Omron C200HW User manual

Cat. No. W334-E1-04
Position Control Units
SYSMAC
C200HW-NC113/NC213/NC413

C200HW-NC113/NC213/NC413
Position Control Units
Operation Manual
Revised July 2003

iv

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v
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 dam-
age to property.
DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or
serious injury.
WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or
serious injury.
Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or
moderate injury, or property damage.
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, often means
“word” and is abbreviated “Wd” in documentation in this sense.
The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for any-
thing else.
Visual Aids
The following headings appear in the left column of the manual to help you locate different types of
information.
Note Indicates information of particular interest for efficient and convenient operation
of the product.
1, 2, 3... 1. Indicates lists of one sort or another, such as procedures, checklists, etc.
OMRON, 1997
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any
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.

vi

TABLE OF CONTENTS
vii
PRECAUTIONS xiii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 Intended Audience xiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 General Precautions xiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Safety Precautions xiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Operating Environment Precautions xv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Application Precautions xv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SECTION 1
Introduction 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1 Features 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-2 System Configuration 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-3 Basic Operations 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-4 Control System Principles 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-5 Exchanging Data 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-6 Before Operation 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SECTION 2
Specifications and Wiring 17. . . . . . . . . . . . . . . . . . . . . . . . .
2-1 Specifications 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2 Components 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3 External I/O Circuitry 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-4 Connecting External I/O 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-5 Connections in Each Operating Mode 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-6 Connection of Unused Axes 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-7 Servo Relay Unit 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SECTION 3
Getting Started 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-1 Basic Operations 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2 System Configuration and Wiring 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3 Setting Data and Starting 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SECTION 4
Data Areas 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1 Overall Structure 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-2 Common Parameters 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3 Axis Parameters 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-4 Operating Memory Area 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5 Operating Data Area 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-6 Positioning Sequence Details 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-7 Setting Data With the SYSMAC-NCT Support Tool 93. . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-8 Setting Data for Unused Axes 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SECTION 5
Transferring and Saving Data 95. . . . . . . . . . . . . . . . . . . . .
5-1 Transferring and Saving Data 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2 Writing Data with the WRITE DATA Bit 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3 Reading Data with the READ DATA Bit 103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-4 Writing Data with IOWR 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-5 Reading Data with IORD 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-6 Creating and Transferring Data with the Support Tool 113. . . . . . . . . . . . . . . . . . . . . . . . . . .
5-7 Saving Data 114. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TABLE OF CONTENTS
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SECTION 6
Defining the Origin 117. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-1 Setting the Data for an Origin Search 118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-2 Executing Origin Search 119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-3 Origin Search Timing Charts 130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-4 Origin Return 134. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SECTION 7
Direct Operation 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-1 Outline 138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-2 Setting Data for Use With Direct Operation 140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-3 Operations With Direct Operation 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-4 Procedures for Setting Data for Direct Operation 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-5 Direct Operation Timing Charts 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-6 Sample Program 146. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SECTION 8
Memory Operation 149. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8-1 Outline 150. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8-2 Setting Data for Use in Memory Operation 154. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8-3 Operations With Memory Operation 155. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8-4 Procedures for Setting Data for Memory Operation 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8-5 Timing Chart for Memory Operation 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8-6 Sample Program 165. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SECTION 9
Other Operations 169. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-1 Jogging 170. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-2 Teaching 171. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-3 Interrupt Feeding 173. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-4 Forced Interrupt 175. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-5 Deceleration Stop 177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-6 Changing the Present Position 180. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-7 Override 181. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-8 Releasing Pulse Output Prohibition 182. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-9 Error Counter Reset Output and Origin Adjustment Command Output 184. . . . . . . . . . . . . .
9-10 Backlash Compensation 187. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SECTION 10
Program Examples 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-1 Operating Procedures for Program Examples 190. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-2 Memory Operation 192. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-3 Direct Operation 206. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-4 Linear Interpolation 211. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-5 Origin Search 216. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-6 Override 218. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-7 Transferring and Saving Data 221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SECTION 11
Troubleshooting 227. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11-1 Introduction 228. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11-2 LED Error Indicators 230. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11-3 Reading Error Codes 231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11-4 Error Code Lists 232. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11-5 CPU Error Indicators 243. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TABLE OF CONTENTS
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Appendices
A Data Calculation Standards 245. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B Estimating Times and Pulses for Acceleration/Deceleration 251. . . . . . . . . . . . . . . . . . . . . . . . .
C Error Code List 253. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D Effect of Cable Length on Pulse Output 257. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
E Parameter Coding Sheets 259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
F Using with CS1-series PCs 263. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Index 271. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Revision History 277. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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About this Manual:
This manual describes the operation of the C200HW-NC113/NC213/NC413 Position Control Units and
includes the sections described below.
Please read this manual carefully and be sure you understand the information provided before attempting
to install and operate the C200HW-NC113/NC213/NC413 Position Control Units.
Section 1 introduces the features of the Position Control Unit and explains the system configuration in
which it is used.
Section 2 provides the Position Control Unit’s specifications and explains the wiring.
Section 3 explains how to use the RELATIVE MOVEMENT command employing the direct operation
method, and provides examples of how to use a stepping motor.
Section 4 provides information on the data areas used by the Position Control Unit.
Section 5 explains how to transfer and save parameters and data.
Section 6 explains the origin search and origin return operations.
Section 7 provides an outline of direct operation, details about data areas and how to set data, and sam-
ple programs.
Section 8 provides an outline of memory operation, details about data areas and how to set data, and
sample programs.
Section 9 describes the following operations: jogging, teaching, interrupt feeding, forced interrupt, decel-
eration stop, changing the present position, override, releasing pulse output prohibition, deviation counter
reset output/origin-adjustment command output, and backlash compensation.
Section 10 provides examples of programs for using the Position Control Unit.
Section 11 describes how to diagnose and correct errors that can occur during operation.
The Appendices provide data calculation standards, information on estimating times and pulses for
acceleration/deceleration, error code list, information on the effect of cable length on pulse output, and
parameter 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.
!

xiii
PRECAUTIONS
This section provides general precautions for using the Programmable Controller (PC), Position Control Unit (PCU), and
related devices.
The information contained in this section is important for the safe and reliable application of the Programmable Con-
troller and the Position Control Unit. You must read this section and understand the information contained before
attempting to set up or operate a PC system.
1 Intended Audience xiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 General Precautions xiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Safety Precautions xiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Operating Environment Precautions xv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Application Precautions xv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .