Omron SYSMAC C500-NC113 User manual
Cat.No. W323-E3-1
Position Control Units
SYSMAC
C500-NC113/C500-NC211
OPERATION MANUAL
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About this Manual:
This manual describes the installation and operation of the C500-NC113 (one-axis control) and
C500-NC221(two-axiscontrol) PositionControlUnits for C-series andCV-seriesPC.It includes thesec-
tions described below.
Pleasereadthismanualcarefullyandbesureyouunderstandtheinformationprovidedbeforeattempting
to install and operate the C500-NC113/221 Position Control Unit.
Section 1
describes the basic features and operations of the Position Control Unit, as well as the basic
configuration and operating principles of positioning control systems. Be sure to read and study these
sections carefully; an understanding of the control system is essential for successful operation.
Section 2
provides the specifications and illustrates the components of the Position Control Unit.
Section 3
explains the Position Control Unit’s connector pin arrangement and wiring.
Section 4
outlines the procedures that need to be performed before operating the Position ControlUnit.
Section 5
explains the Position Control Unit data configuration and the types of data involved in position
control.Therearetwomethodsforcreatingpositioncontroldata.Thefirstisto createitusingNCSupport
Software and then transfer it to the Position Control Unit, and the second is to create it in the CPU Unit’s
DM area according to PCU data addresses and then use the Intelligent I/O Write (WRIT) instruction to
transfer it to the Position ControlUnit. Both of these methods areexplained in this section, along with the
five types of position control data: positioning actions, speeds, acceleration/deceleration patterns, dwell
times, and parameters.
Section6
explainsthecommandsusedbythePositionControlUnit.Therearetwowaystoexecutecom-
mands.Onewayistoset theProgrammableController’soperatingmodetoeitherRUNorMonitor,andto
use the Intelligent I/O Write instruction (WRIT) to transfer nine words of command data to the Position
Control Unit. The other way is to set the Programmable Controller’s operating mode to Program, and to
give commands to the Position Control Unit by turning ON and OFF bits in the output area allocated for
Special I/O.
Section 7
explains the two ways in which the Position Control Unit’s current status is transmitted to the
CPU Unit. The term “status” here refers to the operations that the Position Control Unit is currently per-
forming, and to the operating conditions. The first way in which the PCU status is transmitted to the CPU
Unit is the regular transfer of one word of data with the I/O refresh. The other way is the transfer, as re-
quired, of 15 words of data by means of the Intelligent I/O Read instruction (READ).
Section 8
provides some simple example of Position Control Unit operations, including explanations of
basic procedures, trial operation, and ladder program examples.
Section 9
explains how to make the settings required for Position Control Unit operations.
Section 10
provides examples of programs for some practical applications.
Section 11
explains the internal processing of the Position Control Unit.
Section 12
explains the error processingprocedures for the PositionControl Unit, includingerror codes,
alarm codes, displays, and troubleshooting.
The
Appendix
provides data memory coding sheets and command and status charts.
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 inits entirety andbe sureyou understand theinformation providedinthe section
and related sections before attempting any of the procedures or operations given.
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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 ma-
chines, safety equipment, and other systems, machines, and equipment that
may have a serious influence on lives and property if used improperly, consult
your OMRON representative.
Make sure that the ratings and performance characteristics of the product are
sufficientfor thesystems,machines,andequipment,andbesureto providethe
systems, machines, and equipment with double safety mechanisms.
Thismanualprovides informationforprogrammingandoperatingPositionCon-
trol Unit. Be sure to read this manual before attempting to use the software and
keep this manual close at hand for reference during operation.
WARNING It is extremely important that a PC and all PC Units be used for the specified
purpose and under the specified conditions, especially in applications that can
directly or indirectly affect human life. You must consult with your OMRON
representative before applying a PC System to the abovementioned
applications.
3 Safety Precautions
WARNING NeverattempttodisassembleanyUnitswhilepowerisbeingsupplied.Doingso
may result in serious electrical shock or electrocution.
WARNING Never touch any of the terminals while power is being supplied. Doing so may
result in serious electrical shock or electrocution.
Caution Confirm safety at the destination node before transferring a program to another
nodeoreditingtheI/Oarea.Doingeitherofthese withoutconfirmingsafetymay
result in injury.
Caution Tighten the screws on the terminal block on the AC Power Supply Unit to the
torquespecifiedinthereferencemanuals.Loosescrews may resultinshort-cir-
cuits, malfunction, or burning.
Caution Wirecorrectlyas specifiedinthis manual.Incorrectwiring mayresultinburning.
Caution Double-checkpinnumbersbeforewiringconnectors.Incorrectwiringmayresult
in burning in the Unit.
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4 Operating Environment Precautions
Do not operate the control system in the following places.
•Locations subject to direct sunlight.
•Locations subject to temperatures or humidity outside the range specified in
the specifications.
•Locationssubjecttocondensationastheresultofseverechangesintempera-
ture.
•Locations subject to corrosive or flammable gases.
•Locations subject to dust (especially iron dust) or salts.
•Locations subject to shock or vibration.
•Locations subject to exposure to water, oil, or chemicals.
•Take appropriate and sufficient countermeasures when installing systems in
the following locations.
•Locations subject to static electricity or other forms of noise.
•Locations subject to strong electric fields or magnetic fields.
•Locations subject to possible exposure to radioactivity.
•Locations close to power supplies.
Caution Theoperatingenvironmentof thePCSystemcanhavealargeeffect onthelon-
gevityandreliabilityofthesystem.Improperoperatingenvironmentscanleadto
malfunction, failure, and other unforeseeableproblems with the PC System. Be
surethattheoperatingenvironmentiswithin the specified conditions atinstalla-
tion and remains within the specified conditions during the life of the system.
5 Application Precautions
Observe the following precautions when using the PC.
WARNING Failure to abide by the following precautions could lead to serious or possibly
fatal injury. Always heed these precautions.
•Always ground the system to 100 Ωor less when installing the system to pro-
tect against electrical shock.
•Alwaysturnoffthepowersupply tothePCbeforeattemptinganyofthefollow-
ing:
•Mounting or dismounting the NC Unit.
•Assembling the devices.
•Setting DIP switches or rotary switches.
•Connecting or disconnecting the driver connectors.
Caution Failuretoabidebythefollowingprecautionscouldleadtofaulty operationofthe
PC or the system or could damage the PC or PC Units. Always heed these pre-
cautions.
•Fail-safe measures must be taken by the customer to ensure safety in the
eventofincorrect,missing,orabnormalsignalscausedbybrokensignallines,
momentary power interruptions, or other causes.
•Interlock circuits, limit circuits, and similar safety measures must be provided
by the customer as external circuits.
•Always use the power supply voltage specified in this manual.
•Take appropriate measures to ensure that the specified power with the rated
voltage and frequency is supplied. Be particularly careful in places where the
power supply is unstable.
5
•Install external breakers and take other safety measures against short-circuit-
ing in external wiring.
•Do not apply voltages to the Input Units in excess of the rated input voltage.
•Do not apply voltages or connect loads to the Output Units in excess of the
maximum switching capacity.
•Disconnect the functionalground terminal whenperformingwithstandvoltage
tests.
•Do not attempt to disassemble, repair, or modify any Units.
•Be sure that all mounting screws and cable connector screws are tightened to
the specified torque.
•M2.6: 0.3 N
m (personal computer connecting cable screws)
•M4: 1.2 N
m (Unit mounting screws)
•Use crimp terminals for wiring. Do not connect bare stranded wires directly to
terminals.
•Double-check all the wiring before turning on the power supply.
•Be sure that the connecting cables and other items with locking devices are
properly locked.
•Check the user program for proper execution before actually running it in the
Unit.
•Be sure that the set parameters and data operate properly.
•Confirm that no adverse effect will occur in the system before performing the
following operations:
•Changing the operating mode of the PC.
•Force-resetting the relay contacts.
•Changing the present values or set values.
•Changing positioning data or parameters.
•Donotpullonthecablesorcords, donotbend them beyondtheirnaturallimit,
and do not place any object on top of them.
•ResumeoperationonlyaftersavingintheNCUnittheparametersandposition
data required for resuming operation.
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1-1Section
1-1 Features
C500-NC113
Position Control Unit
(1-axis control)
C500-NC211
Position Control Unit
(2-axis control)
The C500-NC113/211 Position Control Unitis a C-series and CV-series Special
I/O Unit that receives positioning commands either externally or via Intelligent
Write instructions, and uses that data to output control pulses to a stepping mo-
tordriveroraservomotordriver.Positioningdatacanbepreparedinadvanceby
NC Support Tool and then transferred to the Position Control Unit.
Thepulsetrainoutputcanbeeasilyconnectedtoeitherofthefollowingdevices:
1, 2, 3...
1. Stepping motor driver
2. Servomotor driver designed for pulse train input
Available are the one-axis Unitand the two-axis Unit. The two-axis Unit is capa-
ble of either controlling both axes simultaneously (linear interpolation) or con-
trolling each axis independently.
NCSupportToolcanbeusedforreadingandwritingpositioningdatabetweena
personal computer and the C500-NC113/211. This data can be saved as files
and/or printed out. NC Support Tool canalso be used for monitoringpositioning
actionsandI/O duringexecution.FordetailsonNCSupportTool,refertothe
NC
Support Tool Operation Manual
.
The two-axis Unit provides better space efficiency.
Override changes of 10% to 200% can be made even during positioning.
The C500-NC113/211 provides ample data capacity, with 500 positioning ac-
tions per axis, 30 parameters per axis, 100 acceleration/deceleration times per
axis, 50 speeds per axis, and 30 dwell times for both axes combined. All of this
dataisstoredintheUnit’sbuilt-inEEPROM,thuseliminatingtheneedforbattery
maintenance.
The C500-NC113/211 Position Control Unit can be used with C-series
(C500,C1000H, or C2000H) or CV-series PCs.
Section Overview
Applicable Motor Drivers
Number of Control Axes
and Controlling Capacity
NC Support Tool
Compact Size
Flexible Control
Large Data Capacity with
Backup
Applicable CPU Units
1-1Section
#
All data and command communications between the Programmable Controller
and Position Control Unit use the Intelligent I/O Read and Write instructions.
Because the C500-NC113/211 utilizes Intelligent I/O Read and Write instruc-
tions, it cannot be operated in situations where these instructions cannot be
used. For example, itcannot be operatedwith a Remote I/O Slave Unitor with a
CPU Unit that does not support these instructions.
Data Communications
Between PCU and PC
1-2Section
'
1-2 System Configuration
The Position Control Unit receives control signals (CW limit, CCW limit, origin,
originproximity, emergencystop,interrupt)fromdevicesand/ora controlpanel,
and outputs pulse signals to a stepping motor driver.
C500-NC113/211
Position Control Unit
Control panel
Power
supply
Stepping
motor driver
Stepping
motor driver
Stepping motor
Stepping motor
Emer-
gency
stop
switch
Interrupt
input
switch
NC Support Tool
Pulse
outputs
CCW limit
switch
Origin proximity
switch Origin signal
switch
CW limit
switch
Power
supply
Input
Pulse
outputs
Note The NC113 is a one-axis
control Unit.
Stepping Motor Driver
Connection
1-2Section
&
The Position Control Unit receives control signals (CW limit, CCW limit, origin
proximity)fromthedevicesand/oracontrolpanel,andencoderZ-phasesignals
from a servomotor driver, and outputs pulse signals and error counter reset sig-
nals to the servomotor driver.
C500-NC113/211
Position Control Unit
Control panel
24-VDC
Power
Supply Emergency
stop switch Interrupt
input
switch
NC Support Tool
Pulse
outputs
CCW limit
switch
Origin proximity switch
CW limit switch
Input
24-VDC
Power
Supply
Encoder Z-phase
inputs
Error counter
reset outputs
Encoder Z-phase
inputs
Error counter
reset outputs
Pulse outputs
R88D-U-series
AC Servomotor Driver
R88M-U-series
AC Servomotor
R88D-U-series
AC Servomotor Driver
R88M-U-series
AC Servomotor
Encoder
Z-phase
Encoder
Z-phase
Pulse
outputs
Note The NC113 is a one-axis
control Unit.
Servomotor Driver
Connection
1-3Section
)
1-3 Basic Operations
TheC500-NC113(one-axis)andC500-NC211(two-axis) PositionControlUnits
controlpositionsandspeedsbypulseoutputs.Forbothpositionandspeedcon-
trol, positioning actions are executed in the acceleration/deceleration trapezoi-
dalpatternshown inthe followingdiagram.Upto500 positioningactionscanbe
stored for each axis. Positioning actions are executed in order, beginning with
the initial positioning action.
Positioning action addresses
from 1000 onwards
Accel-
eration
pattern
No.
Initial
speed
(com-
mon)
Address 1499
Target position data
(amount of movement
toward target position)
Time
Time
Indirect designation Indirect designation
Address Acceleration/deceleration
patterns Address Speeds
Order of execution
Speed No.
Decel-
eration
pattern
No.
Initial positioning
action address
Example: 1010
Initial positioning
action address + 1
Example: 1011
Initial positioning
action address + 2
Example: 1012
1-3Section
"
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).
Inaddition,dependingoninstructionsfromthePCandinterruptinputs,position-
ingcanbeexecutedusingeither“speedcontrol,”inwhichaxesareoperatedata
fixedspeedforthatoperation,or“interruptfeeding,”inwhichaxesaremovedfor
the specified amount during speed control and then stopped.
Absolute movement
Relative movement
CW
CW
Origin
Absolute position
Origin Present position
Relative position (amount of movement)
Interrupt feeding
Speed control
Interrupt feeding (completion code 5)
Present position = 0
Specified amount of movement
CCW
CCW
Time
STOP
Continuous output
Time
Speed
Speed
Positioning
1-3Section
*
There are two kinds of manual operation: jogging and inching.
Jogging
The jogging operation moves the axis at a designated speed and then stops it.
High-speed Jogging Low-speed Jogging
HIGH-
SPEED
JOG
LOW-
SPEED
JOG
Speed
Pulse
output
Time
High-speed
jogging speed
Speed
Pulse
output
Time
Low-speed
jogging speed
Inching
The inching operation moves the axis for a designated number of pulses.
INCHING
Pulse output
Designated number of pulses
Time
Other Operations Origin Search
The origin search operation finds the origin for the designated axis.
ORIGIN SEARCH
Origin proximity signal
Origin signal
Pulse output Stop
Manual Operation
1-3Section
+
Origin Return
With a command from the PC, the origin return operation returns the axis to the
origin.
ORIGIN RETURN
Speed
Pulse output
Origin return speed
Time
Teaching
WithacommandfromthePC,theteachingoperationwritesthepresentposition
to a designated address.
Origin Present position
Present positioning action address
Changing the Present Position
WithacommandfromthePC,thisoperationchangesthepresentpositiontothe
specified data.
Origin Present position Present position
Changing Speeds
With an interrupt signal or a command from the PC, this operation changes the
speed.
CHANGE SPEED
Target speed
address
4000 Target
speed
address
4001 Target speed
address
4002
Speed
Time
1-3Section
,
Override
TheOVERRIDEcommandcan beusedto changethetargetspeedduringposi-
tioning by applying a speed coefficient.
Speed Speed coefficient = 1.5
Time
Ax1.5
Deceleration Stop
Operation can be decelerated to a stop by means of aninterrupt inputor a com-
mand from the PC.
STOP
Speed
Pulse output
Time
Home Shift
Home shift adds a specified amount to the position data that has been set for a
positioning action.
Home shift amount added
to positioning action
Speed
Time
Origin Compensation
Origin compensation adds a specified value to the origin when positioning is
executed by an origin search.
ORIGIN SEARCH
Pulse output
Origin compensation
Stop
Backlash Compensation
This operation compensates for the amount of mechanical play, or “looseness,”
present in gears.
1-3Section
Zones
A zone is a range of positions which can be defined so that flags are turned ON
whenever the present position is within the range.
Present position Present position Origin
Zone setting
Zone Flag
Position control
Speed control
Manual
operation
Other
operations
PCU operations
Absolute positioning (according to absolute value)
Relative positioning (according to incremental value)
Interrupt feeding
Jogging
Inching
High-speed jogging
Low-speed jogging
Origin search
Origin return
Teaching
Present position change
Speed change
Deceleration stop
Home shift
Origin compensation
Backlash compensation
Zone setting
Override
1-4Section
1-4 Control System Principles
Data Flow
PC
BUS
I/F
SYSMAC
C/CV/CVM1
Series
C500-NC113/211 Position Control Unit
Rotary encoder
Tachogenerator
Servomotor driver
Pulse train
Power am-
plifier
Pulse trainStepping motor driver
I/O
interface
MPU
Memory
Pulse
genera-
tor
Magnetizing dis-
tribution circuit
Servomotor
(Positioning output)
External in-
put
Stepping motor
Error counter Power amplifier
I/O connector
PC
BUS
I/F
RS-232
I/F
Personal computer
connector
This manual suits for next models
1
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