Omron C200H-MC221 - User manual

Cat. No.W314-E1-1
Motion ControlUnit
C200H-MC221
OPERATIONMANUAL:
INTRODUCTION

C200H-MC221
Motion ControlUnit
Operation Manual:
Introduction
Produced June 1996

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Notice:
OMRONproductsaremanufactured foruse according to properproceduresbya qualified operator
and onlyforthe purposesdescribed inthismanual.
The following conventionsare used toindicate and classifyprecautionsinthismanual.Always heed
the information provided withthem.Failureto heed precautions can resultininjuryto people ordam-
age tothe product.
DANGER!Indicatesinformation that, ifnotheeded,islikelytoresultinloss oflife orseriousinjury.
WARNINGIndicatesinformation that, ifnotheeded,could possiblyresultinloss oflife orseriousinjury.
Caution Indicatesinformationthat, ifnotheeded,couldresultinrelativelyseriousorminorinjury,dam-
age tothe product, orfaultyoperation.
OMRONProductReferences
All OMRONproductsarecapitalized inthismanual.The word“Unit”isalsocapitalized when itrefers
to an OMRONproduct, regardless ofwhetherornotitappearsinthe propername of the product.
The abbreviation “Ch,”which appearsinsome displays and on someOMRONproducts,often means
“word”and isabbreviated “Wd”in documentation inthis sense.
The abbreviation “PC”meansProgrammableControllerand isnotused asan abbreviation forany-
thing else.
VisualAids
The following headingsappearinthe left column of the manualto helpyou locate different typesof
information.
NoteIndicatesinformation ofparticularinterest forefficientand convenientoperation
of the product.
1,2,3... 1. Indicateslistsofone sortoranother,such asprocedures,checklists,etc.
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All rightsreserved.No partofthispublication may bereproduced,storedinaretrievalsystem,ortransmitted,inany
form,orby any means,mechanical,electronic,photocopying,recording,orotherwise,without thepriorwritten permis-
sion ofOMRON.
No patent liabilityisassumedwithrespect totheuseoftheinformation contained herein.Moreover,becauseOMRON is
constantlystriving toimproveitshigh-quality products,theinformation containedinthismanual is subject tochange
withoutnotice.Every precaution hasbeentakeninthepreparation ofthismanual.Nevertheless,OMRON assumesno
responsibilityforerrorsoromissions.Neitherisany liabilityassumedfordamagesresulting fromtheuseoftheinforma-
tion containedinthispublication.

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TABLE OFCONTENTS
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PRECAUTIONSxi.................................
1IntendedAudience xii...........................................................
2GeneralPrecautionsxii..........................................................
3SafetyPrecautionsxii...........................................................
4Operating EnvironmentPrecautionsxii.............................................
5Application Precautionsxiii......................................................
SECTION1
Introduction1....................................
1-1CWand CCW2...........................................................
1-2FeedbackPulse2..........................................................
1-3CoordinateSystems3......................................................
1-4ApplicableMachines3.....................................................
1-5Wiring Precautions4.......................................................
1-6SystemConfiguration 6.....................................................
1-7OutlineoftheInterface Area 7...............................................
1-8DataConfiguration 7.......................................................
1-9Programsand Tasks8......................................................
1-10 Manualand AutomaticOperation 9...........................................
SECTION2
Features11.......................................
2-1Features12...............................................................
2-2Specifications14...........................................................
2-3OutsideDimensions15......................................................
2-4Functions16..............................................................
SECTION3
Servo SystemPrinciplesand Precautions19............
3-1Servo System20...........................................................
3-2MotorRunaway 23.........................................................
3-3Wiring CheckFunction 25...................................................
3-4FailsafeCircuits26.........................................................
SECTION4
SystemConfiguration29............................
4-1BasicSystemConfiguration 30................................................
4-2ItemsSupplied by theUser31................................................
4-3PeripheralDevices32.......................................................
SECTION5
Positioning 35.....................................
5-1Positioning Controls36......................................................
5-2PTPControl37............................................................
5-3Linear Interpolation 38......................................................
5-4Circular Interpolation 40.....................................................
5-5InterruptInching 41.........................................................
5-6Acceleration and Deceleration Curves41.......................................
5-7Operation Modes42........................................................
5-8OverrideFunction 44.......................................................
5-9BacklashCompensation 45...................................................
SECTION6
GLanguage47....................................
6-1Introduction 48............................................................
6-2G-languageSymbols51.....................................................

TABLE OFCONTENTS
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SECTION7
PreparationsforOperation53........................
7-1SystemStartup Procedures54.................................................
7-2Testing EquipmentConfiguration 55...........................................
7-3ItemstoBePrepared 55.....................................................
7-4Positioning Operations56....................................................
7-5Interface Area 58...........................................................
SECTION8
TestOperation63..................................
8-1Mounting theUnits64.......................................................
8-2Connecting theComputer65.................................................
8-3Connecting theTeaching Box 68..............................................
8-4Wiring I/OConnectors70....................................................
8-5Connecting Servodrivers72..................................................
8-6Wiring InputUnits73.......................................................
8-7Starting UpthePC74.......................................................
8-8Setting Parameters74.......................................................
8-9Saving Parameters81.......................................................
8-10 Transferring Parameters82...................................................
8-11 FlashMemoryBackup ofParameter84.........................................
8-12 Creating MCPrograms85....................................................
8-13 Saving MCPrograms87.....................................................
8-14 Transferring MCPrograms89................................................
8-15 FlashMemoryBackup ofMCProgram91.......................................
8-16 Creating Ladder-diagramPrograms92..........................................
8-17 Checking Operation fromtheMCSS 94.........................................
8-18 Checking Operation fromtheTeaching Box 98...................................
Glossary 103.......................................
Index 109..........................................
RevisionHistory 113.................................

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About thisManual:
Thismanualprovidesan introduction tothe featuresand basicoperation of the C200H-MC221 Motion
ControlUnitand includesthe sectionsdescribed below.
Pleaseread thismanualand the othermanualsrelated tothe C200H-MC221 Motion ControlUnitcareful-
lyand be sureyou understand the information provided before attempting toinstall and operatethe Mo-
tion ControlUnit.
There arefourmanualsused withthe C200H-MC221 Motion ControlUnit(MC Unit).Thesemanualsare
listed inthe following table.The suffixeshave been left off of the catalog numbers.Besureyou are using
the mostrecentversion foryourarea.Be suretoreadtheprecautionsinthefollowing section.
NameContentCat.No.
C200H-MC221 Motion ControlUnit
Operation Manual: Introduction Describesthe features,applications,and basicoperation of the Motion ControlUnits.Read thismanualfirstbefore us-
ing a Motion ControlUnit.
W314
C200H-MC221 Motion ControlUnit
Operation Manual:DetailsDescribesoperation of the Motion ControlUnitsin detail. Read the Operation Manual: Introduction,above,before
attempting toread thismanual.
W315
CVM1-PRS71 Teaching Box
Operation ManualDescribesthe operation of the Teaching Box connected to a Motion ControlUnit. W257
CV500-ZN3AT1-EMCSupport
SoftwareOperation ManualDescribes creating controlprogramsand setting operating parametersforMC Unitsusing the MCSupportSoftware.W256
Section 1describesfundamentalsnecessaryforunderstanding thismanualand forthe successfulop-
eration ofan MC Unit.
Section 2describesthe featuresand functionsof the MC Unit.
Section 3providesinformation on the servosystem,basicmechanismsforpositioning,and precautions
to be heeded in using the system.
Section 4providesinformation on the systemconfiguration necessaryforoperating the MC Unit.
Section 5providesinformation on position controlasperformed bythe MC Unit.
Section 6introducesthe “G”language used forposition controlwiththe MC Unit.
Section 7providesinformation on startup procedures,systemconfiguration,and positioning operations
using testing equipment, aswell asexplanationson the interface area necessaryforcreating ladderpro-
grams.
Section 8describesthe proceduresinvolved inconducting testsusing testequipment.
WARNINGFailuretoread and understand the information provided inthismanualmayresultin
personal injuryordeath,damage tothe product, orproduct failure.Pleaseread each
section initsentiretyand be sureyou understand the information provided inthe section
and related sectionsbefore attempting anyof the proceduresoroperationsgiven.
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