Omron SYSMAC C500-NC222-E Manuale utente

OPERATION MANUAL

Two-axis Position Control Unit

(NC221 Mode)

SYSMAC

C500-NC222-E

Cat. No. W138-E1-03

C500-NC222-E

Two-axis Position Control Unit

(NC221 Mode)

Operation Manual

Revised June 2003

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 warnings in this manual. Always heed the

information provided with them.

DANGER Indicates information that, if not heeded, could result in loss of life or serious inju-

ry.

Caution Indicates information that, if not heeded, could result in minor injury or damage

to the product.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers

to an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, means

“word” and is abbreviated “Wd” in documentation.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of

information.

Indicates information of particular interest for efficient and convenient opera-

tion of the product.

Indicates lists of one sort or another, such as procedures, precautions, etc.

OMRON, 1990

form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permis-

sion of OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is

constantly striving to improve its high–quality products, the information contained in this manual is subject to change

without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no

responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the informa-

tion contained in this publication.

Note

1, 2, 3...

TABLE OF CONTENTS

vii

PRECAUTIONS xi. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 Intended Audience xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 General Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Safety Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Operating Environment Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Application Precautions xiii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 1

Introduction 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1 Features 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2 Basic Operating Principles 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3 Operational Flow 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4 System Configuration 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-5 Control System Configuration 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-6 Control System Principles 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-7 Precautions When Using C500-NC222-E in NC221 Mode 10. . . . . . . . . . . . . . . . . . . . . . . .

SECTION 2

Wiring 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1 M/D Connector 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 EXT-IN Connector 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3 Faulty Wiring Diagnostic Function 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4 Motor Driver Connection Examples 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5 Wiring Precautions 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 3

Data Configuration 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1 Overview 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2 Data Allocations 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3 Setting Parameters 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-4 Setting Positioning Actions 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-5 Setting Dwell Times 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-6 Setting Acceleration and Deceleration Times 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-7 Setting Speeds 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-8 Initial Data 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 4

Data Communication with PC 57. . . . . . . . . . . . . . . . . . . . .

4-1 Compatible Models and Words 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2 PC Programs 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 5

Operating Status 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1 Flag Transitions and Types 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2 Status Word Allocations 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3 Status Word Details 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-4 Flag Changes 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TABLE OF CONTENTS

viii

SECTION 6

Commands 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-1 Command Format 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2 Command Descriptions 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3 Command Processing 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-4 Interpolation 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-5 Relation between SRT and Positioning Actions 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 7

Establishing the Origin 97. . . . . . . . . . . . . . . . . . . . . . . . . . .

7-1 CCHG 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-2 Origin Search (XORG, YORG, IORG) 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-3 Origin Compensation 100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 8

Programming Examples 101. . . . . . . . . . . . . . . . . . . . . . . . . .

8-1 Data Word Allocations 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-2 Data Transmission Program 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-3 Basic Program Examples 108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-4 Application Program Examples 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 9

External Display, Switches, and Indicators 129. . . . . . . . . . .

9-1 External Display 130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-2 Display Descriptions 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-3 Switches and Indicators 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 10

Error Processing 135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-1 Procedure 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-2 Basic Troubleshooting 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-3 System Errors 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-4 Command/Data Errors 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-5 Communications Errors 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendix

A.Position Control Unit Specifications 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. External Display Specifications 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Error Code List 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.Position Action Data Coding Sheets 147. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Glossary 151. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Index 155. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Revision History 159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

About this Manual:

The C500-NC222-E Position Control Unit in NC221 mode is a Special I/O Unit for SYSMAC C500,

C1000H, and C2000H Programmable Controllers (PCs) that support WRIT (87) and READ (88). This

Position Control Unit (PCU) in NC221 mode is designed to control positioning through voltage outputs

to a motor driver according to PC programming and external control inputs.

This manual covers the specifications and procedures necessary for installation and operation. It also

describes data layouts and examples for communication between the PLC and NC222 Module in

NC221 mode. Before attempting to operate the Position Control Unit, be sure to thoroughly familiarize

yourself with the information contained in this manual. During operation, refer also to your PC Opera-

tion Manual for programming and system details. If you wish to enter data manually via the Teaching

Box, please use this manual for wiring and setup only. Refer to manual number W145 for data entry

and operations.

Section 1 contains information on the features of the Position Control Unit, system configuration, and

an overview of control system principles.

Section 2 contains wiring diagrams and other information necessary for installation and connection of

the Position Control Unit.

Section 3 provides the minimum information necessary to assemble and test a servomotor driver

system using both axes.

Sections 4, 5, and 6 provide information essential for operation, including data configuration, the set-

ting of parameters and positioning actions, communication between the Position Control Unit and the

PC, and the use of status flags.

Section 7 provides a description of command format. It also contains tables of system, servo control,

and data processing commands, including the functions and usage examples for each.

Section 8 shows how to establish the origin, which must be done to establish a reference point be-

fore executing positioning actions.

Section 9 provides a variety of programming examples to illustrate the principles covered in this man-

ual.

Sections 10 and 11 cover external displays and error processing.

The appendices contain specifications, an error code list, and data coding sheets.

WARNING Failure to read and understand the information provided in this manual may result in

personal injury or death, damage to the product, or product failure. Please read each

section in its entirety and be sure you understand the information provided in the section

and related sections before attempting any of the procedures or operations given.

PRECAUTIONS

This section provides general precautions for using the Programmable Controller (PC) and related devices.

The information contained in this section is important for the safe and reliable application of the PC. You must read

this section and understand the information contained before attempting to set up or operate a PC system.

1 Intended Audience xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 General Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Safety Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Operating Environment Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Application Precautions xiii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xii

1 Intended Audience

This manual is intended for the following personnel, who must also have knowl-

edge of electrical systems (an electrical engineer or the equivalent).

•Personnel in charge of installing FA systems.

•Personnel in charge of designing FA systems.

•Personnel in charge of managing FA systems and facilities.

2 General Precautions

The user must operate the product according to the performance specifications

described in the operation manuals.

Before using the product under conditions which are not described in the manual

or applying the product to nuclear control systems, railroad systems, aviation

systems, vehicles, combustion systems, medical equipment, amusement

machines, safety equipment, and other systems, machines, and equipment that

may have a serious influence on lives and property if used improperly, consult

your OMRON representative.

Make sure that the ratings and performance characteristics of the product are

sufficient for the systems, machines, and equipment, and be sure to provide the

systems, machines, and equipment with double safety mechanisms.

This manual provides information for programming and operating OMRON PCs.

Be sure to read this manual before attempting to use the software and keep this

manual close at hand for reference during operation.

WARNING It is extreme important that a PC and all PC Units be used for the specified

purpose and under the specified conditions, especially in applications that can

directly or indirectly affect human life. You must consult with your OMRON

representative before applying a PC System to the abovementioned

applications.

3 Safety Precautions

WARNING Never attempt to disassemble any Units while power is being supplied. Doing so

may result in serious electrical shock or electrocution.

WARNING Never touch any of the terminals while power is being supplied. Doing so may

result in serious electrical shock or electrocution.

4 Operating Environment Precautions

Do not operate the control system in the following places.

•Where the PC is exposed to direct sunlight.

•Where the ambient temperature is below 0°C or over 55°C.

•Where the PC may be affected by condensation due to radical temperature

changes.

•Where the ambient humidity is below 10% or over 90%.

•Where there is any corrosive or inflammable gas.

•Where there is excessive dust, saline air, or metal powder.

•Where the PC is affected by vibration or shock.

•Where any water, oil, or chemical may splash on the PC.

Operating Environment Precautions 4

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