Omron SYSMAC C200H-NC112 User Manual

59
SECTION 4
Commands
The Position Control Unit provides thirteen commands to execute automatic and manual positioning actions, define and
establish position, transfer data, and handle interrupts and errors. Any given command is executed when the program in
the PC turns ON the appropriate command bit in the IR area. In addition to the command bits themselves, the IR area
contains certain other data which are necessary for executing commands.
In executing commands, the Position Control Unit makes use of data stored in the DM area. This data includes settings
for speeds, positions, and so on. Although the data required for execution is listed under each command, much of this
data is used by more than one command. Refer to Section 3–4 for an outline of the structure of Position Control Unit
data, and to Section 3–5 for format specifications for particular types of data. Appendix C and Appendix D also provide
convenient overviews of data allocation. Applications of most commands are presented in Section 5.
4–1 START 60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–1–1 DM Area Settings 60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–2 Positioning Actions 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–2–1 IR Area Settings 66 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–2–2 Execution Examples 68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–3 ORIGIN SEARCH 71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–3–1 DM Area Settings 71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–3–2 IR Area Settings 72 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–3–3 Execution Examples 73 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–3–4 Completion Examples 84 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–4 ORIGIN RETURN 86 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–4–1 DM Area Settings 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–4–2 IR Area Settings 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–4–3 Execution Example 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–5 RELEASE PROHIBIT 89 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–6 READ ERROR 91 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–6–1 Execution Example 92 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–6–2 Reading from the Programming Console 92 . . . . . . . . . . . . . . . . . . . . . . .
4–7 RESET ORIGIN 93 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–8 TEACH 93 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–8–1 IR Area Settings 94 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–8–2 Execution Example 94 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–8–3 Teaching From the Programming Console 94 . . . . . . . . . . . . . . . . . . . . . .
4–9 TRANSFER DATA 95 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–9–1 Normal Transfer 96 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–9–2 IR Area Settings 97 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–9–3 Present Position Preset 99 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–10 Manual Operations 102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–10–1 DM Area Settings 102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–10–2 IR Area Settings 103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–10–3 HIGH-SPEED JOG 103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–10–4 LOW-SPEED JOG 104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–10–5 INCH 104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–11 External Interrupt Commands 105 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–11–1 STOP 107 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–11–2 CHANGE SPEED 115 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Omron SYSMAC C200H-NC112 Specifications

General

Brand	Omron
Model	SYSMAC C200H-NC112
Category	Control Unit
Language	English

Summary

PRECAUTIONS

Intended Audience

Manual is for personnel with knowledge of electrical systems and FA systems.

General Precautions

Operate product per specifications, consult OMRON representative for special applications.

Safety Precautions

Do not take apart units with power supplied, avoid touching terminals.

Operating Environment Precautions

Avoid direct sunlight, extreme temperatures, and condensation.

Application Precautions

Follow precautions for safe system installation and operation.

SECTION 1 Introduction

1-1 Features

Details the capabilities and improvements of the C200H-NC112 Position Control Unit.

1-2 Components

Describes indicators, setting switches, and connectors of the Position Control Unit.

1-3 Basic Operating Principles

Explains the fundamental operation of the Position Control Unit in simple terms.

1-4 I/O Configuration

Details how the Position Control Unit connects to motor drivers and control panels.

1-5 Positioning System Principles

Explains open-loop and semiclosed-loop systems for positioning.

SECTION 2 Before Operation

2-1 Switch Settings

Explains the function and settings of the unit number and mode switches.

2-2 Wiring

Provides examples and precautions for connecting I/O, motors, and power.

2-3 Dimensions

Shows the physical dimensions of the unit for installation planning.

SECTION 3 Operation

3-1 Operational Flow

Outlines the basic procedure for initial Unit operation and trial runs.

3-4 Data Configuration and Allocation

Explains how IR and DM areas are allocated for PCU data and settings.

3-7 DM Area Allocation

Provides a coding sheet and details for allocating DM area for zones and limits.

SECTION 4 Commands

4-1 START

Explains how to initiate positioning actions using the START command.

4-2 Positioning Actions

Details the definition and execution of positioning actions, including completion codes.

4-3 ORIGIN SEARCH

Describes the process of finding and setting the origin point for the positioning system.

4-9 TRANSFER DATA

Explains how to transfer data between PC areas and the Position Control Unit.

4-11 External Interrupt Commands

Covers commands like STOP and CHANGE SPEED triggered by external signals.

SECTION 5 Programming Examples

5-1 Operation with Minimum Data

Shows the simplest wiring and data settings for basic operation.

5-2 Positioning at Intervals Using RESET ORIGIN

Example of repetitive positioning using origin reset.

5-4 TRANSFER DATA from Other PC Areas

Example demonstrating data transfer from other PC areas for positioning actions.

5-6 Using START to Carry Out Positioning Actions

Example illustrating complex positioning sequences using START command.

5-8 Using Zones to Control Jogging

Example of using zones to change conditions for manual operations.

SECTION 6 Error Processing

6-1 Alarms and Errors

Explains how alarms and errors are generated and indicated.

6-4 Error Code Output

Describes how to read error and alarm codes using the READ ERROR command.

6-5 Troubleshooting from the PC

Covers monitoring abnormalities and troubleshooting using the PC.

6-6 Basic Troubleshooting Chart

Provides a step-by-step guide for diagnosing common issues.

Appendix A Standard Models

Appendix B Specifications

Lists detailed performance, electrical input, and output specifications for the unit.

Appendix C DM Area Allocations

Detailed tables mapping DM area words to functions for various operations.

Appendix F Error Code List

Lists all alarm and error codes with their corresponding problems and corrections.

Glossary