Omron CS1W-NC113 - REV 02-2008 User manual

CS1W-NC113/213/413/133/233/433
Position Control Units

iv

!
!
!
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, 2000
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 xvi......................................................
6 Conformance to EC Directives xviii.................................................
SECTION 1
Introduction 1....................................
1-1 Features 2...............................................................
1-2 System Configuration 3.....................................................
1-3 Basic Operations 5........................................................
1-4 List of Functions 8.........................................................
1-5 Specifications 9...........................................................
1-6 Comparison with Existing Models 11...........................................
1-7 Control System Principles 13.................................................
SECTION 2
Basic Procedures 15................................
2-1 Basic Operational Flow 16...................................................
SECTION 3
Installation and Wiring 19...........................
3-1 Nomenclature and Functions 20...............................................
3-2 Installation 22.............................................................
3-3 External I/O Circuitry 25....................................................
3-4 Wiring 33.................................................................
3-5 Connection Examples for Different Types of Motor Driver 41.......................
3-6 Connection of Unused Axes 52................................................
3-7 Servo Relay Unit 52........................................................
SECTION 4
Data Areas 55.....................................
4-1 Overall Structure 56........................................................
4-2 Common Parameter Area 61..................................................
4-3 Axis Parameter Area 65.....................................................
4-4 Operating Memory Area 82..................................................
4-5 Operating Data Area 86.....................................................
4-6 Memory Operation Data 89..................................................
4-7 Zone Data Area 92.........................................................
SECTION 5
Transferring and Saving Data 95.....................
5-1 Transferring and Saving Data 96..............................................
5-2 Writing Data with the WRITE DATA Bit 103.....................................
5-3 Reading Data with the READ DATA Bit 108......................................
5-4 Writing Data with IOWR 113..................................................
5-5 Reading Data with IORD 119..................................................
5-6 Saving Data 123............................................................
5-7 Transferring Data with CX-Position 124.........................................

TABLE OF CONTENTS
viii
SECTION 6
Defining the Origin 127..............................
6-1 Outline 128................................................................
6-2 Origin Search Procedure 129..................................................
6-3 Data Settings Required for Origin Search 130.....................................
6-4 Origin Search Operation 132..................................................
6-5 Origin Search Timing Charts 146...............................................
6-6 Present Position Preset 151....................................................
6-7 Origin Return 152...........................................................
6-8 Z-phase Margin 154.........................................................
SECTION 7
Direct Operation 157................................
7-1 Outline 158................................................................
7-2 Direct Operation Procedure 159................................................
7-3 Setting Data for Direct Operation 159...........................................
7-4 Operations With Direct Operation 161...........................................
7-5 Direct Operation Timing Charts 163............................................
7-6 Acceleration/Deceleration 165.................................................
7-7 Sample Program 168.........................................................
SECTION 8
Memory Operation 171..............................
8-1 Outline 172................................................................
8-2 Memory Operation Procedure 175..............................................
8-3 Setting Data for Memory Operation 176.........................................
8-4 Positioning Sequences 178....................................................
8-5 Completion Codes 184.......................................................
8-6 Linear Interpolation 188......................................................
8-7 Transferring Positioning Sequences 192..........................................
8-8 Timing Chart for Memory Operation 194.........................................
8-9 Acceleration/Deceleration 197.................................................
8-10 Sample Program 200.........................................................
SECTION 9
Other Operations 203................................
9-1 Jogging 205................................................................
9-2 Teaching 206...............................................................
9-3 Interrupt Feeding 209........................................................
9-4 Forced Interrupt 212.........................................................
9-5 Deceleration Stop 214........................................................
9-6 Override 219...............................................................
9-7 Error Counter Reset Output and Origin Adjustment Command Output 223..............
9-8 Backlash Compensation 226...................................................
9-9 Software Limit 228..........................................................
9-10 Stop Function 231...........................................................
SECTION 10
Program Examples 233..............................
10-1 Operating Procedures for Program Examples 234..................................
10-2 Memory Operation 236.......................................................
10-3 Direct Operation 251.........................................................

TABLE OF CONTENTS
ix
10-4 Linear Interpolation 257......................................................
10-5 Origin Search 263...........................................................
10-6 Override 266...............................................................
10-7 Transferring and Saving Data 269..............................................
SECTION 11
Troubleshooting 275.................................
11-1 Troubleshooting Tables 276...................................................
11-2 Introduction 283............................................................
11-3 LED Error Indicators 284.....................................................
11-4 Reading Error Codes 287.....................................................
11-5 Error Code Lists 288.........................................................
11-6 Releasing Pulse Output Prohibition and Resetting After Errors 303....................
11-7 Error Display at the CPU 306..................................................
11-8 Reading Error Information with CX-Position 306..................................
SECTION 12
Maintenance and Inspection 307.......................
12-1 Inspection 308..............................................................
12-2 Routine Inspections 309......................................................
12-3 Handling Precautions 310.....................................................
12-4 Procedure for Replacing a PCU 310.............................................
Appendices
A Performance Characteristics 313..................................................
B Estimating Times and Pulses for Acceleration/Deceleration 319........................
C Common Parameter Area 321....................................................
D Error Code Lists 323...........................................................
E Replacing the C200HW-NCj13 327..............................................
F Parameter Coding Sheets 331....................................................
Index 339..........................................
Revision History 343.................................

xi
About this Manual:
This manual describes the operation of the CS1W-NC113/NC133/NC213/NC233/NC413/NC433 Posi-
tion Control Units and includes the sections described below.
Pleasereadthismanualcarefully andbesureyouunderstandthe informationprovidedbeforeattempting
to install and operate the CS1W-NC113/NC133/NC213/NC233/NC413/NC433 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 gives an overview of the procedures required to use the Position Control Unit.
Section 3 provides information on nomenclature andthe function of each part, describes the procedures
required for wiring and installation, and gives connection examples. Information on using Servo Relay
Units is also provided.
Section4providesanoverviewoftheparameteranddatasettingsusedinPositionControlUnitoperation
and provides information on memory allocation.
Section 5 explains how to transfer and save parameters and data using the data transfer bits, the IOWR
and IORD instructions, and CX-Position.
Section 6 explains the origin search and origin return operations.
Section7providesanoverviewofdirectoperation,describestheparameteranddatasettingsrequiredto
perform direct operation, and gives sample programs.
Section 8 provides an overview of memory operation, describes the parameter and data settings
required to perform memory operation, and gives sample programs.
Section 9 describes the followingoperations:jogging, teaching, interruptfeeding,forced interrupt,decel-
eration stop, override, error counter reset output/origin-adjustment command output, backlash com-
pensation, and software limits.
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.
Section 12 describes methods for maintaining the Position Control Unit.
TheAppendicesprovideinformationonestimatingtimesandpulsesforacceleration anddeceleration,a
memory map for the common parameter area, error code lists, information on replacing the C200HW-
NCj13, 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 providedin the section
and related sections before attempting any of the procedures or operations given.
!

xiii
PRECAUTIONS
This section provides general precautions for using the Position Control Units and related devices.
The information contained in this section is important for the safe and reliable application of the Position Control
Unit. You must read this section and understand the information contained before attempting to set up or operate a
Position Control Unit.
1 Intended Audience xiv...........................................................
2 General Precautions xiv..........................................................
3 Safety Precautions xiv...........................................................
4 Operating Environment Precautions xv.............................................
5 Application Precautions xvi.......................................................
6 Conformance to EC Directives xviii.................................................
6-1 Applicable Directives xviii..............................................
6-1-1 Concepts xviii........................................................
6-1-2 Conformance to EC Directives xviii.......................................
6-1-3 Installation Within Control Panel xviii.....................................

!
!
!
!
!
5Safety Precautions
xiv
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.
Beforeusingtheproductunderconditionswhicharenotdescribedinthemanual
or applying the product to nuclear control systems, railroad systems, aviation
systems, vehicles, combustion systems, medical equipment, amusement
machines,safetyequipment,andothersystems,machines,and equipmentthat
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 sureto provide the
systems, machines, and equipment with double safety mechanisms.
This manual provides information for using the Position Control Unit. Be sure to
readthismanualbeforeattemptingtousetheUnit andkeepthismanualcloseat
hand for reference during operation.
WARNING It is extreme important that Position Control Units and related devices 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 Position Control Units and
related devices to the above mentioned applications.
3 Safety Precautions
WARNING Neverattempttodisassembleany Unitswhilepowerisbeingsupplied. Doingso
may result in serious electric shock.
WARNING Do not attempt todisassemble, repair, or modify any Units. Any attempt to doso
may result in malfunction, fire, or electric shock.
WARNING Never touch any of the terminals while power is being supplied. Doing so may
result in serious electric shock.
WARNING Provide safety measures in external circuits (i.e., not in the Programmable
Controller or Position Control Unit) to ensure safety in the system if an
abnormality occurs due to malfunction of the PC, malfunction of the PCU
(Position Control Unit), or external factors affecting the operation of the PC or
PCU. Not providing sufficient safety measures may result in serious accidents.
•Emergency stop circuits, interlock circuits, limit circuits, and similar safety
measures must be provided in external control circuits.
•The PC will turn OFF all outputs when its self-diagnosis function detects any
error or whenasevere failurealarm(FALS) instructionisexecuted. As acoun-

!
!
!
!
!
!
!
4Operating Environment Precautions
xv
termeasure for such errors, external safety measures must be provided to en-
sure safety in the system.
•The PC or PCU outputs may remain ON or OFF due to deposits on or burning
of the output relays, or destruction of the output transistors. As a countermea-
sure for such problems, external safety measures must be provided to ensure
safety in the system.
•When the 24-VDC output (service power supply to the PC) is overloaded or
short-circuited, the voltage may drop and result in the outputs being turned
OFF. As a countermeasure for such problems, external safety measures must
be provided to ensure safety in the system. External safety measures must
also betaken to ensure safety inthe event of unexpected operation whencon-
necting or disconnecting the PCU’s connectors.
Caution When positioning to a position determined using the teaching function, set the
position designation setting in the positioning sequence to absolute positioning.
If it is set to relative positioning, positioning will be performed to a position other
than the one obtained with the teaching function.
Caution Execute online edit only after confirming that no adverse effects will be caused
by extending the cycle time. Otherwise, the input signals may not be readable.
Caution Confirm the safety of the destination node before transferring a program to the
nodeorchangingthecontentsofI/O memory. Doing either of these withoutcon-
firming safety may result in injury.
Caution Do not save data into the flash memory during memory operation or while the
motor is running. Otherwise, unexpected operation may be caused.
Caution Do not reverse the polarity of the 24-V power supply. The polarity must be cor-
rect. Otherwise, the motor may start running unexpectedly and may not stop.
4 Operating Environment Precautions
Caution Do not operate the control system in the following locations:
•Locations subject to direct sunlight.
•Locations subject to temperatures or humidity outside the range specified in
the specifications.
•Locationssubjectto condensationastheresultofsevere changes intempera-
ture.
•Locations subject to corrosive or flammable gases.
•Locations subject to dust (especially iron dust) or salts.
•Locations subject to exposure to water, oil, or chemicals.
•Locations subject to shock or vibration.
Caution Takeappropriate andsufficientcountermeasureswheninstallingsystemsinthe
following locations:
•Locations subject to static electricity or other forms of noise.
•Locations subject to strong electromagnetic fields.

!
!
!
5Application Precautions
xvi
•Locations subject to possible exposure to radioactivity.
•Locations close to power supplies.
Caution The operating environment of thePC System can have a large effect on the lon-
gevityandreliabilityofthesystem. Improperoperatingenvironmentscanleadto
malfunction, failure, and other unforeseeable problems with the PC System. Be
sure that the operating environment is within the specified conditions at installa-
tion and remains within the specified conditions during the life of the system.
5 Application Precautions
Observe the following precautions when using the PCU or the PC.
WARNING Failure to abide by the following precautions could lead to serious or possibly
fatal injury. Always heed these precautions.
•Alwaysconnect toagroundof100Ωor less wheninstalling theUnits.Notcon-
necting to a ground of 100 Ωor less may result in electric shock.
•Always turn OFF the power supply to the PC before attempting any of the fol-
lowing. Not turning OFF the power supply may result in malfunction or electric
shock.
•Mounting or dismounting Power Supply Units, I/O Units, CPU Units,
Memory Cassettes, or any other Units.
•Assembling the Units.
•Setting DIP switches or rotary switches.
•Connecting cables or wiring the system.
•Connecting or disconnecting the connectors.
Caution Failure to abide by the following precautions may lead to faulty operation of the
PC, the PCU. or the system, or could damage the PC or PCU. Always heed
these precautions.
•Fail-safe measures must be taken by the customer to ensure safety in the
eventofincorrect,missing,orabnormalsignalscaused by brokensignallines,
momentary power interruptions, or other causes.
•Interlock circuits, limit circuits, and similar safety measures in external circuits
(i.e., not in the Programmable Controller) must be provided by the customer.
•Install external breakers and take other safety measures against short-circuit-
inginexternalwiring.Insufficientsafetymeasuresagainstshort-circuitingmay
result in burning.
•Be sure that all the mounting screws, terminal screws, and cable connector
screws are tightened to the torque specified in therelevant manuals. Incorrect
tightening torque may result in malfunction.
•Always use the power supply voltages specified in the operation manuals. An
incorrect voltage may result in malfunction or burning.
•Take appropriate measures to ensure that the specified power with the rated
voltage and frequency is supplied in places where the power supply is unsta-
ble. An incorrect power supply may result in malfunction.
•Use crimp terminals for wiring. Do not connect bare stranded wires directly to
terminals. Connection of bare stranded wires may result in burning.
•Leave the label attached to the Unit when wiring. Removing the label may re-
sult in malfunction if foreign matter enters the Unit.
•Remove the label after the completion of wiring to ensure proper heat dissipa-
tion. Leaving the label attached may result in malfunction.

5Application Precautions
xvii
•Do not apply voltages to the Input Units in excess of the rated input voltage.
Excess voltages may result in burning.
•Do not apply voltages or connect loads to the Output Units in excess of the
maximum switching capacity. Excess voltage or loads may result in burning.
•Check the user program for proper execution before actually running it on the
Unit. Not checking the program may result in an unexpected operation.
•Be sure that the terminal blocks, Memory Units, expansion cables, and other
items with locking devices are properly locked into place. Improper locking
may result in malfunction.
•Double-check all wiring and switch settings before turning ON the power sup-
ply. Incorrect wiring may result in burning.
•Disconnect the functional ground terminal when performing withstand voltage
tests. Not disconnecting the functional ground terminal may result in burning.
•Confirmthatnoadverseeffectwilloccurinthesystembeforeattemptinganyof
the following. Not doing so may result in an unexpected operation.
•Changing the operating mode of the PC.
•Force-setting/force-resetting any bit in memory.
•Changing the present value of any word or any set value in memory.
•Resume operation only after transferring to the new CPU Unit the contents of
the DM Area, HR Area, and other data required for resuming operation. Not
doing so may result in an unexpected operation.
•Do not pull on the cables or bend the cables beyond their natural limit. Doing
either of these may break the cables.
•Do not place objects on top of the cables or other wiring lines. Doing so may
break the cables.
•Resume operation only after transferring the system parameter data to the
PCU and saving thedata to flash memory. Not doing so may result in an unex-
pected operation.
•Confirm that set parameters and data operate properly.
•Check the pin numbers before wiring the connectors.
•Perform wiring according to specified procedures.
•BeforetouchingaUnit,besuretofirsttouchagroundedmetallicobjectinorder
todischargeanystaticbuild-up.Notdoingsomayresultinmalfunctionordam-
age.

6Conformance to EC Directives
xviii
6 Conformance to EC Directives
6-1 Applicable Directives
•EMC Directives
6-1-1 Concepts EMC Directives
OMRON devices that comply with EC Directives also conform to the related
EMC standards so that they can be more easily built into other devices or ma-
chines. The actual products have been checked for conformity to EMC stan-
dards(seethefollowingnote).Whethertheproductsconformtothestandardsin
the system used by the customer, however, must be checked by the customer.
EMC-related performance of the OMRON devices that comply with EC Direc-
tives will vary dependingon theconfiguration, wiring,and other conditions of the
equipment or control panel in whichthe OMRON devices are installed. The cus-
tomermust,therefore,performfinalcheckstoconfirmthatdevicesandtheover-
all machine conform to EMC standards.
Note Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN61131-2
EMI (Electromagnetic Interference): EN50081-2
(Radiated emission: 10-m regulations)
6-1-2 Conformance to EC Directives
The PCUs comply with EC Directives. To ensure that the machine or device in
whichanPCUisusedcomplieswithECdirectives,thePCUmustbe installedas
follows:
1, 2, 3... 1. The PCU must be installed within a control panel.
2. Reinforced insulation or double insulation must be used for the DC power
supplies used for the communications and I/O power supplies.
3. PCUs complying with EC Directives also conform to the Common Emission
Standard (EN50081-2). With regard to the radiated emission (10-m regula-
tions), countermeasures will vary depending on the devices connected to
the control panel, wiring, the configuration of the system, and other condi-
tions.Thecustomermust,therefore,performfinalcheckstoconfirmthatde-
vices and the overall machine conform to EC Directives.
6-1-3 Installation Within Control Panel
Unnecessary clearance in cable inlet or outlet ports, operation panel mounting
holes, or in the control panel door may cause electromagnetic wave leakage or
interference. In this case, the product may fail to meet EC Directives. In order to
prevent such interference, fill clearances in the control panel with conductive
packing. (In places where conductive packing comes in contact with the control
panel, ensure electrical conductivity by removing the paint coating or masking
these parts when painting.)

1
SECTION 1
Introduction
This section introduces the features of the Position Control Unit and explains the system configuration in which it is used.
1-1 Features 2................................................................
1-1-1 Functions 2.......................................................
1-2 System Configuration 3.....................................................
1-2-1 CS1W-NC413 System Configuration Example 4..........................
1-3 Basic Operations 5.........................................................
1-3-1 Position Control 5..................................................
1-3-2 Speed Control 7....................................................
1-3-3 Other Operations 7.................................................
1-4 List of Functions 8.........................................................
1-5 Specifications 9...........................................................
1-5-1 Basic Specifications 9...............................................
1-5-2 Performance Specifications 10.........................................
1-6 Comparison with Existing Models 11...........................................
1-7 Control System Principles 13.................................................
1-7-1 Data Flow 13.......................................................
1-7-2 Control System Principles 14..........................................
1-7-3 Basic Positioning System Design 14.....................................

1-1SectionFeatures
2
1-1 Features
Position Control Unit
CS1W-NC4j3
(4-axis control) CS1W-NC2j3 (2-axis control) CS1W-NC1j3 (1-axis control)
These Position Control Units are CS1-series Special I/O Units. The Units
receive instructions from the Programming Controller’s Work Area and output
pulse trains to various motor drivers for positioning.
1-1-1 Functions
The Position Control Unit (PCU) responds to instructions from the CPU Unit
within 2 ms. (For more details on the conditions required, refer to Appendix A
Performance Characteristics.)
There are two different control methods. The first is memory operation, in which
the data required for positioning is transferred to the PCU and then specified for
position control, and the second is direct operation, in which the target position
and target speed are set each time from the CPU Unit.
The PCU is available with 1, 2, or 4control axes. With 2-axis and 4-axis models,
linear interpolation is possible for all axes. Either open collector output or line
driver output is available for any number of control axes. Choose the most
appropriate model according to the number of controlled axes and the desired
output type.
A stepping motor driver and a pulse train input type servo motor drive can be
connectedtothePCU.It is possibletosetdifferentoperating modes for different
axes allowing the combined use of different types of motor driver.
Whenaninterruptisinputduringpulseoutput,positioningiscontinuedforonlya
specified amount and then stopped.
Positioning can be performed for positions in the range --1,073,741,823 to
1,073,741,823pulsesandspeeds intherange1to500,000ppsin 1-pulseunits.
This means that positioning is possible over a wide range with speed precision.
The amounts of data that can be set for memory operation are shown in the fol-
lowing table:
High-speed Response
Memory Operation and
Direct Operation
Number of Control Axes
and Output Type
Motor Driver Selectable
by Axis
Interrupt Feeding
Position and Speed
Control Ranges
Data Capacity and
Backup

1-2SectionSystem Configuration
3
Type of data Number of data items per axis
Positioning sequences, speeds, positions 100
Acceleration times, deceleration times 9
Dwell times 19
Zones 3
ThesedataitemsaretransferredtothePCUforuse.Oncetheyhavebeentrans-
ferred to the PCU they can be saved to the PCU’s flash memory, so there is no
need for battery maintenance.
Note Thereisalimittotheservicelifeoftheflashmemory.Atotalofupto100,000data
saving operations can be performed.
The PCU is compatiblewith the Windows-based NC Support Tool (CX-Position)
that enables setting of the PCUs in a Windows environment. Using the
CS1-series single-port multi-access function, creation and transfer of parame-
ters and data for PCUs as well as operation monitoring are possible from the
same environment as the software used for CPU Unit ladder programming (CX-
Programmer).
1-2 System Configuration
The PCU receives control signals (CW limit, CCW limit, origin, origin proximity,
emergency stop, andexternal interruptinput signals)fromdevices andacontrol
panel,andoutputspulsetrainstosteppingmotordriversandservomotordrives.
CX-Position
(Available Soon)

1-2SectionSystem Configuration
4
1-2-1 CS1W-NC413 System Configuration Example
Backplane
CS1W-NC413
Position Control Unit CS1G/CS1H CPU Unit
Use for
setting data and
monitoring.
Editing parameters and data.
Monitoring status.
File management.
Computer:
CX-Position (available soon)
CX-Programmer
Power Supply Unit
Connection to
RS-232C port
Dedicated
terminal block
(see note) Dedicated
terminal block
External input signals
CCW limit
CW limit
Origin
Origin proximity
Emergency stop
External interrupt
24-VDC power
supply for I/F
CCW limit
CW limit
Origin
Origin proximity
Emergency stop
External interrupt
24-VDC power
supply for I/F
Pulse output
Pulse output
Stepping
Motor
Drives
Stepping Motors
or
Servo Motor Drives
Servo motors
Connection to peripheral port
External input signals
Stepping
Motor
Drives
Stepping Motors
or
Servo Motor Drives
Servo Motors
Note A dedicated cable is available for connecting the PCU to the dedicated terminal
block.

1-3SectionBasic Operations
5
1-3 Basic Operations
The PCU’s operations are as follows:
CS1W-NCj13/
j33 operations Position control Memory
operation Independent
Automatic
Continuous
Direct operation
Interrupt feeding
Speed control
Other operations Origin search
Jogging
Teaching
Override
Present position
preset
Backlash
compensation
Zone setting
Deceleration stop
1-3-1 Position Control
Positioning can be executed with either an absolute value (i.e., to an absolute
position from the origin) or with an incremental value (i.e., to a relative position
from the present position).
There are two methods for positioning: memory operation and direct operation.
Interrupt feeding, in which operation proceeds for a specified amount after an
interrupt input, is also possible.
With direct operation, positions and speeds are set directly from the CPU Unit
(ladder program), and positioning is executed according to operating com-
mands. It is also possible to change the speed and send commands to move to
Direct Operation

1-3SectionBasic Operations
6
different positions while positioning is being performed. Linear interpolation,
however, is not possible during direct operation.
Speed
Start Speed changed
Time
New target position
Target position before
position changed
Position changed
Start
With memory operation, positioning sequences (i.e., individual positioning
operations, which include data such as positions and speeds) are transferred to
the PCU in advance, and then positioning is executed from the CPU Unit by
specifying those positioning sequences by number. Depending on the comple-
tion code that is set, positioning sequences can be executed using independent
positioning, automatic positioning, or continuous positioning. In the following
illustrations, “#0” “#1” “#2” and “#3” indicate positioning sequence numbers.
Speed
“#0” “#1” “#2” “#3”
Independent
Positioning Automatic Positioning Continuous Positioning
Positioning Sequences Executed in Order
Start StopStart Pauses for length
of dwell time that
is set.
Does not stop.
Time
When aninterrupt input signalis received, positioning is continuedfor the speci-
fied amount of pulses and then stopped.
Time
Interrupt input signal
Specified amount
of pulses
Speed
Memory Operation
Interrupt Feeding