Omron CS1W-MC221 - User manual

Motion Control Units
CS1 Series
CS1W-MC421/221
Specification Sheets

1
“Programmable Controller” is abbreviated as “PC” in these Specification Sheets.
CS1-series
Motion Control Units
CS1W-MC421/221
CS1 Special I/O Unit
Multitasking G Language for Advanced, High-speed, and High-precision 2/4-axis
Motion Control
The CS1W-MC421 and CS1W-MC221 are
CS1-series Motion Control Units that control four
axes and two axes, respectively. With their built-in
G-language programming capability, they can be
used for advanced motion control operations, such
as traversing, and their multitasking capability
allows operations to be performed independently
for each axis. Two types of motion control are
possible: Point-to-point and continuous path.
1. Point-to-point Control: With point-to-point (PTP) control,
positioning is controlled independently for each axis. The
pathway varies according to the travel distances, the feed
rates,
and other set parameters.
2. Continuous Path Control: With continuous path (CP)
control,
not only the start position and target position can be
controlled but also the path between those points. Linear
interpolation,
circular interpolation, helical circular interpola -
tion, and traversing are all possible.
The MC Unit has been developed for use in simple position -
ing
applications using servomotors. Applicable machines are
as follows:
•Conveyor Systems: X/Y tables, palletizers/depalletizers,
loaders/unloaders, etc.
•Assembling Systems: Automated assembling machines
(such as coil winding, polishing, hole punching), simple
robots,
etc.
Note: The MC Unit is not designed to perform linear interpolation,
circular interpolation, or helical circular interpolation with
horizontal
articulated robots or cylindrical robots, because
it does not support coordinate conversions. The MC Unit
can,
however , perform PTP control with these robots.
CS1W-MC421 CS1W-MC221
System Configuration
MC Support
Software
Analog input
servodriver
MC Unit
(Example: CS1W-MC221)
CPU Unit
Servomotor
MC Terminal Block
Conversion Unit
Teaching Box
Automatic Mode
G language program
Operating
commands
Data bits
CPU UnitMC Unit
Manual Mode
Manual
controls
Data bits
Manual controls
CPU Unit
MC Unit
Teaching Box
Product Specifications

Motion Control Units Product Specifications
2
MC Unit functions
Automatic Mode
(Executes G-language programs
in the MC Unit.)
Manual Mode
(Executes manual commands
from the CPU Unit or T eaching
Box.)
Common to Automatic
and Manual Modes
Position control
Speed control
Origin search
Interrupt feeding
Traversing
Arithmetic operations, etc.
Deceleration stop
Origin search (manual)
Standard origin return
Jogging
Error counter reset
Forced origin
Absolute origin setting
Servo lock/Servo unlock
Teaching
Zones
Backlash correction
Override
Present position preset
Electronic gear
Dwell timer
Stop Mode
Pass Mode
In-position
Check OFF Mode
Features
Multitasking G Language
The MC Unit is provided with a multitasking G language, which is the
optimum language for motion control. The G language makes it sim -
ple to create programs for multiaxis
control, without placing a bur -
den on the CPU Unit’ s ladder diagram program.
Simple and Fast T raverse Operations
Commands for 2-axis traverse operations enable simple and fast
traverse
operations.
Fast Pick-and-place Operations
After a positioning command has been output, the in-position check
OFF function allows the next positioning operation to be started
without waiting for the first positioning operation to be completed.
This
makes it possible to perform high-speed pick-and-place opera -
tions.
Supports Absolute Encoders
The MC Unit is compatible with absolute encoders as a standard
feature,
eliminating the need to perform an origin search. Incremen -
tal
encoders can be used as well.
High-speed Response to Start Commands from CPU Unit
The response time from when a start command is received from the
CPU Unit until the command voltage is output from the MC Unit is 8
ms for two axes and 13 ms for four axes (MC421 only). This is 1.5
times faster than the previous models.
Note: T wo-axis MC Unit
This function applies to the X axis when a 2-axis, 1-task
configuration
is used.
Four-axis MC Unit
This function applies to the X axis when a 4-axis, 1-task
configuration
is used.
500-kp/s Encoder Response Frequency
The maximum feedback encoder response frequency is 500 kp/s,
so
the MC Unit can be used with high-speed and high-precision ser -
vomotors. This is double the response frequency of the earlier mod -
els.
CPU Unit Interrupts
A
CPU Unit external interrupt task can be started by outputting a D
code (interrupt code) for the CPU Unit when positioning is com-
pleted
or when passing through a particular position. This feature is
ideal for high-speed synchronization between the MC Unit and CPU
Unit.
Other
Functions
• Unlimited Feeding
This function executes unlimited feeding for the specified axis.
Use of this function allows the user to control unlimitedly fed
axes, such as those for turntables or one-way conveyors. The
present value can be increased or decreased within the
specified
range.
• Synchronous Electronic Gear
Input pulses for a synchronous encoder can be accelerated or
decelerated for each axis at any timing. The acceleration or
deceleration
rate is specified by a numerator/denominator ratio.
To provide simple synchronous control, this function can also be
enabled or disabled for each axis at any timing.
•Error Counter Reset
After a deceleration command has been completed, the error
counter
reset function forcibly sets the error counter to 0 to stop
the axis operation completely. This function is best suited for
machine
press control in molding and other processes.
• Multiturn Circular Interpolation
The multiturn circular interpolation function has been added to
the existing circular and helical circular interpolation functions.
This function can be used for applications such as winding
machine
operations.
• Override (Real T ime Speed Change)
The speed can be changed during PTP, linear interpolation, or
circular interpolation operations in which the axis stops during
the
positioning operation. (This function is invalid in pass mode
or in-position check OFF mode.)
• Pass Operations
The acceleration and deceleration times can be changed during
pass operations. It is possible to specify whether to pass the
operation using the previous acceleration time or pass the
operation
using the deceleration time during pass operations. It
is also possible to pass the operation at a constant acceleration
rate during single-axis pass operation.

Product Specifications Motion Control Units
3
•Servo Parameter Changes
The servo gain, such as the feed-forward gain, can be changed
from a G language program. Therefore, if position loop
feed-forward gain is enabled during circular interpolation, the
level
of accuracy for circular interpolation can be improved.
• Comprehensive Functions in Origin Search Mode The
The
search pattern can be selected to reduce the origin search
time. It is possible to select either deceleration stop or error
counter-based stop when a limit input is received during origin
search. Origin searches are also possible in absolute encoder
systems.
•Interrupt Feeding
This function uses general-purpose inputs (interrupt signals) to
move the specified axis by the specified distance for positioning.
It is possible to perform positioning operations when no interrupt
signals are received during interrupt feeding.
• Brake Signal Outputs
To make motor operation even easier , brake signal outputs (also
used as a general-purpose output) can be used during servo
lock
or unlock.
•Stopover
A
stopover outputs M code or D (interrupt) code without stopping
operation after feeding the axis by the specified distance during
operation. The cycle time can be reduced by controlling
peripheral
devices before the operation is completed.
•Error Logging
The
error log can store up to 20 error records, such as positioning
errors or hardware errors in the MC Unit or operation fatal errors
in the CPU Unit, together with the date and time of each error.
The
error log can be read using the CX-Motion.
Windows-based MC Support Software: CX-Motion
• Multiple MC Unit Management in Project Units
Multiple MC Units can be registered as one project. This allows
simultaneous management of multiple MC Units.
•T ree Display for Edit or Monitor Screens
Data will be displayed in tree format on the left side of the window
so that the user can easily understand the location of the data
currently
being set, edited, or monitored.
• Servo Information T race Function
Speed reference values, the present speed, and the error
counter can be traced with specified starting conditions and a
specified
sampling period using the Windows-based CX-Motion.
Up to 500 items can be traced, making it easy to adjust the servo
system.
•Automatic Loading Function
When it is necessary to use more programs or position data than
can be stored in the MC Unit, programs or position data stored in
an external memory device at the computer where CX-Motion is
installed can be automatically downloaded to the MC Unit’s
internal
memory . This function allows the system to cope with an
application consisting of more than 100 programs.
• Single-port Multiaccess Function
A Windows-based Support Software package called CX-Motion
can be used on the same computer and through the same port as
the CX-Programmer, enabling multiple programming environ-
ments
on a single computer .
• User-defined Mnemonics
The user can enter G codes or mnemonics corresponding to
each G code when writing a program. The user can register or
change
these mnemonics as required, making it easy to write or
analyze MC programs.
• File Conversion
The existing system parameters, position data, and programs
created
using previous versions of the MC Support Software can
be converted for use with the CX-Motion.
Data Creation Using T eaching Box
In addition to entering numbers in the Position Data Edit Window of
the MC Support Software (CX-Motion), it is possible to create posi -
tion
data by using the T eaching Box to teach positions while actually
moving the machinery .
Operate with MPG
Positioning
and simple sync operations can be performed using an
MPG (manual pulse generator).
Models
Applicable PCs Unit classification Controlled driver Number of controlled
axes Model
CS1 Series CS1 Special I/O Unit Analog input servodriver
4 CS1W-MC421
CS Se es
CS S ec a /O U
a og u se od e
2 CS1W-MC221
MC Unit Support Software (Sold Separately)
Name Computer Supported MC Units Specifications Model
CX-Motion IBM PC/A T or
compatible CS1W-MC421/221, C200H-MC221,
CV500-MC421/221
Operating system:
Windows 95/98/NT V4.0
CPU: Pentium, 100 MHz
min.
Memory: 32 MB min.
Hard disk: 10 MB min.
CD-ROM drive: 1 min.
(for setup)
Functions: Creating and
editing system
parameters, creating and
editing position data,
creating MC programs
(G language), monitoring
MC Units, saving data in
flash memory
, printing,
automatic loading, file
conversion, etc.
WS02-MCTC1-E
Connecting Cables
Connection to CPU Unit Computer Cable length Cable model
Peripheral port IBM PC/A T or compatible 2.0 m, 6.0 m CS1W-CNjjj
RS-232C port IBM PC/A T or compatible 2.0 m, 5.0 m XW2Z-jjjS (-jj)

Motion Control Units Product Specifications
4
Specifications
Item Specifications
Model CS1W-MC221 CS1W-MC421
Applicable PC CS1 Series
T ype of Unit CS1 Special I/O Unit
Backplanes on which MC Unit can
be mounted
CPU Backplane or CS1 Expansion I/O Backplane (See note 1.)
Method for data
transfer with
CPU U it
W ords allocated
to Special I/O
U it i CIO
30 words/Unit (uses 3 unit numbers.) (See
note 2.)
50 words/Unit (uses 5 unit numbers.) (See
note 2.)
CPU Unit Units in CIO
Area
CPU Unit to MC Unit:
Commands: G-language program execution/stop, origin search, manual operation, etc.
Data transfer: Position data, acceleration/ deceleration data, etc.
MC Unit to CPU Unit:
Status: Positioning completed, zones, busy flag, etc.
Monitor data: Present position, error codes, M codes, etc.
W ords allocated
to Special I/O
Units in DM Area
Not used. Not used.
Controlled Driver Analog input servodriver (Example: OMRON OMNUC H, M, or U Series)
Built-in program language G language (Started by receiving a start command from the CPU Unit ladder diagram program.)
Control
Control method Speed reference voltage output-type semi-closed loop system, using incremental and absolute
encoder inputs.
Number of
tlld
2 max. 4 max.
ubeo
controlled axes
Multitasking can be used to execute independent operating modes and programs for each axis.
Automatic/Manual Mode (for each
task)
Automatic Mode: Mode for executing MC program created in G language.
Manual Mode: Mode for executing manual commands from CPU Unit (PC interface area) or
T eaching Box.
Note: The Automatic or Manual Mode is set according to the PC interface area of the CPU Unit.
There are a total of 1 1 Automatic Mode commands, including origin search, reference origin
return, JOG, and error reset.
The operation cycle is started in Automatic Mode through dedicated bits in the CPU Unit or from
the T eaching Box.
Encoder interface Line receiver input; maximum response frequency: 500 kp/s (before multiplication)
Pulse ratio: Select 1, 2, or 4
Note: The applicable absolute encoder is the OMRON OMNUC U Series.
Control unit
Minimum setting
unit
1, 0.1, 0.01, 0.001, 0.0001
Units mm, inch, degree, pulse (There is no unit conversion function.)
Maximum command value –39,999,999 to +39,999,999 (When the minimum setting unit is 1.)
Number of controlled axes 2 axes max. 4 axes max.
Positioning
operations PTP
(independent)
control
Execution by independent programs, operating modes for each axis.
Linear
interpolation 2 axes max 4 axes max.
Circular
interpolation
Circular interpolation for a maximum of two axes on a plane.
Helical circular
interpolation ---
Circular interpolation for a maximum of two
axes on a plane + one axis for feed control
T raverse function T raverse operation for two axes
Speed control Speed control for each axis
Unlimited Feed
Mode
Axis feeding can be executed with no limit.
Interrupt feeding Feeding a fixed distance after an interrupt input, for each axis. (Positioning with no interrupt
input signals is also possible.)
Speed reference 1 pps to 2,000 kp/s (when ratio is 4)
Acceleration/deceleration curve T rapezoidal or S-curve
Acceleration/deceleration time Individual acceleration/deceleration settings possible: 0 to 100,000 ms (2-ms increments)
Note: 1. The MC Unit must be mounted to the CPU Rack to use D codes. D codes will not be sent to the CPU Unit if the MC Unit is mounted to
a CS1 Expansion Rack.
2. The
number of MC Units that can be mounted under one CPU Unit must be determined based on the maximum number of Special
I/O Units that can be allocated words in the CPU Unit, the power supply capacity on the CPU or CS1 Expansion Rack, and the
current
consumption of the Units mounted to the Rack. Refer to the CPU Unit’ s operation manual for details on calculation methods.

Product Specifications Motion Control Units
5
Item Specifications
External I/O Peripheral
device T
eaching Box (1 only)
Encoder Line receiver inputs:
For two axes
(500 kp/s before multiplication)
Line receiver inputs:
For four axes
(500 kp/s before multiplication)
MPG/sync
encoder
Line driver output-type MPG/sync encoder: 1
500 kp/s max. (before multiplication)
Servodriver
relationships
The following signals are each provided for
two axes:
The following signals are each provided for
four axes:
Inputs: Driver alarm signals
Outputs: Driver alarm reset signals
High-speed reference voltage outputs ( ± 10 V)
Operation command outputs
SEN signals (for absolute encoder)
Individual axis
control
The following signals are each provided for
two axes:
The following signals are each provided for
four axes:
Input: CCW limit inputs
CW limit inputs
Origin proximity inputs
Emergency stop inputs
Others General inputs: 4 pts. (interrupt inputs)
General outputs: 4 pts. (brake signal outputs)
Feed operations
Rapid feed rate
Example: 36.86 m/min
Co
n
d
iti
o
n
s
Interpolation
feed rate
Conditions
Encoder resolution: 2,048 p/r
Motor speed: 4,500 r/m
Control unit: 0.001 mm/pulse
Rapid feed
override
0.1% to 100.0% (Setting unit: 0.1%)
Interpolation
feed override
0.1% to 199.9% (Setting unit: 0.1%)
Jog feed
override
0.1% to 100.0% (Setting unit: 0.1%)
Axis control
Zone settings Up to 8 zones/axis can be set.
sco o
Backlash
correction
Can be set from 0 to 10,000 pulses.
In-position zone Can be set from 0 to 10,000 pulses.
Position loop
gain
1 to 250 (1/s)
Feedforward
gain
0% to 100%
T ask program
t
Number of tasks 2 max. (program execution units) 4 max. (program execution units)
as og a
management
Number of
programs
When 1 task is used: 100
When 2 tasks are used: 50
When 1 task is used: 100
When 2 tasks are used: 50
When 3 task are used: 33
When 4 tasks are used: 25
Program
capacity
When 1 task is used:
2,000 blocks
When 2 tasks are used:
1,000 blocks/task
The maximum number of blocks in a single
program is 800.
When 1 task is used:
2,000 blocks
When 2 tasks are used:
1,000 blocks/task
When 3 task are used:
666 blocks/task
When 4 tasks are used:
500 blocks/task
The maximum number of blocks in a single
program is 800.
Position data
capacity
2,000 positions max. (total for all axes)
Number of
registers
32 (Mainly used for specifying position data numbers.)
Subroutine
nesting
5 levels max.
Saving program
dt
MC Unit Backed up by flash memory .
Sa g og a
data External
peripheral
devices
CX-Motion can be used to save data to a floppy disk or the hard disk at the personal computer .

Motion Control Units Product Specifications
6
Item Specifications
Program and position data automatic
download function
When the operation number (program or position data) is specified by an IOWR instruction from
the CPU Unit, CX-Motion recognizes it and downloads the program or position data to the MC
Unit.
Self-diagnostic function Memory corruption is detected.
Error detection functions Error counter warning, error counter over , absolute encoder error detection, CPU errors,
communications errors (T eaching Box), flash memory error , EEPROM error , software limit over
error , phase-Z error , overtravel, emergency stop, unit number error , driver alarm detection,
driver reverse wiring detection, CPU Unit error detection
Error log function Stores up to 20 error log records.
Model CS1W-MC221 CS1W-MC421
Settings Front panel: Rotary switches for unit number
setting (0 to 93)
Rear panel: None
Front panel: Rotary switches for unit number
setting (0 to 91)
Rear panel: None
Indicators 7 LED indicators: Running, MC Unit error ,
CPU Unit error , motor rotation direction for
each axis (CCW/CW)
1 1 LED indicators: Running, MC Unit error ,
CPU Unit error , motor rotation direction for
each axis (CCW/CW)
Connections on front panel Servodriver connector , I/O connector ,
T eaching Box connector (one each)
Servodriver connectors (two), I/O connector,
T eaching Box connector , MPG connector
Power supply voltage
5 VDC (from Backplane)
o e su y o age
24 VDC (from external power supply)
V oltage fluctuation tolerance
4.75-5.25 VDC (from Backplane)
o age uc ua o o e a ce
21.6-26.4 VDC (from external power supply)
Internal current consumption 600 mA or less for 5 VDC (with T eaching Box
connected: 800 mA or less)
700 mA or less for 5 VDC (with T eaching Box
connected: 1,000 mA or less)
W eight (Connectors excluded) 450 g max. 540 g max.
Safety standards Conforms to UL (Class 2), CSA (class 2), and EC specifications.
External dimensions 130.0 × 35 × 100.5 mm (H × W ×D)
Single-slot size
130.0 × 70.0 × 100.5 mm (H × W ×D)
Double-slot size
Standard accessories 10136-3000VE snap-on connector for
Servodrivers and 10336-52F0-008 Connector
Cover (manufactured by Sumitomo 3M): 1 set
10126-3000VE snap-on connector for I/Os
and 10326-52F0-008 Connector Cover
(manufactured by Sumitomo 3M): 1 set
Antistatic screws: 4
10136-3000VE snap-on connector for
Servodrivers and 10336-52F0-008 Connector
Cover (manufactured by Sumitomo 3M): 2
sets
10126-3000VE snap-on connector for I/Os
and 10326-52F0-008 Connector Cover
(manufactured by Sumitomo 3M): 1 set
101 14-3000VE snap-on connector for MPG
and 10314-52F0-008 Connector Cover
(manufactured by Sumitomo 3M): 1 set
Antistatic screws: 8
Cat. No. W359

Product Specifications Motion Control Units
7
Options (Sold Separately)
Name Specifications Model
MC T erminal Block Conversion
Uit
For easier wiring of I/O
t
2-axis XW2B-20J6-6
C e a oc Co e s o
Unit
o eas e g o /O
connectors 4-axis XW2B-40J6-7
MC T erminal Block Conversion
Unit Cable For connecting the I/O connectors on the front panel of the Unit
XW2Z-100J-F1
Snap-on connector for
Servodriver connector on Unit
ft l(12t idd
Soldered connector 10136-3000VE (manufactured
by Sumitomo 3M)
front panel (1 or 2 sets provided
as standard on the Unit)
Connector cover 10336-52F0-008
(manufactured by Sumitomo
3M)
Snap-on connector for I/O
connector on Unit front panel (1
tiddtddth
Soldered connector 10126-3000VE (manufactured
by Sumitomo 3M)
(
set provided as standard on the
Unit) Connector cover 10326-52F0-008
(manufactured by Sumitomo
3M)
Snap-on connector for MPG
connector on Unit front panel (1
tiddtddth
Soldered connector 101 14-3000VE (manufactured
by Sumitomo 3M)
(
set provided as standard on the
CS1W -MC421 Unit only)
Connector cover 10314-52F0-008
(manufactured by Sumitomo
3M)
T eaching Box Jogging, origin search, present value monitoring, and other
operations by means of manual commands
T eaching (taking present values into position data)
CVM1-PRO01-E
T eaching Box Connecting
Cbl
Cable length: 2 m CV500-CN224
eac g o Co ec g
Cable
Cable length: 4 m CV500-CN424
Cable length: 6 m CV500-CN624
ROM Cassette Required when the CVM1-PRS21-V1 Programming Console is
used as a T eaching Box.
CVM1-MP702
CX-Motion Connecting Cables
Unit Port on Unit Computer Port on
computer Serial communications
mode (network)
Model numbers Length Remarks
CPU Unit Peripheral IBM PC/.A T 9-pin
Db
Peripheral bus or
H t Li k
CS1W-CN226 2.0 m
---
CUU
eea
C/
or
com
p
atible
9
D-sub
male
e e a bus o
Host Link CS1W-CN626
6.0 m
RS-232C
(9-
p
in D-sub
compa
tibl
ema
l
eXW2Z-200S-CV
2.0 m
ESD (static electric-
ity)-resistant con-
(9-pin D-sub
female) XW2Z-500S-CV
5.0 m
ity)-resistant con-
nectors used.
Serial
Communications
RS-232C
(9-
p
in D-sub
Host Link XW2Z-200S-CV
2.0 m
Communications
Board/Unit
(9-pin D-sub
female) XW2Z-500S-CV
5.0 m
Connecting RS-232C Cable to Peripheral Port
Unit Port on Unit Computer Port on
computer Serial communications
mode (network)
Model numbers Length Remarks
CPU Unit Peripheral port IBM PC/.A T
or
compatible
9-pin D-sub
male
Peripheral bus or
Host Link CS1W-CN1
18 +
XW2Z-200S-CV
or
XW2Z-500S-CV
0.1 m +
(2 or 5 m)
ESD (static
electricity)- resistant
connectors used for
XW2Z-j00S-CV.
Host Link CS1W-CN1 18 +
XW2Z-200S-V
or
XW2Z-500S-V
---
Connecting CQM1-CIF01/02 Cable to Peripheral Port
Unit Port on Unit Computer Port on
computer Serial communications
mode (network)
Model numbers Length Remarks
CPU Unit Peripheral port IBM PC/.A T
or
compatible
9-pin D-sub
male Host Link CS1W-CN1
14 +
CQM1-CIF02
0.5 m + 3.3 m ---

Motion Control Units Product Specifications
8
Connecting an IBM PC/A T or Compatible with RS-232C Cable
Unit Port on Unit Computer Port on
computer Serial communications
mode (network)
Model
numbers Length Remarks
CPU Unit RS-232C
(9-
p
in D-sub
IBM PC/.A T
or
9-pin D-sub
male
Host Link XW2Z-200S-V
2 m
---
(9-pin D-sub
female) or
compatible male XW2Z-500S-V
5 m
Serial
Communications
RS-232C
(9-
p
in D-sub
Host Link XW2Z-200S-V
2 m
Communications
Board/Unit
(9-pin D-sub
female) XW2Z-500S-V
5 m
Applicable CPU Units
PC CPU Unit model
number T
otal number of MCUs that can be mounted on CPU Racks and
Expansion I/O Racks
Unit location
restrictions
CS1-series CS1H-CPUjj
CS1G-CPUjj CS1W
-MC221: 32 Units (each Unit requires 30 words equivalent to 3 unit
numbers; unit numbers 0 to 93)
CS1W -MC421: 19 Units (each Unit requires 50 words equivalent to 5 unit
numbers; unit numbers 0 to 91)
The current consumption must be within the allowable range for the
Power Supply Unit.
None
Overview of Operations
Item Contents
Operating modes The following two modes are available.
Manual Mode: Operation according to CPU Unit memory area or commands from
Teaching Box.
Automatic Mode: Operation according to commands in G-language program.
Manual Jogging
Moves axes continuously by manual operation.
aua
Handle feed Moves axes by MPG.
Deceleration stop Decelerates to a stop according to command.
Manual origin search Searches for mechanical origin. (Origin search is possible in either an incremental or
absolute encoder system.)
Manual origin return Moves to origin in reference coordinate system.
Forced origin Forcibly sets the present position to 0 to establish it as the origin. (In an absolute
encoder system, only the present position of the MC Unit will be set to 0.)
Absolute origin setting Sets the origin for an absolute encoder .
Servo-lock Creates a position loop and turns ON the operation command output to the
servodriver , while simultaneously releasing the brake. When an absolute encoder is
used, the absolute position is read before the servo-lock is applied.
Servo-unlock Releases the position loop and applies the brake, and simultaneously turns OFF the
operation command output to the servodriver . Servo-unlock can be executed even in
Automatic Mode.
Electronic gear function A fixed ratio (numerator and denominator) can be applied to input pulses, and output
to the servomotor driver .

Product Specifications Motion Control Units
9
Item Contents
Automatic Positioning
with linear
interpolation
Executes linear interpolation at the specified interpolation feed rate for up to either
two or four axes simultaneously .
Positioning with circular
interpolation
Executes clockwise or counterclockwise 2-axis circular interpolation at the specified
interpolation feed rate.
Positioning with helical
circular interpolation
Executes clockwise or counterclockwise 2-axis circular interpolation and 1-axis linear
interpolation (i.e., helical interpolation) at the specified interpolation feed rate.
(A vailable for CS1W -MC421 only .)
T raverse function Executes winding (traverse operation).
Speed control Moves a maximum of either two or four axes at a controlled speed.
Interrupt feeding Moves a specified axis for a fixed amount when a general input is turned ON. With
interrupt feeding, positioning without an interrupt signal can be executed.
Switching to Pass Mode Changes to Pass Mode, in which operations are executed one by one with no
deceleration stop. In Pass Mode, the interpolation acceleration or deceleration time of
the previous operation can be specified for the next operation (Pass Mode time
selection). A pass operation for only one axis can be executed at a fixed acceleration
(with a fixed acceleration mode setting).
Switching to In-position
Check OFF Mode
Starts the next positioning operation without waiting for the current one to be
completed.
Stop-over function Outputs an M code or a D code while axes are being moved by a fixed amount
(determined by present position), without stopping the operation. G codes are also
possible for all operations.
Dwell timer Pauses positioning for a specified time.
W orkpiece origin return Automatically returns to workpiece origin.
Automatic origin return Automatically returns to reference coordinate system origin.
Automatic Cycle start
Executes a specified program from the first block, or resumes execution of a stopped
program.
Single block Executes the program one block at a time.
Pause T emporarily halts program execution.
Forced block end Forcibly ends execution of a block.
Error reset Clears error status.
M code reset Resets the M code (for interlock).
Teaching Creates position data for each task.
Auxiliary
Optional inputs 20 points: Specify input information to be referenced by special G code.
Of the 20 input points, 4 can be specified as general-purpose inputs for the MC Unit.
M code 0 to 999
0 to 499: M code for taking interlock
500 to 999: M code not taking interlock
D code
(interrupt code)
0 to 255
Starts a CPU Unit external interrupt task when positioning is completed or when
passing through a particular position.
Automatic and
Manual Mode
Backlash correction The amount of correction for backlash in the mechanical system can be registered in
advance.
Error counter reset Forcibly resets the error counter to 0, and stops axis operation. (Enabled when no
speed reference is provided to the servodriver .)
Override Changes the operating speed by applying a specified percentage to the speed
specified in the system parameters or G-language program.
Zones A zone flag turns ON when the present position enters a preset range.
Unlimited Feed Mode,
unlimited present position
display
Moves the axis with no limit. In this mode, a range for refreshing the present position
can be specified.
Origin search function The search pattern can be selected to shorten the origin search time. Either a
deceleration stop or accumulated pulse stop can be selected for when a limit input is
received during the origin search.
Trapezoid/S-curve
acceleration and
deceleration
Either trapezoid or S-curve acceleration and deceleration can be specified for starting
and stopping each axis.
Driver alarm reset Resets the servodriver alarm.
Data transfer Data is transferred between the CPU Unit and the MC Unit by means of the CPU
Unit’ s IORD and IOWR instructions. There are two modes for transferring data: One
for transferring large amounts of data, and another for rapidly transferring small
amounts of data.
Servo data trace function Up to 500 data items, including speed reference values, present speed, and error
counter data, can be traced for each axis. This data can be referenced by CX-Motion.