Omron W359-E1-04 CS1W-MC -V1 Owner's manual

Motion Control Units

Cat. No. W359-E1-04

CS1W-MC221(-V1)/421(-V1)

OPERATION MANUAL

CS1W-MC221(-V1)/421(-V1)

Motion Control Units

Operation Manual

Revised February 2008

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v

Notice:

OMRON products are manufactured for use according to proper procedures by a qualified operator

and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed

the information provided with them. Failure to heed precautions can result in injury to people or dam-

age to property.

!DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or

serious injury. Additionally, there may be severe property damage.

!WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or

serious injury. Additionally, there may be severe property damage.

!Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or

moderate injury, or property damage.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to

an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means

“word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PLC” means Programmable Controller. “PC” is used, however, in some Program-

ming Device displays to mean Programmable Controller.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of

information.

Note Indicates information of particular interest for efficient and convenient opera-

tion of the product.

1,2,3... 1. Indicates lists of one sort or another, such as procedures, checklists, etc.

Trademarks and Copyrights

Windows is registered trademarks of the Microsoft Corporation.

Other product names and system names in this manual are trademarks or registered trademarks of

their respective companies.

 OMRON, 1999

r

by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission o

f

OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con-

stantly striving to improve its high-quality products, the information contained in this manual is subject to change without

notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility

for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in

this publication.

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vii

TABLE OF CONTENTS

PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii

5 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xxiv

6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi

SECTION 1

Features and System Configuration . . . . . . . . . . . . . . . . . . . 1

1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1-4 Control System Configuration and Principles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1-5 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

1-6 Data Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

1-7 Overview of G-language Programs in the MC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

1-8 Commands Listed According to Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

1-9 Comparison with Earlier MC Unit Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

1-10 Basic Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

1-11 Methods for Using MC Unit Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

1-12 Overview of Version 1 Upgrades . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

SECTION 2

Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

2-1 Nomenclature and Unit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

2-2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

2-3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

2-4 Failsafe Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

2-5 Wiring Check Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

2-6 Changing the Mechanical Direction of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

2-7 Connecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

SECTION 3

MC Unit Internal Data Configuration . . . . . . . . . . . . . . . . . 147

3-1 Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

3-2 Determining the Task Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

3-3 System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

3-4 Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

3-5 Monitor Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

3-6 Command Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

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TABLE OF CONTENTS

SECTION 4

Data Transfer and Storage. . . . . . . . . . . . . . . . . . . . . . . . . . . 201

4-1 Data Transfer and Storage: Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

4-2 IOWR and IORD Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

4-3 Saving Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

SECTION 5

Exchanging Data with the CPU Unit . . . . . . . . . . . . . . . . . . 223

5-1 Overall Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

5-2 Controlling the MC Unit from the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

5-3 PLC Interface Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

5-4 Interface Specifics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260

SECTION 6

Basic Positioning Operations . . . . . . . . . . . . . . . . . . . . . . . . . 325

6-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326

6-2 PTP Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327

6-3 Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328

6-4 Circular Interpolation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331

6-5 Helical Circular Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332

6-6 Interrupt Feeding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

6-7 Traverse Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336

6-8 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

6-9 Changing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345

6-10 Stopover Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

6-11 CPU Unit Interrupt Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348

6-12 Override Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

6-13 Resetting the Error Counter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

6-14 Servo Lock and Unlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

6-15 Backlash Correction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356

6-16 Automatic Loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359

6-17 Present Position Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363

6-18 Electronic Gear Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365

6-19 Acceleration and Deceleration Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369

6-20 Unlimited Feeding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370

6-21 Stopping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372

SECTION 7

G-language Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

7-1 Programs and Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376

7-2 G Language Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .377

7-3 G-language Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384

7-4 M Code Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431

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TABLE OF CONTENTS

SECTION 8

G-Language Programming Examples . . . . . . . . . . . . . . . . . 445

8-1 Programming Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446

8-2 Executing MC Programs from the Ladder Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462

SECTION 9

Establishing the Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465

9-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466

9-2 Input Signals Required for an Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468

9-3 Origin Search Methods and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468

9-4 Origin Search Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .470

9-5 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479

9-6 Setting the Origin With an Absolute Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480

9-7 Absolute Encoder Interface Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 483

SECTION 10

Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487

10-1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488

10-2 Setting the Teaching Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .488

10-3 Performing Teaching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490

10-4 Errors during Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492

SECTION 11

Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495

11-1 Operation Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496

11-2 System Configuration and Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498

11-3 Considerations When Starting Up the MC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518

SECTION 12

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521

12-1 Troubleshooting Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522

12-2 Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531

12-3 System Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532

12-4 Task Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536

12-5 Axis Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541

12-6 Error Log. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 546

SECTION 13

Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . 549

13-1 Routine Inspections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 550

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TABLE OF CONTENTS

Appendices

A Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553

B G-language Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563

C PLC Interface Area Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .565

D System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589

E Control Bit/Flag Timing Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613

F Origin Search Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629

G Encoder Divider Rate and Rotation Speed for OMRON Servo Drivers . . . . . . . . . . . . . . . . 657

H MC Program Coding Sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659

I System Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661

J Position Data Coding Sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 669

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 677

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About this Manual:

This manual describes the features, specifications, and operation of the CS1W-MC421/221 Motion

Control Unit and includes the sections described below.

Please read this manual and the other manuals related to the CS1W-MC421/221 Motion Control Unit

carefully and be sure you understand the information provided before attempting to install and operate

the Motion Control Unit.

Refer to 1-12 Overview of Version 1 Upgrades for an outline of the new features added to the CS1W-

MC421-V1 and CS1W-MC221-V1. (“-V1” is omitted in this manual.)

Section 1 explains the features and system configuration of the CS1W-MC421 and CS1W-MC221

Motion Control Units (MC Units), and outlines some of the differences with the features of the earlier

C200H-MC221 MC Unit.

Section 2 describes the MC Unit components and provides the information required for installing the

MC Unit.

Section 3 describes the data contained within the MC Unit.

Section 4 describes the means used to store data of various types and explains how data is trans-

ferred between the MC Unit and the CPU Unit.

Section 5 describes the ways in which data can be transferred between the CPU Unit and the MC

Unit, including using the IOWR/IORD instructions, using the PLC Interface Area, and using dedicated

bits/flags in memory.

Section 6 explains the basic positioning operations executed by the MC Unit.

Section 7 describes using the G language to program motion control in the MC Unit.

Section 8 provides examples of G-language programming for the CS1W-MC421/221.

Section 9 explains how to search for and establish the origin using either an incremental encoder or

an absolute encoder, and gives a general overview of absolute encoders.

Section 10 describes the teaching function. This function can be used to teach new positions by mov-

ing to a given position and then reading the present position of each axis as position data.

Section 11 explains how to get started using the MC Unit. It provides information on the MC Unit’s

startup procedures, system configuration, wiring, creating I/O tables, inputting MC programs, creating

ladder programs, transferring data, saving data, and conducting trial operation.

Section 12 explains the troubleshooting procedures to be employed if problems should occur in MC

Unit operation.

Section 13 explains the maintenance and inspection procedures that must be followed to keep the MC

Unit operating in optimum condition. It includes instructions on the proper procedure to follow when

replacing an MC Unit, and precautions to observe when replacing a Servomotor.

The Appendices provide MC Unit performance information, control bit/flag timing charts, MC program

coding sheet, sheets for recording system parameter settings, and position data coding sheet.

!WARNING Failure to read and understand the information provided in this manual may result in per-

sonal injury or death, damage to the product, or product failure. Please read each section

in its entirety and be sure you understand the information provided in the section and

related sections before attempting any of the procedures or operations given.

xii

xiii

Unit Versions

A “unit version” has been introduced to manage Motion Control Units accord-

ing to differences in functionality accompanying Unit upgrades.

Notation of Unit Versions

on Products

The unit version is given to the right of the lot number on the nameplate of the

products for which unit versions are being managed, as shown below.

The unit versions of Motion Control Units start with unit version 1.1.

Confirming Unit Versions

with Support Software

CX-Programmer version 4.0 or higher can be used to confirm the unit version

using the Unit Manufacturing Information.

1,2,3... 1. In the IO Table Window, right-click the Motion Control Unit and select Unit

Manufacturing information.

2. The following Unit Manufacturing information Dialog Box will be displayed.

Unit version

Example for unit version 1.1

CS1W-MC221-V1

MC UNIT

Lot No. 080201 Ver.1.1

OMRON Corporation MADE IN JAPAN

Product nameplate

Unit version

xiv

The unit version is displayed as 1.1 in the Unit Version Number field of the

above example. Use this display to confirm the unit version of the Motion Con-

trol Unit connected online.

Using the Unit Version

Label

A unit version label is provided with the Motion Control Unit. This label can be

attached to the front of the Motion Control Unit to differentiate between Motion

Control Units with different unit versions.

■Unit Version Notation

Unit versions are given in this manual as shown in the following table.

■Functions Supported According to Unit Versions of Motion Control Units

Product label Notation in this manual Remarks

The version number is given

to the right of the lot number

for unit versions 1.1 and later,

e.g., “Ver. 1.1”

CS-series Motion Control Unit

with unit version 1.1 or later

The contents of this

manual applies to all

unit version when-

ever the unit version

is not specified.

No version number is given to

the right of the lot number for

unit versions earlier than 1.1.

Pre-Ver. 1.1 CS-series Motion

Control Unit

Unit version Pre-Ver. 1.1 Units Units with unit

version 1.1

Internal system version Versions 1.01 to 3.01 Version 3.02

Absolute encoder functionality for

OMNUC G-series Servo Drivers

Not supported. Supported.

xv

Version Upgrade Information

Improvements from Pre-Ver. 1.1 to Version 1.1

The following improvements have been made.

Pre-Ver. 1.1 Ver. 1.1

The absolute encoder functionality for

OMNUC G-series Servo Drivers is not

supported.

The absolute encoder functionality for

OMNUC G-series Servo Drivers is sup-

ported.

xvi

xvii

Read and Understand this Manual

Please read and understand this manual before using the product. Please consult your OMRON

representative if you have any questions or comments.

Warranty and Limitations of Liability

WARRANTY

OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a

period of one year (or other period if specified) from date of sale by OMRON.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-

INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE

PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS

DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR

INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

LIMITATIONS OF LIABILITY

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES,

LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS,

WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT

LIABILITY.

In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which

liability is asserted.

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS

REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS

WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO

CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

xviii

Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the

combination of products in the customer's application or use of the products.

At the customer's request, OMRON will provide applicable third party certification documents identifying

ratings and limitations of use that apply to the products. This information by itself is not sufficient for a

complete determination of the suitability of the products in combination with the end product, machine,

system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not

intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses

listed may be suitable for the products:

• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or

uses not described in this manual.

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical

equipment, amusement machines, vehicles, safety equipment, and installations subject to separate

industry or government regulations.

• Systems, machines, and equipment that could present a risk to life or property.

Please know and observe all prohibitions of use applicable to the products.

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR

PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO

ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED

FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user's programming of a programmable product, or any

consequence thereof.

xix

Disclaimers

CHANGE IN SPECIFICATIONS

Product specifications and accessories may be changed at any time based on improvements and other

reasons.

It is our practice to change model numbers when published ratings or features are changed, or when

significant construction changes are made. However, some specifications of the products may be changed

without any notice. When in doubt, special model numbers may be assigned to fix or establish key

specifications for your application on your request. Please consult with your OMRON representative at any

time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when

tolerances are shown.

PERFORMANCE DATA

Performance data given in this manual is provided as a guide for the user in determining suitability and does

not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must

correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and

Limitations of Liability.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however, no

responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

xx

xxi

PRECAUTIONS

This section provides general precautions for using the Motion Control Units (MC Units) and related devices.

The information contained in this section is important for the safe and reliable application of the Motion Control

Unit. You must read this section and understand the information contained before attempting to set up or operate

a Motion Control Unit.

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii

5 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi

6-1 Applicable Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi

6-1-1 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi

6-1-2 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi

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