SECTION 4 Data Areas.

4-1 4-2 4-3 4-4 4-5 4-6 4-7 4-8 Overall Structure. Common Parameters. Axis Parameters. Operating Memory Area. Operating Data Area. Positioning Sequence Details. Setting Data With the SYSMAC-NCT Support Tool. Setting Data for Unused Axes.
SECTION 5 Transferring and Saving Data.
5-1 5-2 5-3 5-4 5-5 5-6 5-7 Transferring and Saving Data. Writing Data with the WRITE DATA Bit. Reading Data with the READ DATA Bit. Writing Data with IOWR. Reading Data with IORD. Creating and Transferring Data with the Support Tool. Saving Data.
SECTION 6 Defining the Origin.
6-1 6-2 6-3 6-4 Setting the Data for an Origin Search. Executing Origin Search. Origin Search Timing Charts. Origin Return.

130 134

SECTION 7 Direct Operation.
7-1 7-2 7-3 7-4 7-5 7-6 Outline. Setting Data for Use With Direct Operation. Operations With Direct Operation. Procedures for Setting Data for Direct Operation. Direct Operation Timing Charts. Sample Program.

144 146

SECTION 8 Memory Operation.
8-1 8-2 8-3 8-4 8-5 8-6 Outline. Setting Data for Use in Memory Operation. Operations With Memory Operation. Procedures for Setting Data for Memory Operation. Timing Chart for Memory Operation. Sample Program.

162 165

SECTION 9 Other Operations.
9-1 9-2 9-3 9-4 9-5 9-6 9-7 9-8 9-9 9-10 Jogging. Teaching. Interrupt Feeding. Forced Interrupt. Deceleration Stop. Changing the Present Position. Override. Releasing Pulse Output Prohibition. Error Counter Reset Output and Origin Adjustment Command Output. Backlash Compensation.

184 187

SECTION 10 Program Examples.
10-1 10-2 10-3 10-4 10-5 10-6 10-7 Operating Procedures for Program Examples. Memory Operation. Direct Operation. Linear Interpolation. Origin Search. Override. Transferring and Saving Data.
SECTION 11 Troubleshooting.
11-1 11-2 11-3 11-4 11-5 Introduction. LED Error Indicators. Reading Error Codes. Error Code Lists. CPU Error Indicators.

Appendices

A B C D E F Data Calculation Standards. Estimating Times and Pulses for Acceleration/Deceleration. Error Code List. Effect of Cable Length on Pulse Output. Parameter Coding Sheets. Using with CS1-series PCs. 259 263

Index. Revision History.

271 277

About this Manual:

This manual describes the operation of the C200HW-NC113/NC213/NC413 Position Control Units and includes the sections described below. Please read this manual carefully and be sure you understand the information provided before attempting to install and operate the C200HW-NC113/NC213/NC413 Position Control Units. Section 1 introduces the features of the Position Control Unit and explains the system configuration in which it is used. Section 2 provides the Position Control Units specifications and explains the wiring. Section 3 explains how to use the RELATIVE MOVEMENT command employing the direct operation method, and provides examples of how to use a stepping motor. Section 4 provides information on the data areas used by the Position Control Unit. Section 5 explains how to transfer and save parameters and data. Section 6 explains the origin search and origin return operations. Section 7 provides an outline of direct operation, details about data areas and how to set data, and sample programs. Section 8 provides an outline of memory operation, details about data areas and how to set data, and sample programs. Section 9 describes the following operations: jogging, teaching, interrupt feeding, forced interrupt, deceleration stop, changing the present position, override, releasing pulse output prohibition, deviation counter reset output/origin-adjustment command output, and backlash compensation. Section 10 provides examples of programs for using the Position Control Unit. Section 11 describes how to diagnose and correct errors that can occur during operation. The Appendices provide data calculation standards, information on estimating times and pulses for acceleration/deceleration, error code list, information on the effect of cable length on pulse output, and parameter coding sheets.

Exchanging Data

The Position Control Unit exchanges data with the Programmable Controller as shown in the following diagram. This explanation is provided using the C200HW-NC413 as an example. The size of the allocated areas differs with the NC113 and NC213. For details regarding the data areas for the various PCUs, refer to Section 4 Data Areas.
PCU Operating Memory Area

IR area

I/O refresh (Operation commands, data transfer commands, etc.) I/O refresh (PCU status)

Command interpretation

Status
Parameter area Common parameters At power-up or restart (Common parameters) Common parameters

DM area

Axis parameters At power-up or restart (Axis parameters)
Operating Data Area DM or EM area I/O refresh (Data transfer and operation command information) I/O refresh (PCU status) Address Data transfer area DM or EM area Address M data Address N data When data transfer commands are executed. When IOWR or IORD is executed. (Data for positioning) Internal memory Axis parameters Data transfer and operation command information Status

When data is transferred

Saving data Flash memory

Power-up or restart

Note The axis parameter data stored in addresses 0004 to 0099 can be transferred from words (m+4) through (m+99) of the DM area, and data can also be transferred for the data transfer area at the Programmable Controller. Moreover, data can be saved to the flash memory.

1-5-1 Explanation

The explanations provided here use the C200HW-NC413 PCU as an example. With the NC213 and NC113, the sizes of the various areas differ depending on the number of axes. For details, refer to Section 4 Data Areas. Operating Memory Area (IR Area) The PCU occupies 20 words of the Special I/O area within the Programmable Controllers IR area. Of these, eight words are used during I/O refreshing for outputting information related to instructions for operations such as transferring data from the Programmable Controller to the PCU. The remaining 12 words are used for inputting the PCUs status during I/O refreshing. The PCU occupies 100 words of the Special I/O Unit data area within the Programmable Controllers DM area. When the PCU is powered up or restarted, common parameters and axis parameters related to control are transferred to the PCU. The axis parameters are stored in the PCUs internal RAM by address. It is also possible, when the PCU is powered up or restarted, to use axis parameters previously stored in the PCUs internal flash memory, without having them transferred from the Programmable Controller. The selection as to which of these two methods to use is made by a common parameter setting. For details, refer to 4-2 Common Parameter Area. Note The common parameter area settings are required when the PCU is used. If these settings are not made, a common parameter error (error codes 0010 to 0013) will be generated. Operating Data Area Depending on a common parameters setting, 34 words are reserved in the Programmable Controllers data areas. Of these, 26 words are used during I/O refreshing for outputting information related to data transfers from the Programmable Controller to the PCU, and information used for operations. The remaining eight words are used for inputting the PCUs status during I/O refreshing. When data is transferred according to the data transfer information set in the operating data area, only the portion of data transferred is used. When the data transfer instructions, Intelligent I/O Write (IOWR) and Intelligent I/O Read (IORD), are executed, the positioning data is transferred to the PCU. Data in internal memory can be saved to flash memory by executing a data save instruction from the Programmable Controller. The saved data is automatically written to the internal memory when the PCU is powered up or restarted. However, whether axis parameters are read from the parameter area (DM) or from flash memory is determined by a common parameters setting.

Connecting External I/O

This section provides motor driver connection examples. When actually connecting a motor driver, be sure to first check the specifications of the motor driver to be used.
2-4-1 Output Connection Examples
Pulses are not output when the output transistor in the pulse output section is OFF. (For direction output, OFF indicates CCW.) Do not use a 24-VDC power supply for pulse output in common with the power supply for other I/O.
ON Output transistor OFF During pulse output CW/CCW Pulse Outputs CW CCW
CCW Pulse and Direction Outputs CW CCW
Pulses Direction Output transistor ON Output transistor OFF
Outputting CW and CCW Pulses
In this example, a 5-VDC photocoupler input motor driver is used for outputting CW and CCW pulses.
24-VDC power supply + Motor driver (for 5-VDC input) (For example R=220 )

24-VDC input

A1/B1 + 1.6 k A6/B6
CW pulse output Approx. 12 mA 1.6 k A8/B8 CCW pulse output Approx. 12 mA A2/B2 +
Note In this example, the 1.6 k resistors of the Position Control Unit are used to allow a 24-VDC power supply to be used with a motor driver rated at 5 VDC. When wiring your system, carefully note the current required by the motor driver in order to avoid damaging the input circuitry of the motor driver.
24-VDC power supply + + 5-VDC power supply Motor driver (for 5-VDC input)

A1/B1 + 1.6 k A5/B5

CW pulse output + 1.6 k

A7/B7 CCW pulse output

Outputting Pulse and Direction Signals
In this example, a 5-VDC input motor is used for outputting pulse and direction signals.
24-VDC power supply + Motor driver (for 5-VDC input)

A1/B1 1.6 k

A5/B5 Pulse (CW+CCW) output 1.6 k Direction input

7 to 30 mA

A7/B7 Direction output A2/B2

Pulse input

When voltage-level output is used, the level is L for output ON, and H for output OFF.
Error Counter Reset Output
Position Control Unit 24-VDC power supply for output A1/B1 24-VDC + power supply 5-VDC power supply + +ECRST ECRST
There is approximately 20 ms of output when origin search is completed in modes 1 or 2.
OMRON R88D-UP Servomotor Driver

A10/B10

Position Control Unit 24-VDC power supply for output 1.6 k A10/B10 24-VDC power supply +

+ECRST ECRST

2-4-2 Input Connection Examples
! Caution If the switching capacity is too low it may cause damage to the switch. Connect a switch with a switching capacity of at least 5 mA for each input. With N.C. inputs, be sure to connect a power supply for unused terminals and turn them on. This section shows examples of connecting interrupt, emergency stop, and CW/ CCW limit input signals.

15 m+4 m+0 0

Word m+4
Bits to to to to to to 1 0

Setting

Contents CW/CCW output --Limit input: N.C. contact Origin proximity input signal: N.O. contact Origin input signal: N.O. contact Pulse output stopped with emergency stop input signal. --Mode 0 Reverse mode 1 Takes origin input signal after origin proximity input signal is received. Search direction: CW
Note m is the beginning DM word allocated when the unit number is set. Origin Search Operation The origin search operation is completed with the rising edge of the origin input signal after the rising edge of the origin proximity input signal.
ORIGIN SEARCH Origin proximity input signal Origin input signal Pulse output Busy Flag Time
Connections in Each Operating Mode Example 2: Mode 1 Connection
In this example, a servomotor driver is employed and the Z-phase of the encoder is connected to the origin line driver input terminal and used as the origin input signal. An OMRON U-Series Servomotor Driver is used.
Position Control Unit CW output (with 1.6 k resistance) CCW output (with 1.6 k resistance) 24-V power supply for output 24-V GND for output A6 Shield OMRON R88D-UPjjjj Servomotor Driver R88M-U 1 +CW Servomotor A8 + A1 N.C. contact ARUN 24 VDC 13 +24VIN 4 CW +CCW CCW
Error counter reset output Origin input signal

A11 A16 A14 FG

24 +Z 25 Z 36 FG

Input common

24 VDC A24 A21 N.O. contact A23 N.C. contact A22 N.C. contact A20 N.C. contact +
Origin proximity input signal CCW limit input signal CW limit input signal Emergency stop input signal
Parameter Setting Example This example is explained in terms of the X axis. For more details, refer to 4-3 Axis Parameters Area.

15 m+4 m+0 E 1

Bits to 1
Contents CW/CCW output --Limit input: N.C. contact Origin proximity: N.O. contact Origin input signal: N.O. contact Pulse output stopped by emergency stop input signal; error counter reset signal output. --Mode 1 Reverse mode 1 Takes origin input signal after rising and falling edge of origin proximity signal. Motor direction: CW

Designation of Operating Data Area Word: m
This setting specifies whether the operating data area is to be set in the DM area or the EM area. X = D (DM area) E (EM area) If anything other than the above is set, or if the beginning word designation (in m+1) is out of the permissible range, an operating data area word error will be generated. If such an error is generated, the following conditions will result. In that case, correct the setting and either power up again or restart the PCU. The RUN indicator on the PCUs front panel will light, and the ERR indicator will flash. The X-axis Error Flag will turn ON. Operations (such as monitoring and data transfers) from the SYSMAC-NCT Support Tool, however, can be executed as usual. Beginning Word of Operating Data Area Word: m+1
This setting specifies the beginning word for the operating data area. The words that can be specified are the read/write-enabled DM and EM (bank 0 only) words shown in the following table.
PC model C200H C200HS C200HE(-ZE) C200HX/HG(-ZE) Areas that can be set DM 0000 to DM 0899 DM 0000 to DM 0999 DM 2000 to DM 5999 (See note.) [For Unit No. 10] DM 0000 to DM 0999 DM 2000 to DM 5999 (See note.) EM 0000 to EM 6143 (bank 0 only) [For Unit No. 16] DM 0000 to DM 0999 (See note.) DM 2600 to DM 5999 EM 0000 to EM 6143 (bank 0 only)
Note The upper limit varies depending on the memory capacity. PCU Mounting Position and Parameter Designation Word: m+2
15 Mounting position Parameter designation 00
The mounting position setting specifies whether the PCU is mounted to a Remote I/O Slave or to the CPU Rack or Expansion I/O Rack. 00: 01: PCU mounted to CPU Rack or Expansion I/O Rack PCU mounted to Remote I/O Slave
Note If this setting is 00 but the PCU is actually mounted to a Slave, a Special I/O Unit error will be generated. If that occurs, correct the setting to 01 and then power the PCU up again or restart it. Likewise, if the PCU is mounted to the CPU Rack or an Expansion I/O Rack, be sure to set this mounting position setting to 00. If it is set to 01 in that case, the responses to instructions from the Programmable Controller will be one or two scans slower than if it is set to 00.

Axis Parameters

The parameter designation setting specifies whether the axis parameters in DM m+4 to DM m+99 or the axis parameters saved to the PCUs flash memory are to be used for operation. 00: Use parameters saved to PCUs flash memory. 01: Use parameters in DM m+4 to DM m+99. (In this case, these parameters must be set in advance.) Reserved Word: m+3 Set to 0000.
The parameters for the X, Y, Z, and U axes are set in the axis parameters area.
4-3-1 Setting the Axis Parameters
The data required for controlling the Position Control Unit (PCU) is set in the axis parameters area. This essential data includes the settings for the operation mode, the maximum speed, the acceleration/deceleration curve, the origin search speeds, the software limits, and so on. If the parameter designation setting in the common parameter area specifies that the axis parameters in DM m+4 to DM m+99 are to be used, then those parameters will be transferred to the PCU. If that parameter designation specifies that the axis parameters saved in the PCUs flash memory are to be used, then those are the values that will be used. When the axis parameters in DM m+4 to DM m+99 are used, they are read to the PCU and stored in the data area in addresses 0004 to 0099. (Words m+4 to m+99 in the Programmable Controllers DM area correspond to addresses 0004 to 9999 in the PCU). When this data is saved, the settings are stored in the PCUs flash memory.

A multiple start error (error code 8000) will occur if the operating axis designation in one axis designation in the positioning sequence is overlapped by another positioning sequence. A multiple start error (error code 8000) will occur if the active axis and the axis for which start has been executed are the same axis, but the axes designated in the respective positioning sequences are different. Example:
START (X) Positioning sequence (X) Axis designation: Y Positioning sequence (Y) Axis designation: Z Position (Y) Multiple start on Y axis Position (Z)

START (Y)

Subsequent commands will be ignored if the axis for which start has been executed for memory operation is the same as the axis for commands other than memory operation (such as origin search), but a multiple start error will not occur. Example:
Start (X) Any further origin searches are ignored Positioning sequence (X) Axis designation: Y Position (Y)

Origin search (X)

Therefore, for memory operation, commands for the active axis are treated as multiple starts.
Setting Data for Use in Memory Operation
Following is a simple explanation of the axis parameters and operating memory area used when executing memory operations. For details on how to set these, refer to 4-3 Axis Parameters Area and 4-4 Operating Memory Area.
Item Axis parameter area Bits Contents
Limit input signal type 0: N.C. input; 1: N.O. input Origin proximity input signal type 0: N.C. input; 1: N.O. input Origin proximity input signal type 0: N.C. input; 1: N.O. input Operation mode Origin search operation Origin detection method Origin search direction m+5 m+29 m+53 m+to to to to 15 Operation mode 0 to 3: Modes 0 to 3 Origin search operation 0: Reversal mode 1 1: Reversal mode 2 2: Single-direction mode Origin detection method 0: With origin proximity input signal reversal 1: Without origin proximity input signal reversal 2: Origin proximity input signal not used 3: Limit input signal used instead of origin proximity input signal Origin search direction: 0: CW; 1: CCW. Acceleration time Deceleration time m+15 m+16 m+17 m+18 m+39 m+40 m+41 m+42 m+63 m+64 m+65 m+66 m+87 m+88 m+89 m+to to 15
Leftmost 15 Rightmost 00 x105 x104 x103 x102 x101 x00
Setting range: 0 to 250,000 (ms)
Note The speed data specified by the initial speed number in the sequence data is used as the initial speed for memory operation.
Operations With Memory Operation
Item START INDEPENDENT START Sequence number enable Sequence number Model NC413 NC213 NC113 Operating memory area X axis n n n 00 NC413 NC213 NC113 Waiting for memory operation Positioning completed Busy Flag Output code NC413 NC213 NC113 n+1 n+1 n+1 n+8 n+4 n+2 n+11 n+to 03 n+14 n+n+3 n+3 n+5 n+to 07 1: Enable, 0: disable Y axis n+2 n+2 Z axis n+4 Bits

9-3-4 Operating Memory Area Allocation and Operating Data Area Settings
For details regarding positioning sequences in memory operation, see 4-6 Positioning Sequence Details. Refer to Section 8 Memory Operation for how to set and execute the operating data area and operating memory area when the program has been started from memory operation. Operating Memory Area
Name Model Operating memory area X axis n n n n+8 n+4 n+2 n+11 n+1: Busy Y axis n+2 n+n+14 n+1: CCW; 0: CW : Positioning Completed Z axis n+4 U axis n+6 Bit Details
Interrupt feeding Direction designation Positioning Completed Busy Flag
: Start of interrupt feeding
Name Model Operating data area X axis I+6 I+7 I+6 I+7 I+6 I+7 I+8 I+8 I+8 I+10 I+10 I+to 15 I+15 I+15 I+20 I+to 11 I+13 I+13 I+18 I+to 15

U axis I+21 I+22

Leftmost

Rightmost

Sign: 0: Plus (CW) 1: Minus (CCW)
Acceleration times #0 to #9 ( (BCD) ) Deceleration times #0 to #9 (BCD) When 0, use parameter acceleration/deceleration time.

Forced Interrupt

9-3-5 Timing Chart
The following timing chart illustrates interrupt feeding under direct operation, using the X axis as an example. There is a movement of 10,000 pulses in the direction of travel.
Position (I+7, I+6) Speed (I+8) Direction designation (word n, bit 10) Interrupt feed (word n, bit 5) Interrupt input signal (input to Position Control Unit) (A19/B19) Speed Pulse output 10,000 pulses Time (Interrupt feeding in the direction of travel)
Positioning Completed (word n+8, bit 05) Busy Flag (word n+8, bit 13)
FORCED INTERRUPT is a command which is only enabled during memory operation. It is used for taking emergency evasive action from the current operation under memory operation.

Outline of Operation

When a sequence number with the forced interrupt operation set is specified and the FORCED INTERRUPT Bit is turned ON, the pulse output of the memory operation currently being executed is stopped (without deceleration) and positioning is executed from the specified sequence number. There is no need to turn ON the Sequence Number Enable Bit.
Procedure for Using Forced Interrupt 1, 2, 3. 1. Set the forced interrupt action in the positioning sequence and transfer it to the Position Control Unit. 2. When a forced interrupt is required, specify the sequence number set in (1) and FORCED INTERRUPT from OFF to ON.

Operating Procedures for Program Examples

Section 10-1

10-1 Operating Procedures for Program Examples
The following explanations describe some procedures for using test equipment to check the operation of the program examples introduced in this section. Refer to the various relevant sections for more information on particular procedures. Startup Procedures 1, 2, 3. 1. Preparing the Equipment to be Used The following devices are the minimum required for positioning with a Position Control Unit (PCU).
Model Position Control Unit SYSMAC C200H-series CPU Unit Power Supply Unit Notes C200HW-NC113/NC213/NC413 C200H/C200HS/C200HX/HG/HE-(Z)E Series C200HW-PA204/PA204S/PD024 (A Power Supply Unit is needed for all Units apart from the C200H/C200HS Series). C200H/C200HS: C200H-BCjjj-V2 C200HX/HG/HE-(Z)E: C200HW-BCjjj The following are required: Servomotor, driver, and cabling between the motor and driver. Stepping motor, driver, and cabling between the motor and driver. Control cable between the PCU and driver. Direct current SYSMAC C200H-series tools (such as CQM1-PRO01-E) Required when using SYSMAC Support Software and the SYSMAC-NCT Support Tool. (A connecting cable for the CPU Unit is also required separately)

Backplane Motor driver

24-VDC power supply Tools Personal computer
2. Mounting the Units The CPU Unit, PCU and Power Supply Unit are mounted on a Backplane. The following settings are needed for the PCU.
Item Special I/O Unit number Setting When any of the C200HS/HE-(Z)E models, or C200HG/HX-CPU3j-(Z)E/4j-(Z)E are installed: NC113/213: 0 to 9 NC413: 0 to 8 When any of the C200HG/HX-CPU5j-(Z)E/6j-(Z)E models, or C200HX-CPU85-ZE are installed: NC113/213: 0 to 9, A to F NC413: 0 to 8, A to E
3. Connections and Circuitry (Refer to Section 2 Specifications and Wiring.) Wire the power supplies with the motor and driver, and with the PCU and driver. If the following minimum wiring requirements are not met, an error will be generated and the PCU will not operate.
Terminals 24-V power supply for output (A1/B1) Output power supply 0 V (A2/B2) Common input (A24/B24) CW limit input (A22/B22) Wiring +24 VDC (24-VDC power supply positive terminal) 0 V (24-VDC ground for power supply) +24 VDC (24-VDC power supply positive terminal) Connected to the ground of the power supply used as the common input through the N.C. contact switch. (Can be changed to a N.O. contact in the common parameters.) Connected to the ground of the power supply used as the common input through the N.C. contact switch. (Can be changed to a N.O. contact in the common parameters.) Connected to the ground of the power supply used as the common input through the N.C. contact switch.
CCW limit input (A23/B23)
Emergency stop input (A20/B20)
Note When using the NC213/NC413, make the above connections as a minimum, even for unused axes. If this wiring is not done, an error will be generated for applicable axes but other axes will operate normally. Also be sure to use separate power supplies for the 24-VDC output power supply and the common input power supply.

Address Setting Position #0 Position #1 Position #2 Position #3 Position #4 Position #5 Position #6 Contents of setting CW/absolute/1000 pulses p CW/absolute/2000 pulses p CW/absolute/3000 pulses p CW/absolute/4000 pulses p CW/absolute/5000 pulses p CW/absolute/0000 pulses p CW/absolute/0000 pulses p
Note Addresses other than the above should be set to their factory values. Acceleration and Deceleration Times Dwell Times Zones Acceleration and deceleration times use the values set in the parameter area. Make sure the data in this area is all set to the factory settings. Dwell times are not used in these programs, so this data area needs to be set completely to the factory settings. Zones are not used in these programs, so this data area needs to be set completely to the factory settings.
Linear Interpolation Program

Operation start switch

Takes the rising edge of the operation start switch. Sets #0 for the sequence number. Only executed when starting the first time. Sequence number enable Enables the sequence number.

Origin Search

Section 10-5

10-5 Origin Search

10-5-1 Origin Search Using Limit Input
An origin search can be carried out in single-direction mode using the CW/ CCW limit input signal as an origin proximity input signal. The origin is established by the first origin input signal after the CW or CCW limit input switch is turned from ON to OFF. The following example is an origin search operation in single-direction mode using the CCW limit input signal. In this example, the CCW limit input is an N.C. contact. With an N.O. contact, the logic is reversed.
Origin input signal Operation starts Speed (pps)
1. When the operation start switch is turned ON, the origin search starts with an origin search high speed of 500 pps in the CW direction on the X axis. 2. When the CCW limit input signal is turned ON, the program decelerates to an origin search proximity speed of 100 pps. 3. When the first origin input signal is turned on after the CCW limit input signal is turned ON, the pulse output is stopped and the origin is established. Unit Number: Unit #0 Unit Used: NC113
DM 1002 Setting 000D Contents of setting Sets the operating data area to DM 0500 onwards o a ds Not mounted to a Slave. DM 1004 onwards used for parameter transfer Reserved I/O setting CW/limit input used/single direction mode/mode 1 Maximum speed: 500 pps Initial speed Origin search high speed Origin search proximity speed Origin compensation value g p Backlash compensation value Backlash compensation speed DM 1016 Setting **** Contents of setting Acceleration/deceleration curve: trapezoid Acceleration time ( (from 0 to maximum speed): 5 ms i d)

Data reading C200HW-NC213 Data writing, saving C200HW-NC113

PC DM area

Parameters/data X axis only read

DM 3000 onwards

Parameters/data Write, save
Unit #0 Parameters/data X and Y axes already transferred.
Unit #2 Parameters/data not transferred.
READ DATA 1, 2, 3. 1. Mount the NC213 (Unit #0) to the Programmable Controllers CPU Rack. Make sure that the data and parameters for both the X and Y axes needed for the operation of the NC213 (Unit #0) are all transferred. 2. When the operation start switch is turned ON, the parameters and data for the X axis of the NC213 are read into DM 3000 through DM 3694 at the PC. 3. When work bit 03010 turns ON the read operation is completed. WRITE DATA and SAVE DATA 1, 2, 3. 1. Mount the NC113 (Unit #2) to the Programmable Controllers CPU Rack. Set the parameters and data for the X axis of the NC113 in DM 3000 through DM 3694 of the PC. 2. When the operation start switch is turned ON, the parameters and data in DM 3000 through DM 3694 are written to the NC113 and then saved. 3. When work bit 03014 turns ON, the WRITE DATA and SAVE DATA operations are completed.
READ DATA WRITE DATA and SAVE DATA Unit Number: Unit #0 Unit Used: C200HW-NC213 Unit Number: Unit #2 Unit Used: C200HW-NC113
Transferring and Saving Data Data Memory Settings

READ DATA C200HW-NC213

DM 1002 Setting 000D Contents of setting
Sets the operating data area to DM 0500 onwards. Not mounted to Slave. No parameters transferred.
The parameters for each axis are read from the flash memory of the Position Control Unit. Transfer them in advance to the Position Control Unit and then save them. WRITE DATA and SAVE DATA C200HW-NC113
DM 1202 Setting 000D Not mounted to Slave. No parameters transferred. Contents of setting Set the operating data area to DM 0600 onwards.
The operating data area is set during programming and therefore no setting is necessary beforehand.
READ DATA Axis Parameters Positioning Sequences Speeds Positions Acceleration and Deceleration Times Dwell Times Zones Transfer the data needed for the operation beforehand to the Position Control Unit for both the X and Y axes, and save it in the flash memory. The data in DM 3000 through DM 3694 is transferred to the Position Control Unit, so set all the data such as the axis parameters, positioning sequences, speeds and so on, in this DM area.

Operation after error An emergency stop will be performed on the axis where the signals were input. Other operating axes wont be affected.
Absolute movement command
Absolute movement position error Absolute movement speed error
Execute the command again g after correcting the position or speed iti d designation.
The current START command , wont be executed, but th b t other operating ti axes wont be affected.
Relative movement command
Relative movement position error Relative movement speed error

Interrupt feeding

Interrupt feeding position error Interrupt feeding speed error
Execute the command again g after correcting the iti d The speed designation of interrupt position or speed data. feeding is 0 or there is a BCD error. The origin return speed is 0 or there is a BCD error. There is a BCD error in the position data. The JOG speed is 0 or there is a BCD error.
Origin return Present position JOG
Origin return error Present position error JOG speed error
Group Multiplex axis start Name Multiplex axis start Code 8000 Cause Two or more of the following commands were executed simultaneously for the same axis: START, INDEPENDENT START, ORIGIN SEARCH, ORIGIN RETURN, PRESENT POSITION CHANGE, JOG, TEACH, RELEASE PROHIBIT, ABSOLUTE MOVEMENT, RELATIVE MOVEMENT, or INTERRUPT FEEDING Clearing method Make sure that just one command is executed at one time and execute the command again.
Operation after error The axis will be decelerated to a stop if the first command was START, INDEPENDENT START, ORIGIN SEARCH, ORIGIN RETURN, JOG, ABSOLUTE MOVEMENT, RELATIVE MOVEMENT, or INTERRUPT FEEDING. When interpolation operation is being used, all interpolated axes will be decelerated to a stop, but other operating axes wont be affected. One of the following commands was executed for a busy axis: ORIGIN SEARCH, ORIGIN RETURN, PRESENT POSITION CHANGE, JOG, TEACH, RELEASE PROHIBIT, ABSOLUTE MOVEMENT, RELATIVE MOVEMENT, or INTERRUPT FEEDING A data save operation was executed while one of the following commands was in progress: START, INDEPENDENT START, ORIGIN SEARCH, ORIGIN RETURN, PRESENT POSITION CHANGE, JOG, TEACH, RELEASE PROHIBIT, ABSOLUTE MOVEMENT, RELATIVE MOVEMENT, or INTERRUPT FEEDING Make sure you arent executing an command for a busy axis and execute the command again. The current START command wont be executed, but other operating axes wont be affected.
Before executing a data save operation make sure that none of the axes are busy. Execute the data save operation again.
The axis will be decelerated to a stop if the first command was START, INDEPENDENT START, ORIGIN SEARCH, ORIGIN RETURN, JOG, ABSOLUTE MOVEMENT, RELATIVE MOVEMENT, or INTERRUPT FEEDING. The first data transfer or data save operation will continue. All operating axes will be decelerated to a stop.

Error code 9300 Error name Read transfer: destination word error Error counter reset/ origin adjustment output error Override error Positioning timer timeout IORD format error IOWR format error Flash memory error I+5 --I+9/I+14/I+19/I+24 Related data
Servomotor driver positioning completed input signal, m+19/m+43/m+67/m+91 (address: 0019/0043/0067/0091) -------

Appendix D

Effect of Cable Length on Pulse Output
Depending on the cable used for connecting the Position Control Unit and a load (such as a servomotor driver), there may be effects on waveform distortion, pulse width, and so on.
CW pulse output Load current: 15 mA
Pulse signal cable (0.2-mm2 twisted pair cable), length L (recommended: 2.0 m max.)
5-VDC power supply for pulse output Power supply cable (AWG22 or equivalent): 1 m
Point A sample waveform (vertical axis: 1V/div; horizontal axis: 500 ns/div) temperature = room temperature
L = 0.1 m Position Control Unit Pulse output OFF L = 1.0 m L = 2.0 m

Pulse output ON

Appendix E

Parameter Coding Sheets

MACHINE No. j

Customer name:

jNC113

Machine name:

jNC213

jNC413

Prepared by:
DM Function Designation of operating data area Beginning word of operating data area Unit mounting position; parameter designation Reserved See Unit Mounting Position; Parameter Designation below.
Unit Mounting Position; Parameter Designation

Bit 08 to to 07

Function Unit mounting position Parameter designation
00 CPU Rack, Expansion I/O Rack Parameters saved to PCU
01 Remote I/O Slave Rack Parameters stored in m+4 to m+99

Z axis

U axis Function I/O setting Operation mode selection Maximum speed Initial speed Origin search high speed Origin search proximity speed Origin compensation See I/O Setting on the next page. See Operation Mode Selection on the next page.
Backlash compensation Backlash compensation speed Acceleration/deceleration curve Acceleration time

Deceleration time

Positioning monitor time CCW limit

CW limit

I/O Setting
to 07 Bit Item Output pulse selection Reserved Limit input signal type Origin proximity input signal type Origin input signal type Emergency stop input signal
Setting details 0: CW/CCW output 1: Pulse direction output Set to 0. 0: N.C. contact; 1: N.O. contact 0: N.C. contact; 1: N.O. contact 0: N.C. contact; 1: N.O. contact 0: Pulse output stop 1: Pulse output stop and error counter reset signal output (modes 1 and 2) 0: Retain prior status. 1: Forcibly change to origin undefined status. Set to 0.

Operation Mode Selection

Bit 00 to 03 Item Operation mode
Setting details 0 (Mode 0): Uses stepping motor, and uses external sensor signal as origin input signal. 1 (Mode 1): Uses servomotor driver, and uses encoders Z-phase signal for origin input signal. Does not use positioning completed input signal. 2 (Mode 2): Same as Mode 1, but uses positioning completed input signal. 3 (Mode 3): Uses OMRON H-Series or M-Series Servomotor Driver. Origin search is completed by Servomotor Drivers origin adjustment command. Uses positioning completed input signal. 04 to 07 Origin search operation 0: Reverse mode 1 (reverse at limit input) Detects origin in designated origin search direction. 1: Reverse mode 1 (Error stop at limit input) Detects origin in designated origin search direction. 2: Single-direction mode (No reverse) 08 to 11 Origin detection method 0: Takes origin input signal after origin proximity input signal turns ON () and OFF (). 1: Takes origin input signal after origin proximity input signal turns ON (). 2: Takes origin input signal without using origin proximity input signal. 3: Takes origin input signal after limit input signal turns ON () and OFF (), or OFF (), without using origin proximity input signal. (Enabled only for single-direction mode.) 0: CW direction 1: CCW direction

Appendix F

Using with CS1-series PCs
Observe the following points when using C200HW-NC113/NC213/NC413 PCUs with CS1-series PCs. Differences in Operating Memory Area and Common Parameter Area Allocations The beginning words of the operating memory area (n) and common parameter area (m) will differ in the way shown below. Beginning Word of Operating Memory Area, n Changes from n = IR 100 (or 400 when unit number y A) + (unit number 10) to n = CIO 2000 + (unit number 10) Beginning Word of Common Parameter Area, m Changes from m = DM 1000 + (unit number 100) to m = D20000 + (unit number 100) Differences in Operating Data Area and Data Transfer Area Designations When designating the operating data area (using the common parameters) and the data transfer area (from the operating data area), the following restrictions apply. Operating Data Area (I to I + 33 max.) Only the following areas can be set using the common parameters (m, m+1): D00000 to D00999 D02600 to D05999 E0_00000 to E0_06143 m = D20000 + (unit number 100) I = Beginning word of operating data area

CS1 Series, C200HX/HG/HE, C200HS, C200H C200HW-NC113, C200HW-NC213, and C200HW-NC413

Position Control Unit

Specification Sheets

Product Specifications

C200H Special I/O Unit
CS1 Series, C200HX/HG/HE, C200HS, C200H
C200HW-NC113, C200HW-NC213, and C200HW-NC413
One-axis, Two-axis, and Four-axis Postion Control Units Capable of Memory Operation or Direct Operation
The C200HW-NC113, C200HW-NC213, and C200HW-NC413 are one-axis, two-axis, and four-axis Position Control Units for the CS1-Series, C200HX/HG/HE, C200HS, and C200H PCs. These Units receive instructions from the CPU Unit and output pulses to various motor drivers for positioning.
Memory operation Position control Position Control Unit operations Direct operation Interrupt feeding Continuous

C200HWNC113/NC213/NC413

Independent Automatic
J System Configuration Example

Speed control

Origin search Jogging Teaching Override Present position change Backlash compensation Zone setting Deceleration stop
Input Pulse Input Servodriver

Other operations

Servo Relay Unit

Features

Memory Operation and Direct Operation Operation can be controlled through memory operation, where data for positioning is transferred to the Position Control Unit and then specified for position control, or through direct operation, where target positions and speeds are set each time from the CPU Unit. Combining these methods is also possible, allowing a Position Control Unit to perform flexible positioning operations ranging from easy to complicated.
Memory Operation Position Control Unit CPU Unit

Servomotor

Various Basis Functions
The C200HW-NC113, C200HW-MC213, and C200HW-413 support various basic functions, such as origin searches, interrupt feeding, speed controls, jogging, teaching, overrides (speed coefficients), backlash compensation, present position changes, zone settings, and deceleration stops.

Enhanced Functions

The C200HW-NC113, C200HW-MC213, and C200HW-413 support the following functions that the previous models (C200HNC211 and C200H-NC112) do not support.
Data transfer bits Position data Speed data Start sequence No. specification
Direct operation is possible. S-curve acceleration/declaration is possible in addition to
trapezoidal acceleration/declaration.

CPU Unit

Direct Operation
Data transfer bits Position data Speed data Direct start command
Speed control is possible. Backlash compensation speed can be specified. Forced intervention is possible (specified position data can be

forcibly executed).

Flash memory operation is possible.
Programmable Controller is abbreviated as PC in these Specification Sheets.

Compact Size

The single-axis, two-axis, and four-axis models are all one compact size.

Easy Data Transfer

Position data used for memory operation can be transferred to the Position Control Unit by using the NC Support Software (for CS1-Series and C200HX/HG/HE PCs only), data transfer bits, and the Intelligent I/O Write (IOWR) and Intelligent I/O Read (IORD) instructions (for CS1-Series and C200HX/HG/HE PCs only).
Special Support Software for CS1-Series and C200HX/HG/HE PCs)
Special Support Software, the SYSMAC-NCT, which runs on Windows 95, allows the user to easily create various data for the Position Control Unit. It can also be used for writing data to the PCU, reading data from the PCU, saving data, and printing data.
ROM Operation by Flash Memory
Position data used for memory operation can be stored in the flash memory in the Position Control Unit. It is retained even when the power is turned OFF. So, there is no need for battery maintenance.

Models

Applicable PCs CS , C 00 / G/ , CS1, C200HX/HG/HE, C200HS, d C200HS and C200H PCs Unit classification C 00 S ec a /O U C200H Special I/O Unit Number of control axes 1 axis 2 axes 4 axes Controlled driver Pulse-train input d e o u se a u driver or stepping motor d i t i t driver Model number C200HW-NC113 C200HW-NC213 C200HW-NC413
Support Software (Sold Separately)
Name SYSMAC-NCT System requirements Personal computer: IBM AT or compatible Operating system: Windows 95 Minimum memory: 16 MB Available disk space: 10 MB min. Applicable PCs CS1-Series and C200HX/HG/HE PCs only (Cannot be used with C200H or C200HS PCs.) Specifications Creating positioning data and parameter data, transferring data to the Unit, writing data to the flash memory, and printing Unit status monitor data, positioning data, and parameter data Model WS01-NCTF1-E

Connecting Cable

For connecting the RS-232C port on the CPU Unit

2.0 m, 5.0 m

XW2Z-jjjj (For details, refer to j optional parts.)

Specifications

Item e C200HW-NC113 Applicable PCs Unit classification Mounting location Maximum number of Units that can be mounted Unit numbers C200H Special I/O Unit CPU Rack, C200H Expansion I/O Rack, CS1 Expansion Rack, SYSMAC BUS Remote I/O Slave Unit 16 or 10 Units depending on the CPU Unit model (refer to Connectable CPU Unit Models). 0 to F or 0 to 9 depending on the CPU Unit model (refer to Connectable CPU Unit Models). 8 or 5 Units depending on the CPU Unit model (refer to Connectable CPU Unit Models). 0 to 8, or 0 to 8 and A to E depending on the CPU Unit model (refer to Connectable CPU Unit Models). 20 words/Unit Specifications C200HW-NC213 C200HW-NC413 CS1-Series, C200HX/HG/HE, C200HS, C200H
Data exchange e change area with CPU Unit
Words allocated in the Special I/O Unit Area DM area words allocated to Special I/O Units

5 words/Unit

10 words/Unit
CPU Unit Position Control Unit: Operating commands (sequence numbers, start, origin search, etc.) Position Control Unit CPU Unit: Status (positioning completed, present position, etc.) 100 words/Unit CPU Unit Position Control Unit: Common parameters and axis parameters (I/O selection, operation mode selection, start speed, origin search speed, acceleration/deceleration time, etc.) Pulse-train input type Servodriver or stepping motor driver Open-loop control by pulse train output (automatic trapezoidal or S-curve acceleration/deceleration) 1 axis Pulse 2 axes 4 axes

Controlled driver Control Control system Number of control axes Control unit
Item C200HW-NC113 Positioning operations os o g o e a o s Specifications C200HW-NC213

C200HW-NC413

Two types: Memory operation and direct operation Memory operation: Transfers sequence data such as position data and speed data to the Position Control Unit beforehand, and executes positioning in ascending order of sequence numbers by specifying the start sequence number from the CPU Unit. Completion code of each sequence for memory operation: Independent, automatic, continuous, bank end, speed control (continuous output), or interrupt feeding (continuos output with positioning) can be specified. Direct operation: Writes position data and speed data to the specified area in the CPU Unit and executes positioning by outputting the data to the Position Control Unit through I/O refresh. Speed control and interrupt feeding are also possible.
Independent Linear interpolation Speed control Interrupt feeding Positions os o s Speeds S eeds Acceleration and deceleration times Range Data items Range Data items Range Data items
1 axis 1 axis 1 axis 9,999,999 to 9,999,999 pulses 100/axis 1 pps to 500 Kpps 100/axis
2 independent axes 2 axes max. 2 independent axes 2 independent axes
4 independent axes 4 axes max. 4 independent axes 4 independent axes
0 to 250 s, until maximum speed is reached. 9/axis for acceleration and deceleration each.
Item C200HW-NC113 Functions Origin search Specifications C200HW-NC213
Origin proximity input signal: selectable (absent, N.O. or N.C. contact). Origin input signal: selectable (N.O. or N.C. contact) Origin compensation: 9,999,999 to 9,999,999 pulses Origin search speed: High-speed or proximity-speed can be set. Origin search method: May be set to stop upon origin input signal after proximity input signal has turned ON, to stop upon origin input signal after proximity input signal has turned OFF, to stop upon origin input signal without using proximity input signal, or to stop upon origin input signal after limit input signal has turned OFF. N.O. = Normally open N.C. = Normally closed
Origin search operation mode
0 (Mode 0) 1 (Mode 1) 2 (Mode 2) 3 (Mode 3)
Stepping motors are used and external sensor signals are used as origin input signals. In this case, error counter reset output and origin-adjustment command output can be used as general-purpose outputs. Servodrivers are used and encoder phase-Z signals are used as origin input signals. The Servodrivers positioning completed signals are not used. Servodrivers are used and encoder phase-Z signals are used as origin input signals. The Servodrivers positioning completed signals are used. Servodrivers such as OMRON H-Series and M-Series are used. The Servodrivers origin-adjustment command is used to complete origin search. The Servodrivers positioning completed signals are used.

Jogging Dwell times Acceleration/ deceleration curves Zones Software limit
Jogging can be executed at a specified speed. 19/axis can be set from 0 to 9.99 s (unit: 0.01 s). Trapezoidal or S-curve (Can be set separately for each axis.)
Zone Flag turns ON when present position is within a specified zone. Three zones can be set for each axis. Can be set within a range of 9,999,999 to 9,999,999 pulses.
Backlash 0 to 9,999 pulses. Compensation speed can also be set. compensation Teaching Forced intervention Deceleration stop Present position change Override Pulse output prohibited Data transfer (data read/write) With a command from the CPU Unit, the present position can be taken as the position data. Stops the active sequence and executes the specified sequence No. (Valid during memory operation only) The STOP command causes positioning to decelerate to a stop according to the specified deceleration time. The PRESENT POSITION CHANGE command can be used to change the present position to a specified value. When the override enabling command is executed during positioning, the target speed is changed by applying the override coefficient. Prohibits pulse output when emergency stop, CW limit, CCW limit, or CW/CCW software limit input turns ON. Various data can be transferred to the memory in the Position Control Unit, using either of the following methods: 1) Data transfer bits 2) Intelligent I/O Write (IOWR) and Intelligent I/O Read (IORD) instructions (for CS1-Series and C200HX/HG/HE PCs only) 3) SYSMAC-NCT Support Software (for CS1 Series and C200HX/HG/HE PCs only) Data saving Various data can be saved in the internal flash memory. If data is saved, the Position Control Unit can be operated using the saved data when it is turned ON or restarted. There is no need to transfer data to the Unit each time. Note: Flash memory life expectancy: 100,000 times (reads/writes)
Item C200HW-NC113 External I/O Inputs Specifications C200HW-NC213
Prepare the following inputs for each axis: CW and CCW limit input signals, origin proximity input signal, origin input signal (see note), emergency stop input signal, positioning completed signal, interrupt input signal Voltage: 24 VDC 10% Current: 4.3 mA (at 24 V) typ. ON voltage: 17.4 VDC min. OFF voltage: 5.0 VDC max. ON response time: 1 ms max. (0.1 ms max.: Interrupt input) OFF response time: 1 ms. max. The following information applies to origin input only. External signal is open-collector signal: Same as above, except for response time (N.O. contact: 0.1 ms max.; N.C. contact: 1 ms max.) External signal is line-driver signal: Corresponds to line driver signals equivalent to Am26LS31, except for response time (N.O. contact: 0.1 ms max.; N.C. contact: 1 ms max.)

Outputs

Prepare the following outputs for each axis: Pulse outputs (open collector outputs) CW/CCW pulses, pulse outputs and direction outputs can be switched. Either error counter reset or origin-adjustment command outputs can be selected depending on the mode. Maximum switching capacity: 30 mA at 4.75 to 26.4 VDC (NPN open collector) (16 mA: Terminals with 1.6-k limit resistance) Minimum switching capacity: 7 mA at 4.75 to 26.4 VDC (NPN open collector) Leakage current: 0.1 mA max. Residual voltage: 0.6 V max. External power supply: 24 VDC 10% C200HW-NC113: 30 mA max. C200HW-NC213: 50 mA max. C200HW-NC413: 90 mA max.
Pulse output distribution period Self-diagnostic function Error detection function Unit number setting switch LED indicators
4 ms Flash memory check, memory loss check, I/O bus check Overtravel, CPU error, software limit over, emergency stop Rotary switch: Unit number (0 to F) (Differs depending on the CPU Unit model. Refer to Connectable CPU Unit Models.) Number of indicators: 5 (NC113), 6 (NC213), 8 (NC413) Show the PCUs status such as running state, error state, input signal state, data state, and each axis state.
Connections on the front panel

X-axis connector

X/Y-axis connector
X/Y-axis connector, Z/U-axis connector
Use the FCN-361J048-AU Connector (soldered) and the FCN-360C048-D Connector Cover provided. Also, use OMRONs Servodriver Connecting Cables. Internal current consumption (provided from Power Supply Unit) Dimensions 300 mA max. at 5 VDC 300 mA max. at 5 VDC 500 mA max. at 5 VDC
130 x 34.5 x 100.5 mm (H x W x D) The height including the Backplane is 230 mm when the attached connector or OMRONs Servodriver Cable is used.
Weight (excluding connectors) Standard accessories Cat. No.

250 g max.

300 g max.

350 g max.

Fujitsu FCN-361J048-AU Connector (soldered) and FCN-360C048-D Connector Cover: 1 set W334 (W324 for SYSMAC-NCT Support Software)

Options (Sold Separately)
Item Connectors for each axis Soldered (provided as ( rovided standard on this Unit) C Crimp Specifications Soldered connector Connector cover Crimp-type housing Contact Connector cover Model number FCN-361J048-AU FCN-360C048-D FCN-363J048 FCN-363J-AU/S FCN-360C048-D
Item The following cables and Servo Relay Units can be used to connect OMRONs Servodrivers. 1 axis Connecting Cable Applicable Position Control Unit C200HW-NC113 Specifications Applicable OMRON Servodriver U-Series, H-Series, H-Series M-Series U UEP-Series only Se es o y Servo Relay Unit 2 axes Connecting Cable Connects to the above cable.
C200HW-NC213 and C200HW-NC413 (Two cables are required for q C200HW-NC413.) C200HW NC413 )
Model number Cable length ---
50 cm 100 cm 50 cm 100 cm
XW2Z-050J-A6 XW2Z-100J-A6 XW2Z-050J-A8 XW2Z-100J-A8 XW2B-20J6-1B XW2Z-050J-A7 XW2Z-100J-A7 XW2Z-050J-A9 XW2Z-100J-A9 XW2B-40J6-2B
U-Series, H-Series, H-Series M-Series U UEP-Series o y Se es only
Connects to the above cable. (Two Units are required for C200HW-NC413.) Personal computer Cable length 2.0 m 5.0 m
Item SYSMAC-NCT Support Software Connecting Cable
Connection port Connects to the RS-232C port on the RS 232C ort CPU Unit (in Host Link Mode).
Model XW2Z-200S-V XW2Z-500S-V

IBM AT or compatible

Applicable CPU Units
PC CPU Unit model Total number of PCUs that can be mounted on CPU Racks, Expansion Racks, and SYSMAC BUS Remote I/O Slave Units (see note). C200HW-NC113/NC(Unit No.: 0 to F) 10 (Unit No.: 0 to 9) C200HW-NC(Unit No.: 0 to 8, A to E) 5 (Unit No.: 0 to 8) None None Unit mounting restrictions
Position Control Unit CS1 Series C200HX/HG/HE CS1H-CPUjjj CS1G-CPUjjj C200HE-CPU11/32/42 (-ZE) C200HG-CPU33/43 (-ZE) C200HX-CPU34/44 (-ZE) C200HG-CPU53/63 (-ZE) C200HX-CPU54/64 (-ZE) C200HX-CPU65-ZE/85-ZE C200HS C200H C200HS-CPU01(-j)/21 (-j)/31/03/23/33 C200H-CPU01/02/03/11/21/2 2/23/31

16 (Unit No.: 0 to F)

8 (Unit No.: 0 to 8, A to E)
10 (Unit No.: 0 to 9) 10 (Unit No.: 0 to 9)
5 (Unit No.: 0 to 8) 5 (Unit No.: 0 to 8)
None Cannot be mounted in the two rightmost slots on the CPU Rack.
Restrictions in Using SYSMAC BUS Remote I/O Slave Units The maximum number of C200H Special I/O Units that can be mounted on a SYSMAC BUS Remote I/O Slave Unit differs according to the Units as shown below. C200H Special I/O Units can be divided into the following four groups according to the maximum number of Units that can be mounted. Group Units A ASCII Unit, High-speed Counter Unit, Position Control Unit (NC111/112/113/213), Analog I/O Unit, ID Sensor Unit, Fuzzy Logic Unit 4 Units B High-density I/O Unit, Temperature Control Unit, PID Control Unit, Heating/Cooling Control Unit, Cam Positioner Unit C Temperature Sensor Unit, Voice Unit D Position Control Unit (NC211/413), Motion Control Unit

Maximum number of Units that can be mounted in each group under one Master Unit Maximum number of Units that can be mounted in all groups

8 Units

6 Units

2 Units

3A + B + 2C + 6D x 12, AND A + B + C + D x 8
Product Specifications System Configuration
Control System: Open-loop System
The Position Control Unit does not input position feedback signals.

Pulse output

Servodriver or stepping driver
Servomotor or stepping motor Tachogenerator Rotary encoder

Connection Configuration

SYSMAC-NCT Position Control Unit CPU Unit Power Supply Unit
Item Connecting cable on PCU end

1-axis

XW2Z-jjjJ-Aj

2/4-axis

XW2B-20J6-1B

XW2B-40J6-2B

Host link
Connection to U-Series XW2Z-jjj J-B1
Connection to M-Series XW2Z-jjj J-B2
Connection to H-Series XW2Z-jjj J-B3
Connecting cable on Servodriver end
Connecting cable on PCU end

Servodriver

U-Series R88D-UPjjj

M-Series R88D-MTjjj

H-Series R88D-Hjjj
Connecting cable on Servodriver end Pulse output CCW limit input, CW limit input, origin proximity input, emergency stop input, etc.

Servodriver or

Stepping driver

Stepping motor

Position Control Unit Exchanging Data
CPU Unit Ladder program MOV, LD, etc.
Position Control Unit (C200HW-NC413)

I/O memory

IR/CIO area (operating memory area) Operation commands I/O refresh Status inputs Command interpretation
Status such as positioning completed or present position

n+7 n+8 n+19

DM area (parameter area) Common parameters At power-up or restart Common parameters

m+3 m+4

Axis parameters

At power-up or restart

DM or EM area I+25 I+26 I+33

Operating data area

Data transfer data, operation data, etc.
Settings analysis and execution I/O refresh Status such as I/O signals and error codes Internal memory

Status inputs

Data transfer area

Address

Data area Axis parameters Sequence data Speed data Position data
Acceleration time data Deceleration time data
Data for memory operation
When data transfer commands are executed When IOWR or IORD is executed

Data for X axis

Dwell time data Zone data Data for Y to U axes
When data transfer commands are executed Saving data SYSMAC-NCT Flash memory

Startup restart

Product Specifications Components
C200HW-NC413 C200HW-NC213 C200HW-NC113
LED indicators Show the PCUs operating status. Unit number setting switch Set the unit number for the PCU (0 to F).

X-, Y-axis connect or

X-axis connector (see note)
X/Y axis connector (see note) Connects stepping motor driver or Servodriver. (2-axis control)

Z/U axis connector (see note) Connects stepping motor driver or Servodriver. (2-axis control)
Note: The Unit is provided with a Fujitsu FCN-361J048-AU Connector (soldered) and FCN-360C048-D Connector Cover.

LED Indicators

Name RUN ERR SENS Green Red Red Color Lit Not lit Lit / flashing Not lit Lit Status Explanation
Lit during normal operation. Hardware error, or PC notified of PCU error. An error has occurred. No error has occurred. Either a CW/CCW limit signal or an emergency stop input signal is being input. At this time the LED indicator for the relevant axis (X to U) will flash. Either a parameter loss, a data loss, or an operating data area designation error has occurred. None of the above has occurred. The check of all data (parameters, positions, etc.) following power up shows that data is lost or corrupted. Data is incorrect (e.g., the parameters or positions transferred are out of the permissible range). At this time the LED indicator for the relevant axis (X to U) will flash. None of the above has occurred. Pulses are being output to the X axis (either forward or reverse). An error has occurred, such as incorrect cable type for the X axis or faulty data. None of the above has occurred. Pulses are being output to the Y axis (either forward or reverse). An error has occurred, such as incorrect cable type for the Y axis or faulty data. None of the above has occurred. Pulses are being output to the Z axis (either forward or reverse). An error has occurred, such as incorrect cable type for the Z axis or faulty data. None of the above has occurred. Pulses are being output to the U axis (either forward or reverse). An error has occurred, such as incorrect cable type for the U axis or faulty data. None of the above has occurred.
Flashing Not lit DATA Red Flashing Lit
Not lit X Orange Lit Flashing Not lit Y Orange Lit Flashing Not lit Z Orange Lit Flashing Not lit U Orange Lit Flashing Not lit
Position Control Unit External I/O Connectors
X/Y axis Z/U axis X/Y axis X axis

C200HW-NC213

C200HW-NC113

Connector Pin Numbers

Outline of connector (rear side)
Pin number marks (Viewed from soldered side)
Connector Pin Arrangement for X and Z Axes
Pin No. A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 A11 I/O IN IN --OUT OUT OUT OUT -OUT OUT Output GND, 24 VDC Not used Not used CW pulse output CW pulse/pulse output with 1.6 K resistance CCW pulse/direction output CCW pulse/direction output with 1.6 K resistance Not used Error counter reset output Origin-adjustment command output Error counter reset output with 1.6 K resistance Origin-adjustment command output with 1.6 K resistance Positioning completed input signal Not used Origin common Origin input signal (24 V) Origin input signal (5 V) Not used Not used Interrupt input signal Emergency stop input signal Origin proximity input signal CW limit input signal CCW limit input signal Input common Name Output power supply, 24 VDC

Connector Pin Arrangement for Y and U Axes
Pin No. B1 B2 B3 B4 B5 B6 B7 B8 B9 B10 B11 I/O IN IN --OUT OUT OUT OUT -OUT OUT Output GND, 24 VDC Not used. Not used. CW pulse output CW pulse/pulse output with 1.6 K resistance CCW pulse/direction output CCW pulse/direction output with 1.6 K resistance Not used. Error counter reset output Origin-adjustment command output Error counter reset output with 1.6 K resistance Origin-adjustment command output with 1.6 K resistance Positioning completed input signal Not used. Origin common Origin input signal (24 V) Origin input signal (5 V) Not used. Not used. Interrupt input signal Emergency stop input signal Origin proximity input signal CW limit input signal CCW limit input signal Input common Name Output power supply, 24 VDC
A12 A13 A14 A15 A16 A17 A18 A19 A20 A21 A22 A23 A24
IN -IN IN IN --IN IN IN IN IN IN
B12 B13 B14 B15 B16 B17 B18 B19 B20 B21 B22 B23 B24
Product Specifications External Connection Diagram
This example shows the use of a Servodriver with encoder phase-Z as origin input signals.
OMRON R88D-UPjjj Servodriver R88M-U Servomotor

Emergency stop input

CW pulse output
Origin proximity input (see note) CW limit input (see note) CCW limit input (see note) + Input common CCW pulse output/ direction output with 1.6 K resistance 24-V power supply for output 24 V GND for output N.C. contact Error counter reset output, origin-adjustment command output Origin input signal (5 V) Origin common +

24 VDC

N.O. or N.C. contact can be selected using axis parameters.
Combinations of Servo Relay Units, Servodrivers, and Position Control Units
Connecting cable on Servodriver end (See note 2) Servodriver
Connecting cable for U-Series XW2Z-jjjJ-B1
U-Series Servodriver R88D-UPjjj

(See note 2)

Single-axis Position Control Unit for C200HS
Connecting cable for C200H-NC113 XW2Z-jjjJ-Aj
Servo Relay Unit for C200H-NC113 XW2B-20J6-1B
Connecting cable for M-Series XW2Z-jjjJ-B2
M-Series Servodriver R88D-MTjjj
2/4-axis Position Control Unit for C200HS Connecting cable for C200H-NC213/413 (see note 1) Servo Relay Unit for C200H-NC213/413 (see note 1)

C200HW-NC213/413

Note: 1. Two cables or Units are requIred for 4-axis PCUs.

Connecting cable for H-Series XW2Z-jjjJ-B3
H-Series Servodriver R88D-Hjjj
2. When the Servodriver is combined with the C200HW-NC213 (2-axis), two connecting cables are required on the Servodriver end. When the Servodriver is combined with the C200HW-NC413 (4-axis), four connecting cables are required on the Servodriver end.
Connection Diagram for Position Control Unit and Servo Relay Unit
XW2Z-jjjJ-A6/A8 Connecting Cable: For C200HW-NCaxis, U/H/M-Series Servodriver
Position Control Unit NC113 V Power supply for output 24-V GND for output
CCW pulse output/direction output with 1.6 K resistance
1 axis, UEP-Series Servodriver
Position Control Connecting cable Unit NC113 XW2Z-jjjJ-A8 Servo Relay Unit XW2B 24 V GND + CCW CCW + CW CW + ECRST ECRST HRET +Z Z 24 V INP Origin proximity CCW limit CW limit External interrupt Emergency stop input Origin input (24 V) Origin common FG
Connecting cable XW2Z-jjjJ-A6
Servo Relay Unit XW2B 24 V GND + CCW CCW + CW CW + ECRST ECRST +Z Z 24 V INP Origin proximity CCW limit CW limit External interrupt Emergency stop input FG Origin input (24 V) Origin common
CW pulse output with 1.6 K resistance
Error counter reset output, origin-adjustment command output
Origin input (5 V) Origin common Input common Positioning completed input Origin proximity input CCW limit input CW limit input Interrupt input Emergency stop input Origin input (24 V)
F.G. (crimp terminal) (Lead: 500 mm) F.G. (crimp terminal) (Lead: 500 mm)
XW2Z-jjjJ-A7/A9 Connecting Cable: For C200HW-NC213/NCaxes, U/H/M-Series Servodriver
Position Control Unit Connecting cable NC213/NC413 XW2Z-jjjJ-A7 24-V power supply for output 24-V GND for output CCW pulse output/direction output with 1.6 K resistance CW pulse output with 1.6 K resistance Error counter reset output, origin-adjustment command output Origin input (5 V) Origin common Input common Interrupt input Origin proximity input Positioning completed input CCW limit input CW limit input X-axis emergency stop input CW limit input CCW pulse output/direction output with 1.6 K resistance CW pulse output with 1.6 K resistance Error counter reset output, origin-adjustment command output Origin input (5 V) Origin common CCW limit input CW limit input Origin proximity input Interrupt input Positioning completed input Y-axis emergency stop input F.G. (crimp terminal) (Lead: 500 mm) Servo Relay Unit XW2B

2 axes, UEP-Series Servodriver
Position Control Unit Connecting cable NC213/NC413 XW2Z-jjjJ-A9 Servo Relay Unit XW2B 24 V GND + CCW CCW + CW CW + ECRST ECRST HRET +Z Z 24 V External interrupt Origin proximity INP CCW limit CW limit Emergency stop input + CCW CCW + CW CW + ECRST ECRST HRET +Z Z CCW limit CW limit Origin proximity External interrupt INP Origin input (24 V) FG
24 V GND + CCW CCW + CW CW + ECRST ECRST HRET +Z Z 24 V External interrupt Origin proximity INP CCW limit CW limit Emergency stop input + CCW CCW + CW CW + ECRST ECRST HRET +Z Z CCW limit CW limit Origin proximity External interrupt INP FG Origin input (24 V) F.G. (crimp terminal) (Lead: 500 mm)
Position Control Unit Dimensions (Unit: mm)

Mounted Dimensions

Backplane
Connection cable Approx. 230
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.
To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
OMRON Corporation Systems Components Division 66 Matsumoto Mishima-city, Shizuoka 411-8511 Japan Tel: (81)559-77-9633 Fax: (81)559-77-9097
Regional Headquarters OMRON EUROPE B.V. Wegalaan 67-69, NL-2132 JD Hoofddorp The Netherlands Tel: (31)2356-81-300/Fax: (31)2356-81-388 OMRON ELECTRONICS, INC. 1 East Commerce Drive, Schaumburg, IL 60173 U.S.A. Tel: (1)847-843-7900/Fax: (1)847-843-8568 OMRON ASIA PACIFIC PTE. LTD. 83 Clemenceau Avenue, #11-01, UE Square, Singapore 239920 Tel: (65)835-3011/Fax: (65)835-2711
Note: Specifications subject to change without notice.

Authorized Distributor:

Cat. No. R060-E1-1
Printed in Japan 0100-0.7M