CV500-CN624

CS1 Series CS1W-MC421/221 Motion Control Modules Specification Sheets Product Specifications CS1 Special I/O Modules CS1-series Motion Control Modules CS1W-MC421/221 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 Modules 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 interpolation, and traversing are all possible. The MC Module has been developed for use in simple positioning applications using Servo Motors. Applicable machines are as follows: · System Configuration MC Module (Example: CS1W-MC221) CPU Unit MC Support Software Analog input Servo Motor Servo Drive Conveyor Systems: X/Y tables, palletizers/depalletizers, loaders/unloaders, etc. Teaching Box · Note: CS1W-MC221 CS1W-MC421 Assembling Systems: Automated assembling machines (such as coil winding, polishing, hole punching), simple robots, etc. The MC Module 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 Module can, however, perform PTP control with these robots. MC Terminal Block Conversion Unit Automatic Mode G language program MC Module CPU Unit Data bits Operating commands Manual Mode MC Module Teaching Box CPU Unit Data bits Manual controls “Programmable Controller” is abbreviated as “PC” in these Specification Sheets. Manual controls 1 Product Specifications Motion Control Modules Stop Mode Position control Speed control Origin search Interrupt feeding Traversing Automatic Mode (Executes G-language programs in the MC Module.) Pass Mode In-position Check OFF Mode Dwell timer Arithmetic operations, etc. Jogging Deceleration stop MC Module functions Present position preset Origin search (manual) Servo lock/Servo unlock Manual Mode (Executes manual commands from the CPU Unit or Teaching Box.) Error counter reset Forced origin Standard origin return Absolute origin setting Teaching Zones Common to Automatic and Manual Modes Backlash correction Override Electronic gear Features Multitasking G Language The MC Module is provided with a multitasking G language, which is the optimum language for motion control. The G language makes it simple to create programs for multiaxis control, without placing a burden on the CPU Unit’s ladder diagram program. ideal for high-speed synchronization between the MC Module 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 multi-turn 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 Time 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. Simple and Fast Traverse 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 operations. Supports Absolute Encoders The MC Module is compatible with absolute encoders as a standard feature, eliminating the need to perform an origin search. Incremental 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 Module 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: Two-axis MC Module This function applies to the X axis when a 2-axis, 1-task configuration is used. Four-axis MC Module 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 Module can be used with high-speed and high-precision Servo Motors. This is double the response frequency of the earlier models. 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 completed or when passing through a particular position. This feature is 2 Motion Control Modules Product Specifications · · 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 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. so that the user can easily understand the location of the data currently being set, edited, or monitored. · Servo Information Trace 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 Module, 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 Module’s internal memory. This function allows the system to cope with an application consisting of more than 100 programs. · Single-port Multi-access Function (SPMA) 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 environments on a single computer. · 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. · 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. · Error Logging The error log can store up to 20 error records, such as positioning errors or hardware errors in the MC Module 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. · 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. Windows-based MC Support Software: CX-Motion · Multiple MC Module Management in Project Units Multiple MC Modules can be registered as one project. This allows simultaneous management of multiple MC Modules. · Tree Display for Edit or Monitor Screens Data will be displayed in tree format on the left side of the window Data Creation Using Teaching Box In addition to entering numbers in the Position Data Edit Window of the MC Support Software (CX-Motion), it is possible to create position data by using the Teaching 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 CS1 Series Unit classification CS1 Special I/O Unit Controlled driver Number of controlled axes Analog input Servo Drive Model 4 CS1W-MC421 2 CS1W-MC221 MC Module Support Software (Sold Separately) Name CX-Motion Computer IBM PC/AT or compatible Supported MC Modules CS1W-MC421/221, C200H-MC221, CV500-MC421/221 Specifications Model 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 Modules, 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/AT or compatible 2.0 m, 6.0 m CS1W-CNjjj RS-232C port IBM PC/AT or compatible 2.0 m, 5.0 m XW2Z-jjjS (-jj) 3 Product Specifications Motion Control Modules Specifications Item Specifications Model CS1W-MC221 CS1W-MC421 Applicable PC CS1 Series Type of Unit CS1 Special I/O Unit Backplanes on which MC Module can be mounted CPU Backplane or CS1 Expansion I/O Backplane (See note 1.) Method for data transfer with CPU Unit 30 words/Unit (uses 3 unit numbers.) (See note 2.) Words allocated to Special I/O Units in CIO Area 50 words/Unit (uses 5 unit numbers.) (See note 2.) CPU Unit to MC Module: Commands: G-language program execution/stop, origin search, manual operation, etc. Data transfer: Position data, acceleration/ deceleration data, etc. MC Module to CPU Unit: Status: Positioning completed, zones, busy flag, etc. Monitor data: Present position, error codes, M codes, etc. Words allocated to Special I/O Units in DM Area Controlled Driver Not used. Not used. Analog input Servo Drive (Example: OMRON W 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 controlled axes 2 max. Automatic/Manual Mode (for each task) 4 max. Multitasking can be used to execute independent operating modes and programs for each axis. 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 Teaching Box. Note: The Automatic or Manual Mode is set according to the PC interface area of the CPU Unit. There are a total of 11 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 Teaching 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. Positioning operations PTP (independent) control Execution by independent programs, operating modes for each axis. Linear interpolation 2 axes max Circular interpolation Circular interpolation for a maximum of two axes on a plane. Helical circular interpolation --- Traverse function Traverse 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.) 4 axes max. 4 axes max. Circular interpolation for a maximum of two axes on a plane + one axis for feed control Speed reference 1 pps to 2,000 kp/s (when ratio is 4) Acceleration/deceleration curve Trapezoidal or S-curve Acceleration/deceleration time Individual acceleration/deceleration settings possible: 0 to 100,000 ms (2-ms increments) Note: 1. The MC Module must be mounted to the CPU Rack to use D codes. D codes will not be sent to the CPU Unit if the MC Module is mounted to a CS1 Expansion Rack. 2. The number of MC Modules 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. 4 Motion Control Modules Product Specifications Item External I/O Specifications Peripheral device Teaching Box (1 only) Encoder Line receiver inputs: For two axes (500 kp/s before multiplication) MPG/sync encoder Line driver output-type MPG/sync encoder: 1 500 kp/s max. (before multiplication) Servo Drive relationships The following signals are each provided for two axes: Inputs: Line receiver inputs: For four axes (500 kp/s before multiplication) The following signals are each provided for four axes: Drive alarm signals Outputs: Drive 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: Input: Feed operations Axis control Task program management The following signals are each provided for four axes: 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) Rapid feed rate Example: 36.86 m/min 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%) Zone settings Up to 8 zones/axis can be set. 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% Number of tasks 2 max. (program execution units) 4 max. (program execution units) Number of programs When 1 task is used: When 2 tasks are used: When 1 task is used: When 2 tasks are used: When 3 task are used: When 4 tasks are used: Program capacity When 1 task is used: 2,000 blocks When 2 tasks are used: 1,000 blocks/task 100 50 The maximum number of blocks in a single program is 800. 100 50 33 25 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. Saving program data 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. MC Module Backed up by flash memory. External peripheral devices CX-Motion can be used to save data to a floppy disk or the hard disk at the personal computer. 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 Module. 5 Product Specifications Motion Control Modules Item Specifications Self-diagnostic function Memory corruption is detected. Error detection functions Error counter warning, error counter over, absolute encoder error detection, CPU errors, communications errors (Teaching 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. Settings Front panel: Rotary switches for unit number setting (0 to 93) Front panel: Rotary switches for unit number setting (0 to 91) Rear panel: None Rear panel: None Indicators 7 LED indicators: Running, MC Module error, CPU Unit error, motor rotation direction for each axis (CCW/CW) 11 LED indicators: Running, MC Module error, CPU Unit error, motor rotation direction for each axis (CCW/CW) Connections on front panel Servo Drive connector, I/O connector, Teaching Box connector (one each) Servo Drive connectors (two), I/O connector, Teaching Box connector, MPG connector Power supply voltage 5 VDC (from Backplane) 24 VDC (from external power supply) Voltage fluctuation tolerance 4.75-5.25 VDC (from Backplane) 21.6-26.4 VDC (from external power supply) Internal current consumption 600 mA or less for 5 VDC (with Teaching Box connected: 800 mA or less) 700 mA or less for 5 VDC (with Teaching Box connected: 1,000 mA or less) Weight (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 Servo Drives and 10336-52F0-008 Connector Cover (manufactured by Sumitomo 3M): 1 set 10136-3000VE snap-on connector for Servo Drives 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 10126-3000VE snap-on connector for I/Os and 10326-52F0-008 Connector Cover (manufactured by Sumitomo 3M): 1 set Antistatic screws: 4 10114-3000VE snap-on connector for MPG and 10314-52F0-008 Connector Cover (manufactured by Sumitomo 3M): 1 set Antistatic screws: 8 Cat. No. 6 W359 Motion Control Modules Product Specifications Options (Sold Separately) Name Specifications Model MC Terminal Block Conversion Unit For easier wiring of I/O connectors MC Terminal Block Conversion Unit Cable For connecting the I/O connectors on the front panel of the Unit XW2Z-100J-F1 Snap-on connector for Servo Drive connector on Unit front panel (1 or 2 sets provided as standard on the Unit) Soldered connector 10136-3000VE (manufactured by Sumitomo 3M) Connector cover 10336-52F0-008 (manufactured by Sumitomo 3M) Snap-on connector for I/O connector on Unit front panel (1 set provided as standard on the Unit) Soldered connector 10126-3000VE (manufactured by Sumitomo 3M) Connector cover 10326-52F0-008 (manufactured by Sumitomo 3M) Snap-on connector for MPG connector on Unit front panel (1 set provided as standard on the CS1W-MC421 Unit only) Soldered connector 10114-3000VE (manufactured by Sumitomo 3M) Connector cover 10314-52F0-008 (manufactured by Sumitomo 3M) Teaching Box Jogging, origin search, present value monitoring, and other operations by means of manual commands CVM1-PRO01-E 2-axis XW2B-20J6-6 4-axis XW2B-40J6-7 Teaching (taking present values into position data) Teaching Box Connecting Cable ROM Cassette Cable length: 2 m CV500-CN224 Cable length: 4 m CV500-CN424 Cable length: 6 m CV500-CN624 Required when the CVM1-PRS21-V1 Programming Console is used as a Teaching Box. CVM1-MP702 CX-Motion Connecting Cables Unit CPU Unit Port on Unit Computer Port on computer Serial communications mode (network) Peripheral IBM PC/.AT or compatible 9-pin D-sub male Peripheral bus or Host Link RS-232C (9-pin D-sub female) Serial Communications Board/Unit RS-232C (9-pin D-sub female) Model numbers Length CS1W-CN226 2.0 m CS1W-CN626 6.0 m C200HS-CN220-EU 2.0 m C200HS-CN220-EU 2.0 m Serial communications mode (network) Model numbers Length Peripheral bus or Host Link CS1W-CN118 + C200HS-CN220-EU 0.1 m + (2 or 5 m) Host Link CS1W-CN118 + C200HS-CN220-EU Host Link Remarks --ESD (static electricity)-resistant connectors used. Connecting RS-232C Cable to Peripheral Port Unit CPU Unit Port on Unit Computer Port on computer Peripheral port IBM PC/.AT or compatible 9-pin D-sub male Remarks ESD (static electricity)resistant connectors --- Connecting CQM1-CIF01/02 Cable to Peripheral Port Unit CPU Unit Port on Unit Peripheral port Computer Port on computer IBM PC/.AT or compatible 9-pin D-sub male Serial communications mode (network) Host Link Model numbers CS1W-CN114 + CQM1-CIF02 Length 0.5 m + 3.3 m Remarks --- 7 Product Specifications Motion Control Modules Connecting an IBM PC/AT or Compatible with RS-232C Cable Port on Unit Unit CPU Unit RS-232C (9-pin D-sub female) Serial Communications Board/Unit RS-232C (9-pin D-sub female) Computer IBM PC/.AT or compatible Port on computer 9-pin D-sub male Serial communications mode (network) Model numbers Length Host Link C200HS-CN220-EU 2m Host Link C200HS-CN220-EU 2m Remarks --- Applicable CPU Units PC CS1-series CPU Unit model number CS1H-CPUjj CS1G-CPUjj Total number of MC Modules that can be mounted on CPU Racks and Expansion I/O Racks CS1W-MC221: 32 Units (each Unit requires 30 words equivalent to 3 unit numbers; unit numbers 0 to 93) Unit location restrictions None 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. Overview of Operations Item Operating modes Contents 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 8 Jogging Moves axes continuously by manual operation. 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 Module 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 Servo Drive, 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 Servo Drive. 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 Servo Motor driver. Motion Control Modules Product Specifications Item Automatic Automatic Contents 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. (Available for CS1W-MC421 only.) Traverse 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. Workpiece origin return Automatically returns to workpiece origin. Automatic origin return Automatically returns to reference coordinate system origin. 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 Temporarily 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 Module. 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) Automatic and Manual Mode 0 to 255 Starts a CPU Unit external interrupt task when positioning is completed or when passing through a particular position. 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 Servo Drive.) 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 Servo Drive alarm. Data transfer Data is transferred between the CPU Unit and the MC Module 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. 9 Product Specifications Motion Control Modules Comparison with Earlier MC Module Model The following table shows the points of difference between the CS1W-MC221/MC421 and C200H-MC221 MC Modules. Item CS1W-MC221/MC421 C200H-MC221 Number of control axes 2 or 4 axes 2 axes only Binary indications All binary (present position, program number, block number, M code, override, error code) BCD Encoder response frequency 500 kp/s (before multiplication) 250 kp/s (before multiplication) Encoder pulse ratio 1, 2, or 4 times 4 times only Program capacity 2,000 blocks 800 blocks Acceleration/deceleration time 0 to 100.000 s 0 to 9.999 s Speed reference range 1 pps to 2,000 kp/s 1 pps to 1,000 kp/s Start time 2-axis Units: 8 ms max. 4-axis Units: 12 ms max. 2-axis Units: 12 ms max. Note: Two-axis MC Module: This function applies to the X axis when a 2-axis, 1-task configuration is used. Four-axis MC Module: This function applies to the X axis when a 4-axis, 1-task configuration is used. Optional inputs Optional No. 0 to 15: Inputs from CPU Unit Optional No. 0 to 4: Inputs from CPU Unit Optional No. 16 to 19: General inputs 1 to 4 Optional No. 5 and 6: General inputs 1 and 2 General outputs, brake signal outputs Four output signals are provided, and can be selected. No output signals are provided. MPG signals 500 kp/s max. (before pulse ratio of 1, 2, or 4) Y axis instead of MPG Circular interpolation (G02, G03) Multiturn circular interpolation can be set. Within one turn only. Helical circular interpolation With 4-axis Units, 2-axis circular interpolation on a plane + 1-axis feed control is possible. Not supported. Traverse command (G32) A 2-axis traverse operation is available, with a traverse time of 4 ms max. Not supported. Unlimited Feed Mode Unlimited feeding can be either specified or not specified for an axis. (The software limit is ignored.) Cannot be specified. Present position display for unlimited feeding When unlimited feeding is specified for an axis, the software limit is ignored. The present position refresh range can be set. Not supported. Interrupt feeding (G31) Speed control remains in effect when there is no interrupt signal. The feed rate cannot be changed during operation. Backlash setting range Positioning is possible even without any interrupt signal. The feed rate can be changed during G00, G01, G02, G03, G26, G27, G30, G31, and G32 operations (except for pass operations). 0 to 10,000 pulses In-position setting range 0 to 10,000 pulses 0 to 999 pulses Zone setting Conditions for using zones: Override Origin search 0 to 999 pulses Use regardless of whether or not the Use only when origin is determined, or origin is established. regardless of whether or not origin is determined. The initial setting is for zones to be used only when the origin is established. Can be executed even when an absolute encoder is used. Cannot be executed when an absolute encoder is used. Parameter can be set to shorten origin Not possible to select deceleration search time. stop or accumulated pulse stop for when CW or CCW limit is detected. Either deceleration stop or accumulated pulse stop can be selected for when CW or CCW limit is detected. Forced origin 10 Present position can be forcibly set to The present position is set to 0 by the 0, and established as the origin. (In an present position preset function. absolute encoder system, only the MC Module’s present position is set to 0.) Motion Control Modules Product Specifications Item CS1W-MC221/MC421 Absolute encoder origin setting The absolute encoder origin can be set even while servo-lock is in effect. Electronic gear function The numerator and denominator can be set. After a positioning command output has been completed, this command lets the next operation start without waiting for positioning to be completed. The error counter can be reset for each axis. Can be used for notifying of the CPU Unit of interrupts. An M code or D code can be output after a fixed amount of axis movement during operation. IN-POSITION CHECK OFF command (G13) Error counter reset D code (interrupt code) Stopover function (Code output during axis movement) C200H-MC221 Origin is set by either the absolute-value initial setting or the absolute-value software reset function. (It cannot be set while servo-lock is in effect.) Integers only Not supported. Not supported. Not supported. Not supported. Acceleration/deceleration time setting for pass operations Either the acceleration or deceleration time of the previous operation can be selected for pass operations. Fixed acceleration mode for pass operations A fixed acceleration mode is added for Fixed acceleration time mode only when pass operations are executed for one axis only. Servo system parameter changes (G code: G69) Servo-lock Servo system parameters can be changed by a G code. There is a brake signal timing adjustment function. There is a brake signal timing adjustment function. Servo-unlock can be used at any time. Not supported. Up to 20 items can be saved. Integrated with absolute origin setting. Not supported. Servo-unlock Error log Absolute value initial setting Absolute value software reset MPG Operating Flag Servo data trace function Busy signal is used instead. Pass operations are executed with the acceleration time. There is no brake signal timing adjustment function. There is no brake signal timing adjustment function. Servo-unlock cannot be used while other manual commands are being executed. Not supported. Not supported. Not supported. Present position preset Setting teaching address Traces servo data. Can be used with CX-Motion. All data is transferred using IORD or IOWR. Executed by IOWR. Executed by IOWR. Data is transferred by means of either I/O transfers or IORD/IOWR. Executed by special interrupt bit. Executed by special interrupt bit. Saving to flash memory Executed by IOWR. Executed by special interrupt bit. Emergency stop method Stopped by accumulated pulse method or by operation command output turning OFF after a 0 V output. Stop by turning OFF operation command output. Automatic loading G-language programs and position data are downloaded from a personal computer by means of commands from the CPU Unit, used in combination with CX-Motion. Not supported. Data transfer method Not supported. 11 Product Specifications Motion Control Modules Performance The following table shows the typical values of each performance item. These values, however, vary according to the task configuration, axis configuration, and so on. For details, refer to the Motion Control Modules Operation Manual (W359-E1-1). Item Typical value Description Power ON startup time Average: 600 ms Time from turning ON the power until manual operation commands are accepted. Cyclic service time CS1W-MC221: CS1W-MC421: IOWR execution time 0.7 ms/instruction Time by which the cycle time will be extended when IOWR is executed. IORD execution time 0.8 ms/instruction Time by which the cycle time will be extended when IORD is executed. Data write time 475 ms/1,000 words Time from when IOWR is executed until data transfer is completed. Data read time 470 ms/1,000 words Time from when IORD is executed until data transfer is completed. Operation startup time CS1W-MC221: CS1W-MC421: 8 ms 12 ms MC221: Time for X axis operation with a 1-task, 2-axis configuration. MC421: Time for X axis operation with a 1-task, 4-axis configuration. Analog voltage output time lag per axis for interpolation CS1W-MC221: CS1W-MC421: 150 ms 210 ms Time delay when interpolation is performed for 1 task. Analog voltage output time lag per axis for independent operation CS1W-MC221: CS1W-MC421: 4.3 ms/axis 4.3 ms/axis Time delay when one axis each is started for all tasks simultaneously. Interrupt notification time 2.25 ms G language interpretation time CS1W-MC221: CS1W-MC421: 2.0 ms 4.2 ms Interpretation time for G language when axis movement is not performed. Minimum operation time CS1W-MC221: CS1W-MC421: 8.5 ms 9.5 ms When the time for linear interpolation is equal to or less than the values give, Stop Mode operation will be used even in Pass Mode or In-Position Check OFF Mode. Minimum traverse reversal time 2 ms External input response time General purpose input: Emergency stop input: CW/CCW limit input: Origin proximity input: Zone Flag notification time CS1W-MC221: CS1W-MC421: 0.8 ms/Unit 0.85 ms/Unit Time by which the CPU Unit cycle time will be extended per MC Module. When C200Hj-series Special I/O Unit is not mounted. Reversing operation is possible every 2 ms for traverse operation. 1 ms max. 4.5 ms max. 4.5 ms max. 4.5 ms 14.08 ms 34.08 ms Response time to external input signals. The time required for one Zone Flag to respond. G Language Example Block number (N000 to N999): Equivalent to a program line number. N000 P001 XY Program number and axis declaration N001 G91 G code: 2-digit number following “G” represents a command. Incremental Specification N002 G00 X100 Y50 M001 Positioning: Moves the X axis by 100 and the Y axis by 50 from the present position, and outputs M code 001 after positioning has been completed. Code Function Name 4-axis MC Module 2-axis MC Module CS1W-MC221 CS1W-MC421 G00 Positioning Positions up to 2 or 4 axes simultaneously with PTP control at the maximum feed rate. G01 Linear Interpolation Performs linear interpolation on 1, 2, 3, or 4 axes (1 or 2 axes for MC221). The specified axes move simultaneously. The feed rate can be specified. 12 Motion Control Modules Product Specifications Code Name Function 4-axis MC Module 2-axis MC Module CS1W-MC221 CS1W-MC421 G02 Circular Interpolation (Clockwise) Performs 2-axis circular interpolation in the clockwise direction at the specified interpolation feed rate. G03 Circular Interpolation (Counterclockwise) Performs 2-axis circular interpolation in the counterclockwise direction at the specified interpolation feed rate. G04 Dwell Timer Waits for the specified length of time. G10 Pass Mode Performs operations one-by-one in sequence without waiting for deceleration to stop. G11 Stop Mode Performs the next operation after completing positioning. G13 IN-POSITION CHECK OFF MODE Starts the next operation without waiting for positioning to be completed. G17 Circular Plane Specification (X-Y) Sets the X-Y plane as the plane for circular interpolation. G18 CIRCULAR PLANE SPECIFICATION (X-Z) Sets the X-Z plane as the plane for circular interpolation. G19 CIRCULAR PLANE SPECIFICATION (Y-Z) Sets the Y-Z plane as the plane for circular interpolation. G20 CIRCULAR PLANE SPECIFICATION (X-U) Sets the X-U plane as the plane for circular interpolation. G21 CIRCULAR PLANE SPECIFICATION (Y-U) Sets the Y-U plane as the plane for circular interpolation. G22 CIRCULAR PLANE SPECIFICATION (Z-U) Sets the Z-U plane as the plane for circular interpolation. G26 Reference Origin Return Moves to the reference origin. G27 Workpiece Origin Return Moves to the workpiece origin. G28 Origin Search Performs an origin search on the specified axis. G29 Origin UNDEFINED Sets the origin to an undefined state. G30 SPEED CONTROL Feeds up to 2 axes simultaneously at the controlled feed rate. G31 INTERRUPT FEEDING Performs an interrupt feeding operation. G32 traverse Executes traverse operation. G50 Select Reference Coordinate System Specifies the reference coordinate system. G51 Select Workpiece Coordinate System Specifies the workpiece coordinate system. G53 Change Workpiece Origin Offset Changes the origin of the workpiece coordinate system. G54 Change Reference Coordinate System PV Changes the present value in the reference coordinate system. G60 Arithmetic Operations Performs arithmetic operations on numerical values, position data, and registers. G63 Substitution Substitutes numerical values, position data, or registers into other position data or registers. G69 Change Parameter Changes the specified parameter. G70 Unconditional Jump Unconditionally jumps to the specified block. G71 Conditional Jump Jumps to the specified block when the condition is met. G72 Subroutine Jump Calls the specified subroutine. G73 Subroutine End Ends the subroutine. G74 Optional End Ends the block currently being executed when the specified optional input is ON. G75 Optional Skip Skips the block after this command when the specified optional input is ON. G76 Optional Program Stop Pauses the program when the specified optional input is ON. G79 Program End Ends the main program. G90 Absolute Specification Positions with absolute coordinates when performing axis operations. G91 Incremental Specification Positions with relative coordinates when performing axis operations. Auxiliary Codes Code Function Name 4-axis MC Module 2-axis MC Module CS1W-MC221 CS1W-MC421 M M code Outputs an M code. D D code Starts an external interrupt task for the CPU Unit. 13 Product Specifications Motion Control Modules System Configuration Control System Semi-closed Loop System MC Module Feedback pulses and present value information (for absolute encoders) Analog output Servo Drive Servo Motor Tachogenerator Rotary encoder Connected Configuration MPG or synchronous encoder MC Module (Example: CS1W-MC421) MPG connector DRV X, Y connectors CPU Unit Power Supply Unit Teaching Box For connection to peripheral port on CPU Unit: CS1W-CNjjj For connection to RS-232C port on CPU Unit: XW2Z-j00S(-CV) XW2Z-100J-F1 MC Module Terminal Block Connecting Cable or user-prepared cable DRV Z, U connectors Servo Drive Connecting Cable (for W,U-series) or user-prepared cable I/O connector MC Module Terminal Block CS1W-MC421: XW2B-40J6-7 CS1W-MC221: XW2B-20J6-6 Servo Drive Servo Motor CS1W-MC421: 4 axes CCW limit input CS1W-MC221: 2 axes CW limit input Origin proximity input Emergency stop input Servo Drive for 4 or 2 axes General-purpose inputs (4) General-purpose outputs (4) Servo Motor 14 Motion Control Modules Product Specifications Exchanging Data CS1 CS1W-MC221 I/O Refresh Data Area CIO Area Words 2000 to 2029 Unit #0 2010 to 2039 Unit #1 2020 to 2049 Unit #2 2030 to 2059 Unit #3 OUT refresh Transferred to each Unit during I/O refresh IN refresh n to n+29 Reserved 2900 to 2929 Unit #90 2910 to 2939 Unit #91 2920 to 2949 Unit #92 2930 to 2959 Unit #93 Reserved Unit #94 Reserved Unit #95 A total of 30 words used. n: 2000 + 10 ´ unit number Internal memory Address Position data Data Memory Area System parameters (Allocated areas are not used) Monitor information Data transfer words Special information At startup or when restarted. Data saved. Data Flash memory IOWR/IORD instructions G-language program SSSSSS CS1W-MC421 CS1 I/O Refresh Data Area CIO Area Words 2000 to 2049 Unit #0 2010 to 2059 Unit #1 2020 to 2069 Unit #2 2030 to 2079 Unit #3 OUT refresh Transferred to each Unit during I/O refresh IN refresh n to n+49 Reserved 2900 to 2949 Unit #90 2910 to 2959 Unit #91 Reserved Unit #92 Reserved Unit #93 Reserved Unit #94 Reserved Unit #95 A total of 50 words used. n: 2000 + 10 ´ unit number Internal memory Address Position data Data Memory Area System parameters (Allocated areas are not used) Monitor information Data transfer words Special information When powered up or restarted. Data saved. Data IOWR/IORD instructions Flash memory G-language program SSSSSS 15 Product Specifications Motion Control Modules Component Names CS1W-MC221 CS1W-MC421 LED indicators LED indicators Unit number setting switch Unit number setting switch MPG connector DRV X-Y connector 10126-3000VE Connector (Sumitomo 3M) 10326-52F0-008 Connector cover (Sumitomo 3M) (This unit is provided with 2 sets.) DRV X-Y connector 10126-3000VE Connector (Sumitomo 3M) 10326-52F0-008 Connector cover (Sumitomo 3M) (This unit is provided with 2 sets.) Teaching Box connector I/O connector I/O connector DRV Z-U connector 10126-3000VE Connector (Sumitomo 3M) 10326-52F0-008 Connector cover (Sumitomo 3M) (This unit is provided with 2 sets.) Teaching Box connector SU Indicators Color Indicator RUN Green ERC Red ERH Red XCCW YCCW ZCCW (See note.) UCCW (See note.) Yellow XCW YCW ZCW (See note.) UCW (See note.) Yellow Note: 16 Status Meaning ON The MC Module is operating normally. OFF The MC Module is not recognized by the PC or is malfunctioning. ON An error occurred in the MC Module. OFF The MC Module is operating normally. ON An error occurred in the CPU Unit. OFF The CPU Unit is operating normally. ON The motor for the applicable axis is turning in the CCW direction. (The X to U axes correspond to XCCW to UCCW.) OFF The applicable axis is stopped or is turning in the CW direction. ON The motor for the applicable axis is turning in the CW direction. (The X to U axes correspond to XCW to UCW.) OFF The applicable axis is stopped or is turning in the CCW direction. The CS1W-MC221 does not have the ZCCW, UCCW, ZCW, and UCW indicators. Motion Control Modules Product Specifications I/O Connector Wiring I/O Connector Snap-on Connector Connector: 10126-3000VE (provided with the Unit, manufactured by Sumitomo 3M) Case: 10326-52F0-008 (provided with the Unit, manufactured by Sumitomo 3M) CS1W-MC221 CS1W-MC221 Symbol Pin Terminal on MC Module Terminal Block Name Function 1 +24 V 10 24-VDC input Connects to the + terminal of the 24-VDC external power supply. 2 XCWL (NC) 11 X-axis CW limit input Limits movement of the X axis in the CW direction. 3 YCWL (NC) 16 Y-axis CW limit input Limits movement of the Y axis in the CW direction. 4 XCCWL (NC) 12 X-axis CCW limit input Limits movement of the X axis in the CCW direction. 5 YCCWL (NC) 17 Y-axis CCW limit input Limits movement of the Y axis in the CCW direction. 6 XSTOP (NC) 14 X-axis emergency stop input Disables the X-axis run output and stops it. 7 YSTOP (NC) 8 Y-axis emergency stop input Disables the Y-axis run output and stops it. 8 IN1 (NO) 4 General input 1 General input 1 9 IN2 (NO) 9 General input 2 General input 2 10 XORG (NC, NO) (See note 1) 13 X-axis origin proximity input Used for the X-axis origin search. 11 YORG (NC, NO) (See note 1) 18 Y-axis origin proximity input Used for the Y-axis origin search. 12 OUT1 (See note 3) 15 General output 1 General output 1 or X-axis brake signal output 13 OUT2 (See note 3) 19 General output 2 General output 2 or Y-axis brake signal output 14 DC GND 0 24-VDC input ground Connects to the -- terminal (0 V) of the 24-VDC external power supply. 15 --- --- 16 MPG-A See note 2 MPG input phase A MPG input phase A 17 MPG-B See note 2 MPG input phase B MPG input phase B 18 MPG-A See note 2 MPG input phase A MPG input phase A 19 MPG-B See note 2 MPG input phase B MPG input phase B 20 --- --- 21 IN3 (NO) See note 2 General input 3 General input 3 22 IN4 (NO) See note 2 General input 4 General input 4 23 --- --- 24 --- --- 25 OUT3 See note 2 General output 3 General output 3 26 OUT4 See note 2 General output 4 General output 4 See note 1 “NC” stands for normally closed and “NO” stands for normally open. Note: 1. For the CS1W-MC221, connect the MPG to this I/O connector. For the connection method, refer to MPG Connection Example on page 24. 2. MPG inputs, and general outputs 3 and 4 cannot be connected from the terminal block. 17 Product Specifications Motion Control Modules CS1W-MC421 CS1W-MC421 Symbol Pin Terminal on MC Module Terminal Block Name Function 1 +24 V 20 24-VDC input Connects to the + terminal of the 24-VDC external power supply. 2 XCWL (NC) 21 X-axis CW limit input Limits movement of the X axis in the CW direction. 3 YCWL (NC) 26 Y-axis CW limit input Limits movement of the Y axis in the CW direction. 4 XCCWL (NC) 22 X-axis CCW limit input Limits movement of the X axis in the CCW direction. 5 YCCWL (NC) 27 Y-axis CCW limit input Limits movement of the Y axis in the CCW direction. 6 XSTOP (NC) 24 X-axis emergency stop input Disables the X-axis run output and stops it. 7 YSTOP (NC) 8 Y-axis emergency stop input Disables the Y-axis run output and stops it. 8 IN1 (NO) 4 General input 1 General input 1 9 IN2 (NO) 9 General input 2 General input 2 10 XORG (NC, NO) (See note 1) 23 X-axis origin proximity input Used for the X-axis origin search. 11 YORG (NC, NO) (See note 1) 28 Y-axis origin proximity input Used for the Y-axis origin search. 12 OUT1 (See note 2) 25 General output 1 General output 1 or X-axis brake signal output 13 OUT2 (See note 2) 29 General output 2 General output 2 or Y-axis brake signal output 14 DC GND 0 24-VDC input ground Connects to the -- terminal (0 V) of the 24-VDC external power supply. 15 ZCWL (NC) 31 (See note 5) Z-axis CW limit input Limits movement of the Z axis in the CW direction. 16 UCWL (NC) 36 (See note 3) U-axis CW limit input Limits movement of the U axis in the CW direction. 17 ZCCWL (NC) 32 (See note 3) Z-axis CCW limit input Limits movement of the Z axis in the CCW direction. 18 UCCWL (NC) 37 (See note 3) U-axis CCW limit input Limits movement of the U axis in the CCW direction. 19 ZSTOP (NC) 34 (See note 3) Z-axis emergency stop input Disables the Z-axis run output and stops it. 20 USTOP (NC) 18 (See note 5) U-axis emergency stop input Disables the U-axis run output and stops it. 21 IN3 (NO) 14 (See note 4) General input 3 General input 3 22 IN4 (NO) 19 (See note 4) General input 4 General input 4 23 ZORG (NC, NO) (See note 1) 33 (See note 5) Z-axis origin proximity input Used for the Z-axis origin search. 24 UORG (NC, NO) (See note 1) 38 (See note 5) U-axis origin proximity input Used for the U-axis origin search. 25 OUT3 35 (See note 4) General output 3 General output 3 26 OUT4 39 (See note 4) General output 4 General output 4 “NC” stands for normally closed and “NO” stands for normally open. 3. When the CS1W-MC221 and the XW2B-40J6-7 are connected, these terminals will be used as MPG inputs. 4. When the CS1W-MC221 and the XW2B-40J6-7 are connected, these terminals will be allocated as general inputs/outputs 3 and 4. 5. When the CS1W-MC221 and the XW2B-40J6-7 are connected, these terminals will not be used. 18 Motion Control Modules Product Specifications External Connection Diagram Using the Connector Example: X-axis Wiring I/O connector Connector: Wire and assemble the connector by using the connector case provided with the Unit or by using the XW2Z-100J-F1 MC Module Terminal Block Connecting Cable. Pin +24 V input X-axis CW limit input Y-axis CW limit input X-axis CCW limit input Y-axis CCW limit input + -- 24 VDC CW limit input CCW limit input X-axis emergency stop input Emergency stop input Y-axis emergency stop input General-purpose input 1 General-purpose input 2 X-axis origin proximity input Origin proximity input Y-axis origin proximity input 24-V input GND Using the MC Module Terminal Block Example: X-axis Wiring XW2B-20J6-6 MC Module Terminal Block 24-VDC input ground XW2Z-100J-F1 MC Module Terminal Block Cable + -MC Module Terminal Block CS1W-MC221: XW2B-20J6-6 CS1W-MC421: XW2B-40J6-7 24 VDC CW limit input CCW limit input Emerg ency stop input General input 1 Origin proxim ity input Y-axis emergency stop input General input 2 24-VDC input X-axis CW limit input X-axis CCW limit input X-axis origin proximity input X-axis emergency stop input X-axis CW, CCW, origin proximity, and emergency stop Y-axis CW, CCW, origin proximity, and emergency stop Y-axis CW limit input Y-axis CCW limit input Y-axis origin proximity input 19 Product Specifications Motion Control Modules DRV Connector Wiring DRV X-Y and Z-U Connectors The DRV connectors are used primarily to connect Servo Drives. The DRV X-Y connector is for the X and Y axes, and the DRV Z-U connector is for the Z and U axes. Special drive cables, which are sold separately, are available for OMRON W and U-series Servo Drives. Snap-on Connectors Connector: 10136-3000VE (provided with the Unit, manufactured by Sumitomo 3M) Case: 10336-52F0-008 (provided with the Unit, manufactured by Sumitomo 3M) CS1W-MC221 CS1W-MC221 Symbol Pin 20 Name Function 1 +24 V 24 VDC input External power supply’s 24-VDC input (for the X-Y axes) 2 DC GND 24 VDC input ground External power supply’s 24-VDC ground (for the X-Y axes) 3 XALM X-axis alarm input Drive alarm input for the X-axis 4 XRUN X-axis run output Drive run output for the X-axis 5 XALMRS X-axis alarm reset output Reset output for the X-axis’s driver alarm. 6 --- --- Not used. 7 --- --- Not used. 8 XSGND X-axis SEN signal ground SEN signal ground for the X-axis 9 XSOUT X-axis SEN signal output SEN signal output for the X-axis (absolute encoder driver) 10 X-GND X-axis feedback ground Feedback ground for the X-axis 11 X-A X-axis phase A input Phase A feedback input for the X-axis 12 X-A X-axis phase A input Phase A feedback input for the X-axis 13 X-B X-axis phase B input Phase B feedback input for the X-axis 14 X-B X-axis phase B input Phase B feedback input for the X-axis 15 X-Z X-axis phase Z input Phase Z feedback input for the X-axis 16 X-Z X-axis phase Z input Phase Z feedback input for the X-axis 17 XOUT X-axis speed control Speed control voltage to the X-axis driver 18 XAGND X-axis speed control ground Ground for the X-axis’s speed control voltage 19 +F24V 24 VDC output 24-VDC input to the driver (for the X-Y axes) 20 FDC GND 24 VDC output ground Ground for 24-VDC outputs (for the X-Y axes) 21 YALM Y-axis alarm input Drive alarm input for the Y-axis 22 YRUN Y-axis run output Drive run output for the Y-axis 23 YALMRS Y-axis alarm reset output Reset output for the Y-axis’s driver alarm. 24 --- --- Not used. 25 --- --- Not used. 26 YSGND Y-axis SEN signal ground SEN signal ground for the Y-axis 27 YSOUT Y-axis SEN signal output SEN signal output for the Y-axis (absolute encoder driver) 28 Y-GND Y-axis feedback ground Feedback ground for the Y-axis 29 Y-A Y-axis phase A input Phase A feedback input for the Y-axis 30 Y-A Y-axis phase A input Phase A feedback input for the Y-axis 31 Y-B Y-axis phase B input Phase B feedback input for the Y-axis 32 Y-B Y-axis phase B input Phase B feedback input for the Y-axis 33 Y-Z Y-axis phase Z input Phase Z feedback input for the Y-axis 34 Y-Z Y-axis phase Z input Phase Z feedback input for the Y-axis 35 YOUT Y-axis speed control Speed control voltage to the Y-axis driver 36 YAGND Y-axis speed control ground Ground for the Y-axis’s speed control voltage Motion Control Modules Product Specifications CS1W-MC421 CS1W-MC421 Pin Symbol Name Function 1 +24 V 24 VDC input External power supply’s 24-VDC input (for the Z-U axes) 2 DC GND 24 VDC input ground External power supply’s 24-VDC ground (for the Z-U axes) 3 ZALM Z-axis alarm input Drive alarm input for the Z-axis 4 ZRUN Z-axis run output Drive run output for the Z-axis 5 ZALMRS Z-axis alarm reset output Reset output for the Z-axis’s driver alarm. 6 --- --- Not used. 7 --- --- Not used. 8 ZSGND Z-axis SEN signal ground SEN signal ground for the Z-axis 9 ZSOUT Z-axis SEN signal output SEN signal output for the Z-axis (absolute encoder driver) 10 Z-GND Z-axis feedback ground Feedback ground for the Z-axis 11 Z-A Z-axis phase A input Phase A feedback input for the Z-axis 12 Z-A Z-axis phase A input Phase A feedback input for the Z-axis 13 Z-B Z-axis phase B input Phase B feedback input for the Z-axis 14 Z-B Z-axis phase B input Phase B feedback input for the Z-axis 15 Z-Z Z-axis phase Z input Phase Z feedback input for the Z-axis 16 Z-Z Z-axis phase Z input Phase Z feedback input for the Z-axis 17 ZOUT Z-axis speed control Speed control voltage to the Z-axis driver 18 ZAGND Z-axis speed control ground Ground for the Z-axis’s speed control voltage 19 +F24V 24 VDC output 24-VDC input to the driver (for the Z-U axes) 20 FDC GND 24 VDC output ground Ground for 24-VDC outputs (for the Z-U axes) 21 UALM U-axis alarm input Drive alarm input for the U-axis 22 URUN U-axis run output Drive run output for the U-axis 23 UALMRS U-axis alarm reset output Reset output for the U-axis’s driver alarm. 24 --- --- Not used. 25 --- --- Not used. 26 USGND U-axis SEN signal ground SEN signal ground for the U-axis 27 USOUT U-axis SEN signal output SEN signal output for the U-axis (absolute encoder driver) 28 U-GND U-axis feedback ground Feedback ground for the U-axis 29 U-A U-axis phase A input Phase A feedback input for the U-axis 30 U-A U-axis phase A input Phase A feedback input for the U-axis 31 U-B U-axis phase B input Phase B feedback input for the U-axis 32 U-B U-axis phase B input Phase B feedback input for the U-axis 33 U-Z U-axis phase Z input Phase Z feedback input for the U-axis 34 U-Z U-axis phase Z input Phase Z feedback input for the U-axis 35 UOUT U-axis speed control Speed control voltage to the U-axis driver 36 UAGND U-axis speed control ground Ground for the U-axis’s speed control voltage 21 Product Specifications Motion Control Modules Servo Drive Cables (Optional) When using OMRON’s U-, or W-series Servo Drives, use Special Servo Drive Cables that are available as options to connect the MC Module to Servo Drives. Cable model number Series For two axes W-series U-series R88D-W for 30-W to 6-kW Servo Drives Length (m) For single axis R88A-CPW001M2 R88A-CPW001M1 1.0 R88A-CPW002M2 R88A-CPW002M1 2.0 R88A-CPW003M2 R88A-CPW003M1 3.0 R88A-CPW005M2 R88A-CPW005M1 5.0 R88D-U for 30-W to 750-W Servo Drives R88A-CPU001M2 R88A-CPU001M1 1.0 R88A-CPU002M2 R88A-CPU002M1 2.0 R88D-UT for 1-W to 5-kW Servo Drives R88A-CPUB001M2 R88A-CPUB001M1 1.0 R88A-CPUB002M2 R88A-CPUB002M1 2.0 U-series Servo Drive: R88A-CPU001M2/002M2 (30 to 750 W) R88A-CPUB001M2/002M2 (1 to 5 kW) W-series Servo Drive: R88A-CPW001M2/002M2 Connect to a battery when using the absolute encoder. Connect to a battery when using the absolute encoder. Servo Drive DRV X-Y connector Note: 22 Servo Drive DRV X-Y connector Connect to +24 V Connector: When the Special Cables shown on the left are not to be used, wire and assemble the connector by using the connector case provided with the Unit. Servo Drive Connect to +24 V For more technical information on Servos, please refer to the following manuals: I501--E3--1 U-series Analog Servos I531--E3--1 W-series Servos Servo Drive Motion Control Modules Product Specifications Connection Examples Connection to W-series (30-W to 55-kW) Models Special Driver Cable: R88A-CPW00jM2 Cables for Two Axes Motion Control Module Signal AWG20 Red AWG20 Black AC Servo Drive R88D-WTjjj Signal White/Black -Pink/Black -Yellow/Black -Gray/Black -Gray/Red -- * * Orange/Black -- -- White/Red -White/Black -Yellow/Red -Yellow/Black -Pink/Red -Pink/Black -Orange/Red -Orange/Black -Shell Orange/Black -Gray/Black -- Cable: AWG26 ´ 5P + AWG26 ´ 6C Connector case: 10350-52A0-008 (Sumitomo 3M) AC Servo Drive R88D-WTjjj Signal White/Black -Pink/Black -Yellow/Black -Gray/Black -Gray/Red -- * * Orange/Black -- -- White/Red -White/Black -Yellow/Red -Yellow/Black -Pink/Red -Pink/Black -Orange/Red -- Connector plug: 10150-3000VE (Sumitomo 3M) Orange/Black -- Cable: AWG26 ´ 5P + AWG26 ´ 6C Connector plug: 10136-3000VE (Sumitomo 3M) Connector plug: 10150-3000VE (Sumitomo 3M) Shell Connector case: 10350-52A0-008 (Sumitomo 3M) Connector case: 10336-52A0-008 (Sumitomo 3M) Note 1. The Controller’s symbols are the DRVX-Y connector’s symbols. In a DRVZ-U connector, X ® Z and Y ® U. Note 2. The terminals marked with asterisks are for use with absolute encoders Note 3. Supply 24 V DC to the two wires (black and red) that are taken out from the Controller’s connector. (Red is + and black is --.) 23 Product Specifications Motion Control Modules Connection to U-series (30-W to 750-W) Models Special Driver Cable: R88A-CPU00jM2 MC Module DC Power Supply DRV X-Y connector 24-VDC input 24-VDC input ground X-axis alarm input X-axis run output X-axis alarm reset output Red +24V AC Servo Drive R88D-UAjjj CN1 Black +24V * X-axis SEN signal ground X-axis SEN signal output X-axis feedback ground X-axis phase A input X-axis phase A input X-axis phase B input X-axis phase B input X-axis phase Z input X-axis phase Z input X-axis speed control X-axis speed control ground 24-VDC output 24-VDC output ground * +A --A +B --B +Z --Z Battery + (+2.8 to 4.5 V) Red Black AC Servo Drive R88D-UAjjj Y-axis alarm input Y-axis run output Y-axis alarm reset output +24V * Y-axis SEN signal ground Y-axis SEN signal output Y-axis feedback ground Y-axis phase A input Y-axis phase A input * +A --A +B Y-axis phase B input Y-axis phase B input Y-axis phase Z input Y-axis phase Z input Y-axis speed control Y-axis speed control ground --B +Z --Z + Battery (+2.8 to 4.5 V) Note Red Black 1. The terminals marked with asterisks are for use with absolute encoders MPG Connector Wiring MPG Connector (for CS1W-MC421 Only) The MPG connector is used to connect a manual pulse generator (MPG). With the CS1W-MC421, it is wired with an MPG connector. With the CS1W-MC221, there is an MPG terminal on the I/O connector. Manual Pulse Generator (MPG) Use a line driver model for the MPG. The LGF-003-100 (by Sumtak) is recommended. Snap-on Connectors Connector: 10114-3000VE (provided with the Unit, manufactured by Sumitomo 3M) Case: 10314-52F0-008 (provided with the Unit, manufactured by Sumitomo 3M) CS1W-MC421 24 Symbol Pin Name 5 MPG-A MPG input phase A 6 MPG-A MPG input phase A 12 MPG-B MPG input phase B 13 MPG-B MPG input phase B Motion Control Modules Product Specifications MPG Connection Example MPG (LGF-003-100) + 5 VDC Power supply -- CS1W-MC421 MPG connector Note: 6 MPG input phase A 5 MPG input phase A 13 MPG input phase B 12 MPG input phase B For the CS1W-MC221, use the I/O connector. MPG (LGF-003-100) 5 VDC Power supply + -- CS1W-MC221 I/O connector 16 MPG input phase A 18 MPG input phase A 17 MPG input phase B 19 MPG input phase B NOTE: DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters to inches divide by 25.4. R OMRON ELECTRONICS, INC. OMRON CANADA, INC. 1-800-55-OMRON 416-286-6465 One East Commerce Drive Schaumburg, IL 60173 Cat. No. R062-E3-1 8/00 885 Milner Avenue Scarborough, Ontario M1B 5V8 Specifications subject to change without notice. Printed in U.S.A. 25