2. Omron
  3. W359-E1-04 CS1W-MC -V1

Omron W359-E1-04 CS1W-MC -V1, CS1W-MC221 Owner's manual

  • Hello! I have reviewed the OMRON CS1W-MC221(-V1) and CS1W-MC421(-V1) Motion Control Units Operation Manual and understand its contents. This comprehensive manual covers everything from installation and wiring to G-language programming and troubleshooting. The units offer features like PTP control, linear and circular interpolation, as well as advanced functions such as override and backlash correction. I'm ready to assist you with any questions you may have regarding these units or their operation.
  • What is the purpose of the MC Unit?
    What kind of encoders can be used with the MC Unit?
    What is G-language programming in this context?
    What should I do after transferring system parameters?
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
iv
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
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, o
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.
vi
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
viii
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
ix
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
x
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
xi
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
/