User manual OMRON CS1W-MCH71 MOTION CONTROL UNIT 09-2004

[. . . ] W419-E1-04 Programmable Controller SYSMAC CS-series CS1W-MCH71 Motion Control Unit CS1W-MCH71 Motion Control Unit Operation Manual Revised September 2004 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. [. . . ] External devices indicate devices that are directly connected to the PLC or the general-purpose output of the MC unit. The program example is shown below: Program PROG P0001 Q00000001; Program declared. MOVE [J01]200000; J01 moved to the position 200000 NOPS; Block stopped till completion of single execution command MOVE #IW0B00 = 0055; Value output in Unit Cycle of MC unit next to the one where MOVE [J01]300000; single execution command NOPS was executed NOPS; J01 moved to the position 300000 #IW0B00 = 0000; Block stopped till completion of single execution command MOVE END; Value output in Unit Cycle of MC unit next to the one where single execution command NOPS was executed. 324 Command Details Timing chart J01 operation (MOVE) Section 6-3 Value of #IW0B00 0 55 0 NOPS command Note Without NOPS command, the value of #IW0B00 changes on the timing described below: Program PROG P0001 Q00000001; Program declared MOVE [J01]200000; J01 moved to the position 200000 #IW0B00 = 0055; Value output in Unit Cycle of MC unit next to the one where MOVE [J01]300000; single execution command MOVE was executed. (See note. ) #IW0B00 = 0000; J01 moved to the position 300000 END; Value output in Unit Cycle of MC unit next to the one where Single execution command MOVE was executed. (See note. ) Note Being a multiple execution command, they are output without waiting for completion of the single execution command MOVE. Timing chart J01 operation (MOVE) Value of #IW0B00 0 55 0 No Operation (Multiple) (NOPM) Command type Format Operand Description No processing will occur. Multiple execution command NOPM; Ex: NOPM; Nil · No processing will occur, however, NOPM command functions as a multiple execution command. · NOPM command is used when motion program stepping has to be coordinated. Example of Use With parallel execution command, etc. , NOPM command is used to match (or delayed) the timing as in starting operations of axes in the same Unit Scan, etc. The program example is shown below: 325 Command Details Program Section 6-3 PROG P0001 Q00000001; Program declared PARALLEL N2; #PL0000 = #IL0B00 * 1000; Result of (IL0B00 x 1000) assigned to PL0000 #PL0001 = #IL0B02 * 500; Result of (IL0B02 x 500) assigned to PL0001 MOVEL [J01]#PL0000 F#PL0001; J01 moved to the position PL0000 at the speed PL0001 JOINT; #PL0002 = #IL0B02 * 1000; Result of (IL0B02 x 1000) assigned to PL0002 NOPM; Stepping Adjusted for simultaneous start of [J01], [J02] MOVEL [J02]#PL0000 F#PL0002; J02 moved to the position PL0000 at the speed PL0002 JWAIT; END; Timing chart A: Assignment expression J01 operation (MOVEL) A A A NOPM J02 operation (MOVEL) Unit Scan Note Without NOPM command, [J01] and [J02] are started on the timing described below: Program PROG P0001 Q00000001; Program declared PARALLEL N2; #PL0000 = #IL0B00 * 1000; Result of (IL0B00 x 1000) assigned to PL0000 #PL0001 = #IL0B02 * 500; Result of (IL0B02 x 500) assigned to PL0001 MOVEL [J01]#PL0000 F#PL0001; J01 moved to the position PL0000 at the speed PL0001 JOINT; #PL0002 = #IL0B02 * 1000; Result of (IL0B02 x 1000) assigned to PL0002 MOVEL [J02]#PL0000 F#PL0002; J02 moved to the position PL0000 at the speed PL0002 JWAIT; END; Timing chart A: Assignment expression J01 operation (MOVEL) A A J02 operation (MOVEL) A Unit Scan 326 Command Details Section 6-3 6-3-6 Simple Arithmetic Operation Values are assigned for the specified variable. Multiple execution command <First term> = <Second term>; Ex: #MF1000 = 123. 45; ASSIGN (=) Command type Format Operand Operand Setting range Decimal Bit Variable specification Word Long Real word number Yes Yes Yes Yes Yes Yes First term Second term Variable Operation numerical value range (See note. ) No Yes Yes Yes Indirect specification No Yes INC/ ABL influence No No Note Both immediate values and variables can use the values within the ranges defined for each type. · Integer immediate value: -2147483648 to 2147483647 · Decimal immediate value: -2147483648. · Bit type: 0, 1 · Word type: -32768 to 32767 · Long word type: -2147483648 to 2147483647 · Real number type: ±(1. 175E-38 to 3. 402E+38), 0 · Indirect specification type: 0 to 10239 Description · The value in the second term is assigned to the first term. · If the types are different on both sides, the type on the right is converted to that of the left. · If the value on the right side cannot be stored in the left side, the alarm [2005h: Operation overflow] will occur. Precaution for Handling the Data Types 1, 2, 3. . . Bit type · When the bit type is used, all the operands must be the bit type. · The integer immediate values 0 and 1 are treated as the bit type. Types other than the bit type · Types other than the bit type are prioritized in the following order Real number type > Long word type > Word type · Operation is performed in the type of the highest priority, and the operation result will be stored after being converted to the type on the left. · The integer immediate value is treated as long word type, and the decimal immediate value is treated as real number type. 327 Command Details Simple Arithmetic Operations (+, -, *, /, %, ^) Command type Format Operand Operand Setting range Decimal Bit Variable specification Word Long Real word number Yes Yes Yes Yes Yes Yes Section 6-3 This command executes the specified simple arithmetic operations. +, -, *, /, %, and ^: Not executed as an independent command (no type). <First term> = <Second term> Operator <Third term>; Ex: #MF1000 = #MF0010 + #MF0012; Indirect specification No Yes INC/ ABL influence No No First term Second term Variable Operation numerical value range (See note. ) Operation numerical value range (See note. ) No Yes No No Third term Yes No Yes Yes Yes Yes No Note Both immediate values and variables can use the values within the ranges defined for each type. · Integer immediate value: -2147483648 to 2147483647 · Decimal immediate value: -2147483648. · Bit type: 0, 1 · Word type: -32768 to 32767 · Long word type: -2147483648 to 2147483647 · Real number type: ±(1. 175E-38 to 3. 402E+38), 0 · Indirect specification type: 0 to 10239 Description · The following operators are used in operations. Operator + - * / % ^ Function Add Subtract Multiply Divide Reminder Exponent Description Adds the 2nd and 3rd terms, and assigns the result to the 1st term. [. . . ] To facilitate rewiring, carefully label the cables that are to be disconnected. Replace the MC Unit, and reconnect the wiring as before. Read the data, parameters, or programs that are saved in the memory card to the MC Unit through the CPU Unit's backup operation. 615 Routine Inspection 9. The replacement of the MC Unit is completed. Section 12-1 12-1-4 Procedure for replacing a Servo Driver Follow the procedure below when it is necessary to replace a Servo Driver. [. . . ]