+39 I+50 I+51 00 to 15 (rightmost) 00 to 15 (leftmost) The origin return will not operate if the software limit function has been disabled by setting the axis parameters so that the CW software limit is less than or equal to the CCW software limit. (At the time of the command, the present position is "0. ") 6-7-2 Timing Chart A timing chart for executing an origin return on the X axis looks like this: ORIGIN RETURN (word n, bit 07) Target speed Initial speed Pulse output Start Acceleration Stop at origin Deceleration Initial speed Time Origin Stop Flag (word n+8, bit 07) Busy Flag (word n+8, bit 13) Positioning Completed Flag (word n+8, bit 05) 10 ms max. Note The Origin Stop Flag turns ON when all of the following conditions are satisfied. · When an origin is established (the No Origin Flag is OFF). · When pulse output has stopped (Busy Flag is OFF). · When the present position is 0. 171 Z-phase Margin Section 6-8 Therefore, the Origin Stop Flag will not turn ON when the present position passes through 0, such as occurs when positioning from ­100 pulses to 100 pulses. 6-8 6-8-1 Z-phase Margin Description Although there will be some variations for different settings, the PCU origin search basically works by stopping pulse output with the first encoder Zphase after confirming ON/OFF for the origin proximity signal, outputting error counter reset, and determining that position as the origin. In cases where the time (distance) from when the origin proximity signal changes from OFF to ON until the first Z-phase is detected is extremely short or is almost the same as the time taken for one rotation, the position at which the Z-phase is detected may be displaced by one phase due to discrepancies in the ON response of the origin proximity sensor or the Servo Drive speed. This displacement is avoided by confirming the "Z-phase margin. " The Zphase margin indicates in pulses the amount by which the motor rotated during the time from when the origin proximity signal changed from ON to OFF until the Z-phase was detected. If this value is close to 0 or close to one motor rotation, there is a possibility of origin displacement during origin search. A simple way of reducing the probability of this is to adjust the motor's mounting angle and the origin proximity sensor's mounting position so that this value is approximately half a rotation. Origin Search Operation Motor rotation Time Origin proximity signal Z-phase This distance is the Z-phase margin. 6-8-2 Calculating the Z-phase Margin (Example) One way of obtaining the Z-phase margin is to, after origin search, perform jogging in the opposite direction to origin search, stop operation at the point where the origin proximity signal changes from OFF to ON, and read the value of the present position at that point. The value of this present position will be equal to the Z-phase margin. If the speed at the point where the origin proximity signal changes from OFF to ON is fast, there will be some inaccuracy in the value read for the Z-phase margin. Try to reduce the speed of the jog feeding in the neighborhood of the point where the origin proximity signal changes from OFF to ON. By adjusting mounting positions and angles so that this position corresponds to approximately half the distance moved for one rotation of the motor. 172 Z-phase Margin Calculation of Z-phase Margin Origin search operation Motor rotation Section 6-8 Time Origin proximity signal Return using JOG at low speed. Z-phase 173 Z-phase Margin Section 6-8 174 SECTION 7 Direct Operation This section provides an overview of direct operation, describes the parameter and data settings required to perform direct operation, and gives sample programs. 7-3-1 7-3-2 7-3-3 7-3-4 7-4 7-4-1 7-4-2 7-4-3 7-4-4 7-4-5 7-5 7-6 Beginning Words of Operating Memory Area, Operating Data Area, and Parameter Areas . Direct Operation and the Operating Data Area . Starting Direct Operation During Memory Operation . [. . . ] Page 72: Changed "01 to 03" in table to "02 to 03". Added information on CW/CCW pulse output direction selection. Page 75: Added information on origin search direction and origin search preset. Page 88: Changed description of present position preset. [. . . ]