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C200H-MC221
Omron C200H-MC221 User Manual
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76
Example Programs
The following program is for absolute operation.
::
N010
G90
ABSOLUTE SPECIFICA
TION
N011
G00
X100
Y50
M001
::
The following program is for incremental operation.
::
N010
G91
INCREMENT
AL SPECIFICA
TION
N011
G00
X100
Y50
M001
::
Note
The X and Y axes are operated at the same speed in the above examples.
G Functions
Section 5-5
95
97
Table of Contents
Table of Contents
7
Precautions
17
General Precautions
18
Intended Audience
18
Operating Environment Precautions
18
Safety Precautions
18
Application Precautions
19
Section 1
21
Components and Switch Settings
21
Components
22
Indicators
23
Setting the Unit Number
23
Setting the DIP Switch
24
Installing the MC Unit
25
Changing the Task Configuration
26
Operation Flow
26
Basic Operations
26
Section 2 Wiring
27
Wiring
27
SECTION 2 Wiring
27
I/O Connector
28
Pin Allocation
28
Attaching a Connector
28
Connection Example
29
DRV Connectors
31
Pin Allocation
31
Attaching a Connector
31
Dedicated Driver Cables (Optional)
33
Connection Examples
35
MPG Connector
39
Wiring Example
39
Connection Example
39
Interface Circuits
40
I/O and DRV Connector Circuits
40
Connecting Peripheral Devices
43
Connecting a Personal Computer
44
Connecting the Teaching Box
45
Section 4 MC Unit Data
49
MC Unit Data
49
SECTION 4 MC Unit Data
49
MC Unit Data Configuration
50
System Parameters
50
Setting Parameters
51
Parameter Lists
51
Data Transmission and Reception
53
Types of Data
53
Types of Data Transmission and Reception
53
Summary of I/O Transfer
54
Summary of Intelligent Transfer
55
Details of Data Transmission and Reception Units
56
Data Transmission and Reception Units
56
Details of Data
57
Details of System Parameters
57
Details of Monitoring Data
68
Details of I/O Transfer and Necessary Information
71
Details of Special Data
71
Instructions and Data
71
Common Data for Transmission and Reception
71
Data Transfer Examples
72
Transmission Bits and Flags
72
Reception Bits and Flags
72
Data Transmission
72
Data Reception
74
I/O Transfer Timing
76
Details of Intelligent Transfer
78
IOWR Instruction
79
Designation
79
Flags
80
Transfer Example
80
Execution Timing of IOWR Instruction
82
Transfer Time
83
IORD Instruction
84
Designation
84
Flags
85
Reception Example
85
Execution Timing of IORD Instruction
87
Transfer Time
88
Section 5 G Language
89
G Language
89
List of G Functions
90
G Function Formats
91
List of G Symbols
92
Specifying Position Data Addresses (A0000 to A1999)
93
Specifying Registers (E00 to E31)
93
Program Number and Axis Declaration
94
G Functions
95
G00: Positioning
95
G01: Linear Interpolation
97
G02 and G03: CIRCULAR INTERPOLATION
98
G04: Dwell Timer
102
G10: Pass Mode
103
G11: Stop Mode
104
G17: Circular Plane Specification Functions
105
G26: Reference Origin Return
105
G27: Workpiece Origin Return
106
G28: Origin Search
107
G29: Origin Undefined
108
G30: Speed Control Axis Feeding
108
G31: Interrupt Inching
109
G50: Select Reference Coordinate System
113
G51: Select Workpiece Coordinate System
113
G53: Change Workpiece Origin Offset
114
G54: Change Reference Coordinate System Pv
115
G60: Arithmetic Operations
116
G63: Substitution
117
G69: Change Parameter
118
G70: Unconditional Jump
119
G71: Conditional Jump
120
G72: Subprogram Jump
121
G73: Subprogram End
121
G74: Optional End
122
G75: Optional Skip
123
G76: Optional Program Pause
124
G79: Program End
125
G90: Absolute Specification
125
G91: Incremental Specification
126
M-Code Outputs
127
Introduction
127
M-Code Data
128
M-Code Examples
128
M Code Resets
129
Effect of Mode Changes on M Code Resets
129
Clearing M000 to M499 with Forced Block End or G74
129
Clearing M500 to M999 with Forced Block End or G74
131
Mode Transitions Caused by G Functions
132
Section 6
133
Introduction
135
Allocation of the PC Data Area Interface
136
C200H/C200HS PC Interface
136
C200HX/C200HG/C200HE PC Interface
137
Controlling the MC Unit from the PC
138
Manual Mode
138
Automatic Mode
139
Sample Ladder Program
140
Interface Bits
141
Initial Setting Area
141
I/O Refresh Area
143
Expansion Data Area
152
Interface Bit Specifics
154
Word N+1 Bit 01: Automatic/Manual Mode Bit (Task 1)
154
Word N+1 Bit 02: Cycle Start Bit (Task 1)
155
Word N+1 Bit 03: Single Block Bit (Task 1)
157
Word N+1 Bit 04: Forced Block End Bit (Task 1)
158
Word N+1 Bit 05: Pause Bit (Task 1)
159
Word N+1 Bit 06: M Code Reset Bit (Task 1)
160
Word N+1 Bit 07: Program Number Read Bit (Task 1)
162
Word N+1 Bit 08: Teaching Address Set Bit (Task 1)
162
Word N+1 Bit 09: Teaching Bit (Task 1)
162
Word N+1 Bit 10: Teaching Type Bit (Task 1)
163
Word N+1 Bit 11: Transmission Control Bit (All Tasks)
164
Word N+1 Bit 12: Reception Control Bit (All Tasks)
165
Word N+1 Bit 13: Flash Memory Write Bit (All Tasks)
165
Word N+1 Bit 14: Error Reset Bit (All Tasks)
166
Word N+1 Bit 15: Expansion Data Read Bit (All Tasks)
167
Word N+3 Bits 11 to 15: Optional Inputs
167
Word N+5 Bit 00: Deceleration Stop Bit (X-Axis)
168
Word N+5 Bit 01: Origin Search Bit (X-Axis)
169
Word N+5 Bit 02: Reference Origin Return Bit (X-Axis)
170
Word N+5 Bit 03: Jogging Bit (X-Axis)
171
Word N+5 Bit 13: Jog Direction Bit (X-Axis)
172
Word N+5 Bit 05: Current Position Preset Bit (X-Axis)
172
Word N+5 Bit 06: ABS Initialization Bit (X-Axis)
173
Word N+5 Bit 07: ABS Soft Reset Bit (X-Axis)
174
Word N+5 Bit 08: Enable MPG Bit (X-Axis)
175
Word N+5 Bits 14 and 15: MPG Ratio Specifiers 1 and 2 (X-Axis)
176
Word N+5 Bit 09: Servo Lock Bit (X-Axis)
176
Word N+5 Bit 10: Servo Free Bit (X-Axis)
177
Word N+5 Bit 11: Driver Alarm Reset Bit (X-Axis)
177
Word N+5 Bit 12: Override Setting Bit (X-Axis)
178
Word N+8 Bit 06: Transmission Completion Flag
179
Word N+8 Bit 07: Data Transmission Error Flag
179
Word N+8 Bit 08: Reception Completion Flag
180
Word N+8 Bit 09: Data Reception Error Flag
181
Word N+8 Bit 10: Flash Memory Write Completion Flag
182
Word N+8 Bit 11: Teaching Box Enabled Flag
182
Word N+8 Bit 12: Teaching Box Protected Flag
182
Word N+8 Bit 13: Initial Setting Alarm Flag
182
Word N+8 Bit 14: Error Flag
183
Word N+8 Bit 15: Expansion Data Read Completion Flag
183
Word N+11 Bit 00: Task Error Flag (Task 1)
184
Word N+11 Bit 02: Automatic Mode Flag (Task 1)
184
Word N+11 Bit 03: Manual Mode Flag (Task 1)
185
Word N+11 Bit 04: Memory Run Flag (Task 1)
185
Word N+11 Bit 05: Memory Run Completed Flag (Task 1)
185
Word N+11 Bit 06: Optional Input Standby Flag (Task 1)
186
Word N+11 Bit 07: M Code Reset Standby Flag (Task 1)
186
Word N+11 Bit 08: M Strobe Flag (Task 1)
187
Word N+11 Bit 09: Cycle Start Received Flag (Task 1)
187
Word N+11 Bit 12: Teaching Address Setting Completed (Task 1)
188
Word N+11 Bit 13: Teaching Completed Flag (Task 1)
188
Word N+11 Bit 14: Teaching Error Flag (Task 1)
189
Word N+11 Bit 15: Teaching Address over Flag (Task 1)
189
Word N+16 Bit 00: Reference Origin Flag (X-Axis)
190
Word N+16 Bit 01: Busy Flag (X-Axis)
190
Word N+16 Bit 02: Servo Lock on Flag (X-Axis)
191
Word N+16 Bit 03: no Origin Flag (X-Axis)
191
Word N+16 Bit 04: Axis Operating Flag (X-Axis)
192
Word N+16 Bit 05: Positioning Completed Flag (X-Axis)
193
Word N+16 Bit 06: Error Counter Alarm Flag (X-Axis)
193
Word N+16 Bit 07: Alarm Input (X-Axis)
194
Word N+16 Bits 08 to 15: Zone Flags (X-Axis)
194
Word N+19 Bit 15: MPG Operation Flag (X-Axis)
194
Section 7
197
Fixing the Origin
197
Introduction
198
Sensors Required for an Origin Search
198
Origin Search Parameters
199
Origin Search Patterns
200
Basic Origin Search Pattern
200
Reverse-Mode Origin Searches 1
201
Reverse-Mode Origin Searches 2
202
Reverse-Mode Origin Searches 3
203
Reverse-Mode Origin Searches 4
204
One Direction-Mode Origin Searches 1
205
One Direction-Mode Origin Searches 2
205
Overview of Absolute Encoders
206
One Direction-Mode Origin Searches 3
206
Setting up the Absolute Encoder
207
Purpose
207
Setup Procedure
207
ABS Soft Reset
208
Absolute Encoder Interface Specifications
209
Section 8 Teaching
213
Teaching
213
Introduction
214
The Teaching Function
214
Setting the Teaching Address
215
Performing Teaching
216
Errors
217
Teaching Errors
217
Teaching Address over Errors
217
Sample Programs
219
Positioning with PTP Control
220
Positioning with Linear Interpolation
221
Positioning with Linear and Circular Interpolation
222
Indirect Addressing with Registers
223
Using the Workpiece Origin Offset
224
Changing the Interpolation Acceleration Time
225
Calculating Position Data
226
Stopping a Program with a General Input
228
Stopping the Program and Substituting Position Data
229
Executing MC Programs from the Ladder Program
230
Section 10 Troubleshooting
233
Troubleshooting
233
SECTION 10 Troubleshooting
233
Error Indicators
234
System Errors: Error Codes 0001 to 0017
235
Task Errors: Error Codes 0020 to 0045
236
Axis Errors: Error Codes 0060 to 0088
239
Maintenance and Inspection
243
Routine Inspections
244
A Control Bit/Flag Timing Charts
245
B Additional Origin Search Patterns
259
C MC Program Coding Sheet
285
D MC Parameter Settings
287
E Position Data Coding Sheet
291
Glossary
293
Index
299
Revision History
305
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Omron C200H-MC221 Specifications
General
Brand
Omron
Model
C200H-MC221
Category
Control Unit
Language
English
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