Home

CX-Motion Operation Manual

1. NewPLC 3 8 NewMCo 0 Symbol Z Position Data Parameter E Motion Programs Programs Bi NewProgram 0 FP NewPrograml 1 32 Sub Programs E gt CAM ala DA Compile a aaa Delete the item from tree Ln2 Coli 4 36 Adding and Deleting CAMs Section 4 7 1 2 3 1 Select the unwanted subprogram icon 5 in the project tree and select Edit Delete click Pa in the toolbar or press the Delete Key It is also possible to right click the unwanted subprogram icon and select Delete from the pop up menu 2 A dialog box will be displayed to confirm the deletion Click the Yes Button to delete the subprogram The selected subprogram will be deleted from the subprograms registered in the MC Unit 4 7 Adding and Deleting CAMs Adding CAM Tables to The following procedure adds individual CAM tables to a projects MC Unit an MC Unit Up to 32 CAM tables can be added to one MC Unit 1 2 3 1 Select the MC Unit or the CAM Icon in the project tree and select Insert CAM or click E in the toolbar It is also possible to right click the CAM Icon and select Insert CAM from the pop up menu ES NewProject CX Motion MCH Ble Edie view File Edit View Insert Online Tools Windows D S E RIE He Ea Task Ez at E h o Axis g F Program f NewPLG E Sub Program i 11 AB 2 The I
2. Import OK Cancel 74 Data Traces lo oY gt MCO_Trace Section 10 1 Set the trigger conditions trace objects and number of samplings Click the Transfer PC to MC Button to write the set values to the MC Unit Click the OK Button to close the Data Trace Configuration Dialog Box Click in the Data Trace Window The MC Unit will execute the data trace The trigger condition is activated and the data trace is completed The MC Unit will transfer the results of the data trace to the CX Motion MCH auto matically and display them graphically 1010 1360 1710 060 2410 2760 3110 10 1 2 Changing the Graph Display 1 2 3 1 2 Select in the legend to display the required items Select the data of the item to change Change the vertical scale using 5000 r in the Graph Tools Win dow Change the displayed position using 4 Select to display the value at the cursor position Select to display the difference between two points Click J in the Data Trace Window to save the data to a CSV file 75 Data Traces Section 10 1 I NewMCO 0 Data Trace MCO_Trace ioj x File Operation View Options Windows Help _ x SIN e me m Sfi gt 82 HEE so x fo A ES UA MA 50000 Jl jimm left B60 1010 1360 1710 2060 2410 76D 3110 3460 OnLine Trace Stopped MUM at 76 SECTION 11 Backup and Restore This section describes th
3. 0 0 0 0 cece eee ees 34 4 6 Adding and Deleting Subprograms 0 0 c cee ees 35 4 7 Adding and Deleting CAMS 0 0 ccc eee ees 37 29 Creating a New Project Section 4 1 4 1 Creating a New Project Follow the procedure below to create a new project on the CX Motion MCH Basic Window When a new CX Motion MCH project is being created a dia log box will be displayed for adding an MC Unit after setting the PLC model 1 2 3 1 On the CX Motion MCH Basic Window select File New press the Ctrl N Keys or click D in the toolbar SE CX Motion MiCH Il File View Tools Help Jeu Ctrl Ctro Print Setup Recent File Exit 2 The Change PLC Dialog Box will be displayed Set the model number of the PLC being used Device Mame NewPLC Device Type CH Settings Network Type Toolbus Settings Comment m Pe Cancel Help 3 The Insert MC Dialog Box will be displayed Set the model number of the MC Unit being used Insert MC xj MC Name et ML Type CStweMCH7T l MC Version 31 and later y Unit Ho jo Cancel 30 Adding and Deleting MC Units Section 4 2 4 2 Adding and Deleting MC Units Adding MC Units to Follow the procedure below to add a Motion Control Unit to the project Projects 1 2 3 1 Select the PLC icon in the project tree and select Insert MC or click in the toolbar It is also possible to righ
4. 2 Click the OK Button to display the following window ajx Look irr E Project de Ej Ei 28 NewP1C0 0 _BackupFile bkh File name Files of type MC_B ackupFile bk Cancel fi 78 Verifying Backup File with MC Unit Section 11 3 3 Enter or select the folder to be looked in the file name and the file type and then click the Open Button The following message will be displayed after restoring backup data is done CX Motion MCH x AN Do vou want bo verify Backup data with Mic Unit e me 4 Click the Yes Button to start verifying 11 3 Verifying Backup File with MC Unit Use the following procedure to verify a backup file with an MC Unit 1 2 3 1 Select Online Backup and Restore Verify Backup file with MC Unit in online mode The following window will be displayed Look in E Project 4 e Eg 28 NewP1C0 0 _BackupFile bkh File name Files of type MC_B ackupFile bkh Cancel E 2 Enter or select the destination folder file name and file type and then click the Open Button Verifying will start A message will be displayed to tell if the data is identical 79 Verifying Backup File with MC Unit 80 Section 11 3 SECTION 12 Read Protection This section describes the operations used to set and release protection on programs or cam data in MC Units set and change primary and secondary passwords and switch the user Note e Be sure that the pers
5. 2 Increase the Response Timeout Setting in the Network Settings of the PLC Check whether the CX Server is installed and try restarting the appli cation Either stop some of the applications or wait until processing for other appli cations has been completed Wait until the other application is fin ished and then retry the operation Check the data for validity before transfer 95 Troubleshooting Section 15 1 Probable cause 514 No unit with the specified unit num ber address 515 8196 8452 The specified data not available in MC Unit 8456 Cannot write the parameter 10001 No Servo information found in MC Unit cannot perform transfer from MC Unit 1 Servo Transfer Servo parameter has been transferred successfully to MC Unit However servo parameters could not be transferred to Servo drive Please check the servo drive connection 1 Save Servo Parameter Servo param eters saved in MC Unit However failed to save in Servo drive 513 Remote network has not been started destination node not part of the network Communication with slave not possible or not allocated as servo axis 10002 Motor Parameter not set in hard ware Hence fail to read 10000 MC Model you have selected does not match with unit connected 66 A communication monitor time error occurred 96 User tried to transfer the data to an MC Unit that is not connected to the PLC Program Read e Th
6. 90 SECTION 14 Error Log This section provides information on the error log generated by the MC Unit 1A E ETOC Och aaa esa aha sake ds 92 lA ENOC OU Serer i oR ees eS ORR es OE ht RE se Cae he eee 92 91 Error Log Section 14 1 14 1 Error Log Overview Displaying the Error Log The error log can record and display the up to 20 MC Unit errors If more than 20 errors occur the oldest error record will be deleted to make room for the new error record Select the MC Unit icon in the project tree and select Online Error Log Ex NewMCO 0 ErrorLog E O x File Options Help Date amp Time S008 63 2005 16 20 15 SUDA 63 2005 16 20 15 El asimum Error Log Capacity 20 Note 14 2 Error Codes The Refresh Button can be clicked to read the latest error log information from the MC Unit The Clear All Button can be clicked to delete the error log Axis errors are not displayed in the error log E Error Causes and Error Processing 92 For details on the probable causes of error codes and methods used to clear errors refer to Troubleshooting in the CS1W MCH71 Motion Control Units Operation Manual W419 or CJ1W MCH71 Motion Control Units Operation Manual W435 or click Help Help Contents in the CX Motion MCH and select Trouble Shooting MC UNIT or refer to 15 1 Troubleshooting in this manual SECTION 15 Troubleshooting This section provides information on the troubleshooting
7. Restore Restore to Restores the selected backup file to MC the MC Unit Verifies the backup file with the MC Backup file Unit Read Pro Set Change Sets changes the passwords for read tection Password protection Set Sets releases protection on programs Release and cam data and selects data items Protection that can be read through the second ary password Switch User Switches the user P Pro Compile Compiles the program F7 gram 20 Basic Operations Section 3 1 Contents Keyboard shortcut Debug Insert Remove Break Inserts removes a break point F9 Point Remove All Break Removes all break points Ctrl Shift Points F9 Go Debugs the program Step Into Debugs the program one step ata time Stops debugging the program Shift F5 Run To Cursor Debugging will stop one line before Ctrl F10 the cursor Tools Customizes the Toolbar Sets the font Win Close Al Closes all open editing windows dows Moves the focus to the next window Previous Docked Moves the focus to the previous win Alt Shift 0 dow Stacks the open editing windows NOS Tile Horizontally Horizontally tiles the open editing windows Tile Vertically Vertically tiles the open editing win dows Help Help Contents Displays the table of contents for help Search for Help On Displays the help search topics Command Reference Displays the command reference help Parameter Reference Dis
8. e Communications error caused by noise Remove the cause of the noise When this error persists even after providing these remedies the Driver NS115 or MC Unit may be broken Replace the broken one with a new unit Synchronous communica 300Ah 300Ah An error was occurred in the MECHATROLINK synchronous com tions alarm munications The followings are the possible causes e Disconnection breakage of MECHATROLINK cable Check the MECHATROLINK cable e Communications error caused by noise Remove the cause of the noise When this error persists even after providing these remedies the Driver NS115 or MC Unit may be broken Replace the broken 109 Error Codes Section 15 2 Errorlog Alarm Cause and remedy Error Detail Code code code Command timeout 037Ah 300Ch 300Ch A MECHATROLINK command could not be completed within a fixed period of time 10 seconds The followings are the possible 0399h causes e Disconnection breakage of MECHATROLINK cable Check the MECHATROLINK cable e Communications error caused by noise Remove the cause of the noise When this error persists even after providing these remedies the Driver NS115 or MC Unit may be broken Replace the broken one with a new unit Absolute encoder error 300Dh 300Dh Data from the ABS encoder could not be processed normally e Initial multi turn value exceeds the multi turn limit Set the same value in the driver parameter Pn205 Multi turn l
9. ter information before doing the trans fer operation 1 Check whether servo drive is con nected 2 Check whether the axis numbers in servo drives and the project are same and correct them if they are different Check whether the servo drive series or models are the same as in servo drives and correct them if they are different Connect the proper servo drive and configure the drive with proper infor mation then try to read the data Write the parameters before reading them 1 Use the same PLC and MC series as those connected to computer 2 Check the unit number Switch other Support Software including the CX Programmer to offline status or increase the baud rate and then switch the CX Motion MCH back to monitor mode Troubleshooting Section 15 1 Probable cause 4361 Parameter error Inconsistent e Servo parameters don t exist in the Transfer Servo parameters to the Parameters error MC Unit MC Unit e The specified parameter number e In the Axis Properties Dialog Box doesn t exist in the Servo Driver match the drive model and version with the connected Driver 8451 Cannot register nor write The program capacity has been 1 Reduce the size of the program exceeded and then transfer the program The CAM data capacity has been again exceeded Reduce the amount of CAM data Writing to flash memory is not pos and then transfer the data again sible because a backup is being Wa
10. 1 Select Online Monitor Mode or click Ea in the toolbar 2 Monitor Mode will be ended and the CX Motion MCH will display the toolbar 9 2 Test Run 9 2 1 Executing a Test Run 1 2 3 1 Select the axis for which to execute a test run in the Test Run Window 2 Click OFF to lock the selected axis To use an override select the Axis Override Option and enter the override set value Click the Set Button to write the set value to the MC Unit 4 Click the JOG STEP or Origin Buttons The axis will be operated Note 1 Clicking any of the operation buttons will operate the motor at the desig nated speed Execute the operation only after confirming safety 2 The operation on the personal computer may not stop the motor Provide an emergency stop device externally to enable stopping the motor imme diately at any time 67 Test Run Section 9 2 9 2 2 Test Run Window Test Run Axis Mo Axial o Position T Busy E Axis Operation Serva x EE ma y A ster Dy se A h rigin AAA Error Task 0000 Rezet Axis oo Reset F Unit O 0000 Reset Absolute Origin Setting ABS Offset 0 asain Type Command Present Position Address 0 Teach K Test Run a External lO Status Serv Multiple Override Axis Override Sets the override value Poete range oo0te ster O STEP a teps the axis in the negative direction JOG ogs the axis in the positive direction Jo
11. When it appears click the OK Button The following window will be displayed CX Motion MCH xX UL Would you like to configure the protection data e we 83 Setting and Changing Passwords Section 12 2 5 Click the Yes Button to display the following window Set Release Protection NewMCo 0 Protection Status E OT PROTECTED Set Protection All Data Release Protection Al Data Select Items to allow read data through SECONDARY password MaS NewMic 0 2 LJ Programs LISA Sub Programs Og CAM Transfer PC to ME Cancel 6 Select Set Protection or Release Protection and the data items that can be read through the secondary password and then click the Transfer PC to MC Button 84 Setting and Releasing Protection Section 12 3 12 3 Setting and Releasing Protection 1 2 3 1 Select Online Read Protection Set Release Protection in online mode The following window will be displayed Set Release Protection NewMCo 0 Protection Status IMNoOT PROTECTED Set Protection All Data Release Protection ll Data Select terms to allow read data through SECONDARY password EEEE Nevo 0 E Programs OTE Sub Programs O s CAM Transfer PC to MC Lancel 2 Select Set Protection or Release Protection and the data items that can be read through the secondary password and then click the Transfer PC to MC Button 85 Switching th
12. Write To Flash or click in the toolbar It is also possible to right click the MC Unit icon in the project tree and select Write To Flash from the pop up menu Mew CO 0 Write To Flash Memory x Data Type Al Data Specified Data Parameters Data Trace Configuration FP Servo Parameters Position Data Program P CAM Data mea 2 Select the data to be saved in the Data Type Options and click the Write Button Note Ifan error occurs while data is being written to the flash memory the data may not be written to the flash memory successfully In this case write the data to the flash memory again after resetting the error Displaying Unit Information 1 2 3 1 Select Online Unit Information Unit Information 2 The MC Unit s model and version information will be displayed 60 Transferring Comparing and Saving Data Section 7 3 Initializing Memory 1 2 di 1 Select the MC Unit icon in the project tree and either select Online Clear Memory or click E in the toolbar It is also possible to right click the MC Unit icon in the project tree and select Clear Memory from the pop up menu lt NewMCO 0 gt Clear Memory f AllData Specified Data System Parameters Data Trace Eonfiqguration Position Data Program Individual CA Data Cancel 2 Select the data to be initialized and click the OK Button Batch Transfer Computer to MC Unit 1 2 3 1 S
13. supplied with the CX One FA Integrated Tool Package for information on how to install or uninstall the CX Motion MCH from the CX One FA Integrated Tool Package Car No Modei Manualmame Contents CXONE ALLILIC V4 CX One Setup Man An overview of the CX ALLILID V4 ual One FA Integrated Tool Package and the CX One installation procedure 2 2 Connecting to a PLC To transfer the project data that was created using CX Motion MCH to the Motion Control Unit the personal computer and PLC CPU Unit have to be physically connected with a cable and also connected online 2 2 1 Connecting to CS CJ series PLCs Connection Format Using either the Host Link SYSMAC WAY or Toolbus connect the personal computer to the peripheral port or RS 232C port on the PLC Personal Connecting to Peripheral Port Connecting to RS 232C Port computer 9 pin male 9 pin female Peripheral port Japi RS 232C port 10 pin female i 9 pin female CS1W CN226 2 0 m XW2Z 200S CV 200S V 2 0 m CS1W CN626 6 0 m XW2Z 500S CV 500S V 5 0 m CS1W CN118 See note 1 CS1W CN226 XW2Z 2008 CV 2008 V Joa female female Note 1 The CS1W CN118 cable is used as a relay cable to connect the personal computer to the CPU Unit s peripheral port using the RS 232C cable model XW2Z 11 11 L 11 as shown below Peripheral Port ip q RS 232C Cable CS1W CN11
14. Toolbus E x Network Driver Modem AHS Source Address Hetwork jo Hode jo Dit fo FINS Destination Address Network fi Hode jo 4 Unit jo Frame Length Response Timeout z 1004 f2 E Host Link Unit Humber Hetwork Operating Level jo fe 0 t El Cancel Help b Make settings in the Driver Tab Page Network Settings Toolbus FE Eiki Network Driver Modem Connection Data Format Port Hame Data Bits Baud Rate 39600 s Parity 4 Baud Rate Auto Detect Stop Bits Make Default Connecting to the Select Online Work Online or click in the toolbar It is also possible to PLC right click the PLC icon in the project tree and select Work Online from the pop up menu Note When transferring driver parameters the transfer may be stopped with the fol lowing message Error 36355 Communications to the device could not be established or the connection has been broken Check the communication 55 Transferring Comparing and Saving Data Section 7 3 settings and connection method to the device Open the PLC property to increase the response monitoring time in the PLC Setup 7 3 Transferring Comparing and Saving Data Transferring to the MC Unit 1 2 3 1 Selectthe MC Unit icon in the project tree and either select Online Trans fer To MC or click in the toolbar It is also possible to right click the MC Unit icon in the p
15. e CAM data Try to save the data again Replace MC Unit if this error persists after retrying several times Unit deceleration stop 0041h 0041h_ Deceleration stop input of MC Unit was turned ON After confirming the safety in the surrounding area turn OFF the bit Deceleration Stop and execute Unit Alarm Reset CPU memory error 0044h 0044h The following error occurred between CPU Unit and MC Unit e This error occurs when custom data area or custom I O area of MC Unit is allocated to CPU s EM area and when the specified EM areas are overlapping in executing the file memory function of CPU Unit or when restoring the power after allocating custom data area or custom I O area to the EM area already specified with the file mem ory function e Release the file memory function of CPU Unit correct the allocation of the area used for the file memory function so that it does not overlap with the area used for custom data area or custom I O area of MC Unit and reset the alarm or correct the allocation of the area used for custom data area or custom l O area so that it does not overlap with the area used for the file memory function and restore the power MC Unit Alarm Codes Errorlog Alarm Cause and remedy Error Detail code code code No Program 0372h 2001h 2001h The sub program to be executed with GOSUB command does not exist Create and download an appropriate program with the Support Tool or 0379h c
16. is not in use and switch to Automatic Mode e The axis is used in another program Wait until the program is com pleted or stop the program to start another program e Axes to be used in subprogram are not reserved in the main program Reserve all the axes to be used in the subprogram with PROG in the main program e The axis that has not been declared was selected Check if the axes to be used in the program are specified correctly If the specification is correct declare the axes with PROG e n parallel execution etc a main program tried to use the axis already declared by a subprogram Correct the program to operate the axis after the subprogram is completed e n parallel execution etc a subprogram tried to declare the axis already being operated by a main program Correct the program to call the subprogram after the block currently using the axis is completed Axis alarm generated 2008h 2008h An alarm has occurred in an axis controlled by a task Remove the cause of the axis alarm and reset the alarm Position specifica 2009h 2009h The position specified with axis movement commands except for CAM tion error axis operation commands SYNCR MOVEMODI OFFPOS and ges exceeded the allowable position range Since the range of pulse unit system is expressed in 32 bit the allowable range has to satisfy the fol lowing formula Command unit limit Command unit system position lt Command unit limit Command unit
17. of OMRON and the User s remedy shall be limited to a refund of the license fee paid to OMRON for the Software LIMITATIONS OF LIABILITY 1 THE ABOVE WARRANTY SHALL CONSTITUTE THE USER S SOLE AND EXCLUSIVE REMEDIES AGAINST OMRON AND THERE ARE NO OTHER WARRANTIES EXPRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO WARRANTY OF MERCHANTABILITY OR FITNESS FORA PARTICULAR PURPOSE IN NO EVENT WILL OMRON BE LIABLE FOR ANY LOST PROFITS OR OTHER INDIRECT INCIDENTAL SPECIAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF USE OF THE SOFTWARE 2 OMRON SHALL ASSUME NO LIABILITY FOR DEFECTS IN THE SOFTWARE BASED ON MODIFICATION OR ALTERATION OF THE SOFTWARE BY THE USER OR ANY THIRD PARTY 3 OMRON SHALL ASSUME NO LIABILITY FOR SOFTWARE DEVELOPED BY THE USER OR ANY THIRD PARTY BASED ON THE SOFTWARE OR ANY CONSEQUENCE THEREOF Application Considerations SUITABILITY FOR USE THE USER SHALL NOT USE THE SOFTWARE FOR A PURPOSE THAT IS NOT DESCRIBED IN THE ATTACHED USER MANUAL xiii Disclaimers CHANGE IN SPECIFICATIONS The software specifications and accessories may be changed at any time based on improvements or for other reasons EXTENT OF SERVICE The license fee of the Software does not include service costs such as dispatching technical staff 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 proofrea
18. speed specified by the above formula exceeds the axis speed parameter P2AA01 Maximum rapid feed rate Check if the setting of the parameter is correct and if so correct the pro gram The following operands have exceeded the limit e C WORK OFFPOS E S CAM CAMBOX FOR Correct the applicable operands e With CAM CAMBOX This error occurs when setting the operands as Starting data number Ending data number or when setting the operands as Starting data number gt Ending data number in using global general variables or position data for cam data e When using cam table for cam data correct the program as Starting data number Ending data number When using global general vari ables or position data correct the program as Starting data number lt Ending data number The following operands have exceeded the range e L MOVEC MOVETRAV FOR N PARALLEL SFTR SFTL XFER CLEAR Correct the applicable operands e With PARALLEL This error occurs when setting the value exceeding the Max No of branches for the unit the value set in the system parameter PO0002 No of parallel branches Either correct increase the system parame ter P00002 No of parallel branches or correct decrease the No of branches of the PARALLEL command for the motion program Error Codes Section 15 2 Errorlog Alarm Cause and remedy E code code Mode specification 0372h 200Eh 200Eh The followi
19. to change parameter of other tasks or undeclared axes Check and correct the program so that correct values can be set When specifying with variables check if the substitution formula is cor rect e Attempted to set servo parameters on virtual axes or I O axes Servo parameters cannot be set on virtual axes and I O axes Correct the program lt LATCH gt e The contents of 900Ah Positive latch enabled range and 900Bh Negative latch enabled range in the motor parameters are not written correctly After checking the applicable axis and if the motor model is correct transfer the motor parameters and save them to F ROM when individ ual specify servo parameter and restore the power lt SPEED gt e The contents of 900Dh Position loop gain and 900Eh Position loop gain index in the motor parameter are not written correctly After checking the applicable axis and if the motor model is correct transfer the motor parameters and save them to F ROM when individ ual specify servo parameter and restore the power Axis declaration error 201Ah 201Ah Axis other than servo virtual axis is included in the axis declaration Check the parameter P1AA02 MECHATROLINK II device classifica tion of the applicable axis If the setting of the parameter is correct cor rect the program 107 Error Codes Section 15 2 Axis Alarm Codes Errorlog Alarm Cause and remedy NE Detail ode code code E ETA e tra
20. vette ai is ha wes Sa wat a SECTION 15 Troubleshooting sirios gone nce ew aloes ewe eters Sal Troubles HOO UNG Vai oda ea dat onda barba a dedica eb P a A REVISION History aiii aa TABLE OF CONTENTS About this Manual This manual provides information required to use the CX Motion MCH software including specifica tions and operating methods The CX Motion MCH runs on Windows 2000 XP Vista or 7 and is used to set data used by CS1W MCH 71 and CJ1W MCH 71 Motion Control Units also referred to as MC Units create the required programs and monitor the MC Units operating status Please read this manual carefully and be sure you understand the information provided before attempting to use the CX Motion MCH Be sure to read the precautions provided in the following sec tion Please read the MC Unit Operation Manual carefully and be sure you understand the information pro vided before setting up or using an application for a Motion Control Unit Contents Cat No suffixes omitted SYSMAC CX Motion MCH Describes the specifications and operating procedures for W448 this manual Operation Manual the CX Motion MCH SYSMAC CS1W CJ1W Describes the installation and operation of the CS1W MCH71 CJ1W MCH71 Motion Control Unit Motion Control Unit Operation Manual For details on procedures for installing the CX Motion MCH from the CX One FA Integrated Tool Pack age refer to the CX One se Manual oe with CX One Cat No
21. 0 59 Symbol 0005 HOPS E Position Data One E Parameter HOPS 0007 GOSUB P500 noe HOFS go FT Fal Unit Settings 0008 NOFS E Zone Settings omo HOVE J01 0 J02 0 5 1H Tasks 0011 MOPS o ag NewT ask 1 oo NORS ii ia 1 0013 HOPS 0014 NOPS ok Motion Programs 0015 END Ez Eb 2 Sub Programs Programs 0016 D MewProgramt 0 i E MewPrograml 1 E NewSubProgramS00 500 JOY Posion SL0200 System Vai DWORD 33 Started PR 1 OnLine ML 4 In the following case program execution will not stop at a breakpoint and will continue to the next break point e The first break point is skipped using the IF function 0004 IF OWOOO1 1 o005 WO E J01 100 00 J02 200 00 0006 ELSE 0007 WOVE J03 100 00 J04 10 00 onos ENDIF When step 0004 is false step 0007 would be executed next after step 0004 A break point is set for step 0007 so program execution would stop at the step that was executed immediately before step 0007 In this example that would be step 0004 i e program execution would stop immediately after executing the IF statement in step 0004 Program execution also may not stop at a break point set for the WHILE FOR PARALLEL and SWITCH control commands Debugging the Program Section 9 3 Note 1 Clicking any of the operation buttons will operate the motor at the desig nated speed Execute the operation only after confirming safety 2 The operation
22. 0 m between IP port 10Base T Rec available twisted hub A node ommended cable based on 100Base TX EtherNet IP stan dard Commercially available switch ing hub IBM PC AT or compatible Built in EtherNet IP port CJ2 CPU Unit y 100Base TX twisted pair cable straight Switching hub 100Base TX twisted pair cable straight 11 Connecting to a PLC Section 2 2 12 SECTION 3 Basic Operations This section describes each of the windows and basic operations IE Baste Operas ss a asics d Maw massed da es Bs wwe Sh ed Bh de 14 3 2 Operations Listed by Purpose 0 ccc eee ees 25 13 Basic Operations Section 3 1 3 1 Basic Operations Starting the CX Motion MCH Starting the CX Motion MCH Using Start Special Application Start with Settings Inherited from the I O Table Window Opened from the CX Programmer That Was Installed from the CX One 1 2 3 1 Right click a Motion Control Unit in the I O Table Window and select Start Special Application Start with Settings Inherited from the pop up menu T PLC IO Table NewPLC1 File Edit View Options Help oo os eo op Ly 00 WEY a y es E a A BE F CJ1H CPU66H le Inner Board 143 0000 Main Rack FOO 1500 CJ1W MCH7 1 Motior lobo 01 1525 CI1W NCF71 Position 29d Unit 02 0000 Empty Slot Change Confirm Units 03 0000 Empty Slot Unit Comment 3 04 0000 Empty Sl
23. 012h 3012h Position error exceeded the setting value of the axis parameter PSAA06 Position error alarm detection value Check if the set value is appropriate for the system configuration and correct it as needed When the value is correct check the followings e Breakage of encoder cable e Malfunction caused by noise e Unadjusted servo system e Unadjusted or unprepared machine system These causes are to be removed MECHATROLINK II slave 3013h 3013h An error occurred on a MECHATROLINK II slave axis axis error 1 Check the MECHATROLINK slave of the applicable node No and remove the cause of the error Slave alarm codes are stored in the error log in the MC Unit 111 Error Codes Erroriog Alarm Error Detail Code code code Axis classification error 037Ah 3015h 3015h 0399h No origin proximity signal 3016h 3016h Origin proximity and over 3017h 3017h travel simultaneously ON No origin signal 3018h 3018h Excessive speed com 037Ah 3019h 3019h mand 0399h Counter latch resource 301Ah 301Ah violation Gear ratio range error 3040h 3040h 112 Section 15 2 Cause and remedy Attempted to execute a command that cannot be executed as an axis The command that requires an external signal MOVEI etc was executed on the virtual axis or the winding axis of MOVETRAV is not set as an unlimited length axis etc Correct the applicable parameters or program During an origin search in the
24. 34 Adding and Deleting Subprograms Section 4 6 2 The Insert Program Dialog Box will be displayed Set the program name program number comment and axis declaration Insert Program Program Mame Program Mo Comment xis Declaration jano00000 vn oneei 3 Click the OK Button The individual program will be added to the MC Unit Deleting a Program The following procedure deletes a registered program from an MC Unit from an MC Unit E NewProject CX Motion MCH NewMCO 0 NewProgrami 1 ioj xj a File Edit View Insert Online Tools Windows Help i is o l lal xi Dem eas Ra BRE canm DADES I wo B E PS RARE hee xo a w ag ED 45 NewPLC ff NewMCO 0 2 Symbol Z Position Data Ys Parameter E Motion Programs Programs E NewProgram 0 P NewProgram 1 A Sub Programs He CAM Pi Project _ Compile Transfer Ln2 Coli 4 Delete the item from tree 1 2 3 1 Select the unwanted program icon F in the project tree and select Edit Delete click x inthe toolbar or press the Delete Key It is also possi ble to right click the unwanted program icon and select Delete from the pop up menu 2 A dialog box will be displayed to confirm the deletion Click the Yes Button to delete the program The selected program will be deleted from the pro grams registered in the MC Unit 4 6 Adding and Deleting
25. 5 data from a file click and select Import Exporting position Select the position data and select File Export or right 48 data to a file click and select Export Importing a program Select Motion Programs Programs or the program and 46 from a file select File Import or right click and select Import Pro gram or Import Exporting a program Select the program and select File Export or right click 48 to a file and select Export Importing a subpro Select Motion Programs Programs or the sub program 46 and select File Import or right click and select Import Sub Program or Import Exporting a subpro Select the subprogram and select File Export or right 49 gram to a file click and select Export Importing a CAM table Select a CAM or CAM table and select File Import or 47 from a file right click and select Import CAM or Import Exporting a CAM table Select the CAM table and select File Export or right click 50 to a file and select Export 22 Displaying properties Select a PLC MC Unit task Servo Driver program sub gram from a file program or CAM table and select View Properties or ES right click and select Properties Adding a motion task Select Tasks and select Insert Task or right click and select Insert Task Deleting a motion task Select Tasks and select Edit Delete or right click and select Delete Adding an axis Select Axes and select Insert Axis or right click and select Inse
26. 8 2 There are two network protocols serial communications modes SYS MAC WAY and Toolbus that can be used to connect the CX Motion MCH Connecting to a PLC Section 2 2 to the PLC The characteristics of the network protocols are as shown be low Network type Characteristics Toolbus Faster communications If possible use this network type e For CS CJ Series the baud rate on the peripherals can be detected automatically and be connected e Only 1 on 1 connection possible e For CX Motion MCH it can also be connected to a modem SYSMAC WAY _ Used for communications with general host computers Host Link e Slower than Toolbus e Not only 1 on 1 connection but also 1 many connection possible e Connecting to a modem and optical adaptor possible Connection Methods Use one of the following methods to connect the personal computer CX Motion MCH and PLC CPU Unit It is also possible to connect the personal computer to the port on the CS CJ Series Serial Communications Unit In that case the only network type that can be used is Host Link Connecting to Peripheral Port Connecting to RS 232C Port IBM PC AT or compatible IBM PC AT or compatible Built in RS 232C port on CPU Unit or Serial Communications Unit Peripheral port on CPU Unit EV Es 3 a XW2Z 200S CV 2 0 m o con XW2Z 500S CV 5 0 m Connection Cables Computer Port on Network type Model number Length computer seria
27. CAM or Import from the pop up menu When a file is imported to an individual CAM table the existing CAM table will be overwritten CAM Name NewS AMT CAM Table Number f Phase Dec Point f Disp Dec Point fi CAM File Browse cae 2 Enter the CAM name CAM table number and CAM table file and then click OK Button 47 Exporting File Section 6 4 6 4 Exporting File Symbol File 1 2 3 Position Data Files 1 2 3 Program Files 1 2 3 48 This procedure exports a symbol file csv filename extension containing the system parameters and variables 1 Select the Symbol Icon in the project tree and either select File Export or click in the toolbar It is also possible to right click the Symbol Icon and select Export from the pop up menu Export Symbol E xj File Hame Symbol Variables File Hame Caneel 2 Select the System Parameter and Symbol Variables Options input the file names or click the Browse Button and select the file and then click the OK Button This procedure exports a position data file csv filename extension 1 Select the Position Data Icon in the project tree and either select File Ex port or click al in the toolbar It is also possible to right click the Position Data Icon and select Export from the pop up menu 41x Save in ly MCProject ci Eg a CAMPIle csv ai PositionFile cs File name save as t
28. Cat No W448 E1 05 CX Motion MCH OPERATION MANUAL CXONE ALL C V4 CXONE AL D V4 CX Motion MCH Operation Manual Revised December 2009 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 N WARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage N 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 Controlle
29. ING E data Online operations Starting communica Select the PLC and select Online Work Online or right Ctrl W 55 tions with PLC click and select Work Online Setting communica Select the PLC and select View Properties or right click 54 tions with PLC and select Properties Transferring selected Select the parameters or data to be transferred and select EL 56 data to the MC Unit Online Transfer To MC Transferring selected Select the parameters or data to be transferred and select mE 57 data from the MC Unit Online Transfer From MC Transferring data to all Select the PLC and select Online Batch Transfer To 61 the MC Units All MC Transferring data from Select the PLC and select Online Batch Transfer From 61 all the MC Units All MC Transferring from the Select Servo Settings and select Online Transfer From Servo Driver Servo or right click and select Transfer From Servo Comparing parame Select the MC Unit to be compared and select Online ters or data with MC _ Transfer Compare or right click and select Transfer Unit Compare Comparing servo Select the Servo Settings and select Online Transfer parameters with MC Compare Servo Parameter with MC or right click and Unit select Transfer Compare Servo Parameter with MC 26 Operations Listed by Purpose Section 3 2 Function Purpose Operation Keyboard Toolbar Page shortcut icon Comparing servo Select Servo Settings a
30. Model number Applicable PLCs CS1W MCH71 Recent versions of CS1 CPU Units CS1L1 CPUL 1 H CJ1W MCH71 CJ2 CPU Units CJ1H CJ1M CPU Units with unit version 2 0 or later CP series PLCs and NSJ series NSJ Controllers Refer to 1 2 System Configuration for details on the system configuration Refer to the CX One Setup Manual W463 for the computer system require ments for the CX Motion MCH Refer to the CX One Setup Manual W463 for details on the contents of the CX One package that includes the CX Motion MCH Gato Model Manual name Contents CXONE ALLILIC CX One Setup Installation and V4 ALLILID V4 Manual overview of CX One FA Integrated Tool Package System Configuration Section 1 2 1 2 System Configuration The system configuration for Motion Control Units is shown below Power CJ Series MC Unit Supply Unit CPU Unit CJ1W MCH71 Host Link AA PY Forward rotation limit input signal Reverse rotation limit input signal CX Motion MCH Editing Transferring parameters Monitoring File management etc Origin input signal GN Cel Origin proximity input signal Servo Driver Interrupt input signal p 24 V DC power supply for interface Servomotor D External inputs Servo Driver E E w E i Forward rotation limit input signal Reverse rotation limit input signal CX Programmer Creating Transferring ladder program Monitoring File management etc Origin
31. No Cones CTN CXONE oa CX One a Manual Installation and overview oe CX One FA V4 ALLILID V4 Integrated Tool Package X Xii Precautions provides general precautions for using the CX Motion MCH Programmable Controller and related devices Section 1 provides an overview of the CX Motion MCH and describes the functions and system con figuration required to operate the CX Motion MCH Be sure to read this section before using the CX Motion MCH Section 2 provides information on installing the CX Motion MCH and CX Server and connecting to the PLC Section 3 describes each of the windows and basic operations Section 4 provides information on creating projects and adding MC Units tasks axes programs sub programs and CAM tables Section 5 describes the operations used to edit data Section 6 describes the operations used to save and read new projects Section 7 describes the operations used to transfer or compare data between the personal computer and Motion Control Unit Servo Driver and to write data transferred to the Motion Control Unit to the Motion Control Unit s flash memory Section 8 provides information on monitoring the MC Units The MC Unit s communications status error status and axis s present position and status are displayed in the Monitor Windows Section 9 describes various operations on the axes of the MC Unit including test run operations and program debugging Section 10 describes t
32. Project by Name 1 2 3 1 Select File Save As The following window will be displayed Save in coy MCProject File name NewProject save as type Cx Motion MCH Project Files mn Cancel PA 2 After entering the destination folder file name and file type click the Save Button Use the default file type mnh since the project is being saved as a CX Motion MCH project file 6 2 Reading a Project To read a project that has already been saved select File Open 1 2 3 1 Select File Open 21 Look in E MCProject ei Eg H MewProject File name Files of type Cx Motion MCH Project Files mb Cancel E 2 From the Look in Drop down List select the drive and folder containing the file 3 Enter the project name or select one from the file list Set the file type to mnh 4 Click the Open Button 44 Importing Files Section 6 3 6 3 Importing Files MC Miel for MCH Files This procedure imports a project file created as an MC Miel for MCH file mil filename extension 1 2 3 1 Select the PLC icon in the project tree and either select File Import or click jmp in the toolbar It is also possible to right click the PLC icon and select Import from Miel from the pop up menu Miel File Import i X MC Hame Unit No bel File Mame Browse me 2 Enter the MC name unit number and Miel file name then click the OK But ton Symbol Files T
33. Subprograms Adding a Subprogram The following procedure adds an individual subprogram to a project s MC to an MC Unit Unit Individual subprograms can be added with program numbers from 500 to 599 35 Adding and Deleting Subprograms Section 4 6 1 2 3 1 Select the MC Unit or the Motion Programs or Sub Programs Icon in the project tree and select Insert Sub Program or click in the toolbar It is also possible to right click the Motion Programs or Sub Programs Icon and select Insert Sub Program from the pop up menu SE NewProject Cx Motion MCH File Edit View Insert Online Tools Windows o s lt a Task Er 4 E 6 D sis F Program Sera Mew PLG Em Program fa El cam AS aaa 2 The Insert Sub Program Dialog Box will be displayed Set the subprogram name subprogram number comment and axis declaration ert Sub Program x Sub Program Name New Sub Programb00 5 Sub Program Ho Comment Asie Declaration Cancel 3 Click the OK Button The individual subprogram will be added to the MC Unit Deleting a The following procedure deletes a registered subprogram from an MC Unit Su bprog ram from an E NewProject CX Motion MCH NewMCO 0 NewSubProgram500 500 Em x MC Unit E File Edit view Insert Online Tools Windows Help lal xi o u ae Qe teel ocl atia ev inaaae do BBB J 4 ok 0 A AP te EF ET
34. Tasks Icon in the project tree and select Insert Task 2 An individual task will be added to the MC Unit s Tasks folder The following procedure deletes a registered task from an MC Unit The lowest individual task will be deleted from the MC Unit s registered tasks SE NewProject CX Motion MCH lle File Edit View Insert Online Tools Windows Help Ospajern Qej erelioclasra e aras ao BBB posa oR AE te x OO ew a a NewMCO 0 R Symbol Ss Position Data a a Parameter B Unit Settings E mu Tasks fal NewTask1 1 a NewTask2 2 E NewTask4 4 o Axes a B Motion Programs oo Programs 2 Sub Programs i 1 2 3 y 32 Select the Tasks Icon fff in the project tree and select Edit Delete click x in the toolbar or press the Delete Key It is also possible to right click the Tasks Icon and select Delete from the pop up menu A dialog box will be displayed to confirm the deletion Click the Yes Button to delete the task The lowest individual task will be deleted from the MC Unit s registered tasks Adding and Deleting Axes Section 4 4 4 4 Adding and Deleting Axes Adding an Axis to an The following procedure adds an individual axis to a project s MC Unit MC Unit Up to 32 individual axes can be added to one MC Unit of which 30 axes can be physical 1 2 3 1 Select the MC Unit or the Parameter or Axes Icon in the project tree and select Insert Axis or click Dn in th
35. a 4 Double click Position Data Programs Sub Programs or Cam data The following window will be displayed f NewMCO 0 Compare MC ale xj LE A E E es Uni Settings l E Zone Settings A E y O CA CS A A PE Programs O AA a 070509NewProject CX Motion MCH NewMCO 0 Program Compare NewProgramt File View Help FSZ Overview UP AA NewProgramd NewProgramd A O00 PROG P000 OO00000077 i 0001 PROG P000 900000004 le a 000z Declaration of the program 0002 Declaration of the program 0003 MOVELINK alan CESET A ee MOVELINK CEEE oe A MW0000 0055 Writes 0055 t 0005 OE 0055 writee DASS T 0008 MOVE J01 3000 Moves JD1 to j0006 MOVE J01 3000 Moves JO1 to 0009 MOVE J01 3000 Moves J03 toj0007 MOVE J01 3000 Moves J03 to 0010 END y 4 gt For Help Press F1 Same None 7 6 Select File Save as to save the overview or detail view of the results of comparing programs 59 Transferring Comparing and Saving Data Section 7 3 Writing Data to Flash Memory N Caution Always backup the data in the flash memory after downloading the program parameter data position data or CAM data to the MC Unit Otherwise the original data before the transfer will be restored the next time that the power is turned ON which may cause unexpected operation 1 2 3 1 Select the MC Unit icon in the project tree and either select Online
36. a that can be read through the sec protection ondary password Normal user Reading all programs or cam data for which read protection is set Setting and releasing read protection 12 1 3 Setting and Releasing Read Protection 82 Only the primary user can protect data in an MC Unit by setting and releasing protection on the data that can be read To set protection set a primary pass word and a secondary password and then select the data items that can be read through the secondary password Read protection can be set or released using the primary password at any time Setting and Changing Passwords Section 12 2 12 2 Setting and Changing Passwords 1 2 3 1 Select Online Read Protection Set Change Password in online mode The following window will be displayed PRIMARY Password Verification NewMCO 0 l xj Authenticate PRIMARY Password for accessing Read Protect functionality Password Set Change Password NewMCO 0 Je PRIMARY Password I SECONDARY Password New Password New Password Confirm Password Confirm Password Transter PC to MC Cancel 3 After entering the new password and the confirm password click the Transfer PC to MC Button Note All programs and cam data cannot be read if the primary password is forgotten Please make a copy of the password and keep it ina safe place 4 Amessage to tell that the password has been set successfully will be dis played
37. alling CX Motion MCH Refer to page 8 Installing CX Server Refer to page 8 Connecting to Built in RS 232C port on CPU Unit 9 Refer to page 8 Starting CX Motion MCH k Refer to page 14 Creating a New Project Adding MC Unit to Project Refer to page 30 Refer to page 31 Adding Tasks Axes Programs Refer to page 33 and CAM Data to MC Unit Editing Transferring MC Unit s System 7 Parameters Servo Parameters Position Refer to SECTION 5 Editing Data and Data Programs and CAM Data page 56 e rea Refer to page 60 MOPUIM Seg HOW UONOI XO Refer to SECTION 8 Monitoring Refer to page 44 Refer to page 15 SECTION 2 Setup This section provides information on installing the CX Motion MCH and CX Server and connecting to the PLC 2 1 Installing and Uninstalling the Software 0 0 0 0 0000 ee eee 8 222 COnmechn toa PLC tea cceeai aed yx te aros 8 22 Connectie 10 s Cl senes PLCS ica daria 8 2 2 2 Connecting to CP series PLCOS ooo ooooooooooooo o 10 Zelda Commectine toC PLES cerros semis Seay eres Si eho ok 11 Installing and Uninstalling the Software Section 2 1 2 1 Installing and Uninstalling the Software Required Software The following software must be installed on the same computer to use the CX Motion MCH 1 CX Motion MCH 2 CX Server the communications driver Installing CX Motion MCH Refer to the CX One Setup Manual Cat No W463
38. and position data operate prop erly before using them in actual applications e Do not turn OFF the power to the Unit while writing to flash memory Doing so may result in damage to the flash memory e After replacing an MC Unit restart operation only after saving the required parameters position data and other data in the MC Unit e After transferring system parameters servo parameters programs posi tion data or cam data to the MC Unit always save the data to flash mem ory in the MC Unit before turning OFF the power supply using either the Support Software or a command from the CPU Unit If data is transferred to the MC Unit without saving it to flash memory the data will exist only in S RAM in the MC Unit and will thus be lost when the power supply to the MC Unit is turned OFF e After transferring system parameters to the MC Unit always save them in flash memory and then either cycle the power supply to the MC Unit or restart the MC Unit as a CPU Bus Unit from the CPU Unit Some system parameters will not be updated if the MC Unit is not restarted X X Application Precautions 5 e Confirm that no adverse effect will occur in the system before attempting any of the following Not doing so may result in an unexpected operation e Changing the operating mode of the PLC including changing the Star tup Mode e Force setting force resetting any bit in memory e Changing the present value of any word or any set value in me
39. arameters editing window Displays only those parameters with invalid values out of range settings in the servo parameters editing win dow Task Insert Inserts an MC Unit to the project Displays only the other constants in the servo parameters editing window 19 Basic Operations Section 3 1 Contents Keyboard shortcut Online Work Online Switches between online offline po Monitor Mode Switches between normal mode and monitor mode Unit Information Displays the Unit information pe Transfer To MC Transfers parameters and other data to the MC Unit From MC Transfers parameters and other data from the MC Unit From Servo Transfers servo parameters from the Servo Driver Compare Compares parameters and data val ues between the MC Unit and com puter Compare Servo Parameter with MC Compares servo parameter values between the MC Unit and computer Compare Servo Parameter with Servo Batch To All MC Transfers parameters and other data Transfer altogether to the MC Unit Compares servo parameter values between the Servo Driver and com puter From All Transfers parameters and other data MC altogether from the MC Unit Write To Flash Saves the MC Unit s parameters and other data Clear Memory Initializes the MC Unit s parameters and other data EmorLog Displays the MC Units errorlog Displays the Data Trace Window O Backup Backup Backs up the MC Unit and from MC
40. ases ca tl dara bd oa a G4 Expornine Elle erase criadas ade ria SECTION 7 Transferring and Comparing Data Tal Initial Settines for Online Connection acuarisi n sagas a a da aa iaa 72 Setting Changing Communications Specifications oooooooooorrooo eee 7 3 Transferring Comparing and Saving Data o oooooooooooorr o SECTION 8 NOOO LIS aan a ere ae eal a Sl Status MONTO edicion is 5 2 General Watch WIAdO Wise dd A ee eee es SECTION 9 Opera 9 1 Switching to Monitor Mode ados bee aa ud bad dni TE CBIR WINS A a radio JS IDebuscmo the Prostate E A A SECTION 10 Data races sustento a daba ati Hr Data Draces ui a A tad SECTION 11 Backup and Restore oooooooooooo ooo ooo oo ely Backup Ton IVE ees eta po opacos bue e ts HEZ Restonioto MG cia A A as Boe aie li Venityine Backup Elle with MC UM oi A AA SECTION 12 Read ARO ECON rara iva qn I2 L RETO Protec are is de a aii 12 2 Setting and Changing Pass words csi hes rd a 2 3 Setting and Releasing Proteci n corria aa 12 4 SS witchine The USEE ia o ae EA AAA eS 43 44 44 45 48 53 54 54 56 63 64 64 65 66 67 69 73 74 11 78 78 79 81 82 83 85 86 TABLE OF CONTENTS SECTION 13 We RING 1 612 eroen asada AO DAL SPINS a ca cask ds ic ic Aaa abu Met iaa aceon SECTION 14 PEEL OS ina id AS TA E EOS LOD mans nae neu cee tae rans RR ee sede VEN OES do Os aos 14327 Error C OES ra ene
41. ata motion pro gram or CAM data editing window Delete Deletes an MC Unit motion task axis motion program or CAM table Select All Selects all of the data displayed in the Ctrl A parameter data position data motion program or CAM data editing win dow Searches for text in the motion pro Ctrl F gram position data or CAM data editing window Find In Programs Searches for text in all motion pro grams Replace Replaces text in the motion program Ctrl H position data or CAM data editing window Go to Moves the cursor to the specified line Citrl G number in the motion program or position data editing window Opens the editing window for param Ctrl E eter data position data motion pro gram or CAM data 17 Basic Operations Section 3 1 Contents Keyboard shortcut View Toolbar Standard Displays hides the Standard Toolbar pe Displays hides the Insert Toolbar pe Displays hides the Online Toolbar pe Displays hides the View Toolbar Servo Set Displays hides the Servo Settings tings Toolbar Displays hides the Program Toolbar A Displays hides the Debug Toolbar o Windows Project Displays hides the Project Work Alt 1 Workspace space Window Output Win Displays hides the Output Window Alt 2 dow General Displays hides the General Watch Alt 3 Watch Win Window dow Debug Displays hides the Debug Watch Alt 4 Watch Win Window dow Status Displays hides the Status Monitor Al
42. atus of data being edited or trans ferred Displays a bar graph showing the progress of a data transfer Displays the cursor position in the program editing window Indicates the online offline status Indicates the keyboard Caps Lock status Indicates the keyboard Num Lock status Help Displaying the Help Contents 1 2 3 1 Select Help Help Contents The table of contents for help will be dis played 2 Click a topic to display information The contents related to that topic will be displayed Displaying CX Motion Select Help About CX Motion MCH The CX Motion MCH version informa MCH Version Information tion will be displayed 24 Operations Listed by Purpose Section 3 2 3 2 Operations Listed by Purpose Operations Listed by Purpose shortcut icon Project Creating a new project Select File New Ctrl N Do Opening a project Select File Open Citrlt O Saving a project over Select File Save Ctrl S 44 writing Saving a project with a Select File Save As 44 different name Close a project Select File Close ENS Quitting CX Motion Select File Exit 15 MCH Adding an MC Unit to Select the PLC and select Insert MC or right click and il 31 the project select Insert MC Importing a file cre Select the PLC and select File Import or right click and 45 ated by MC Miel for select Import From Miel MCH Importing position Select the position data and select File Import or right 4
43. axes and operand P was set in the PARAM command Too Many Parallel Branches Value of operand N number of branches in the PARALLEL command has overflowed Illegal Branch Parallel Structure Number of branch blocks is smaller than N Number of branch blocks is larger than N Illegal Axis Declaration Value of operand Q axis declaration in the motion program Is zero Position Specification Error The target position is outside of the usable range Examples MOVELINK command lt Slave axis travel amount gt lt Master axis travel amount gt CAMBOX lt Link distance gt CONNECT lt Gear ratio denominator gt SYNCR lt Travel amount at deceleration stop gt NO k k gt oo dl Speed Specification Error A speed related operand e g operands F V has exceeded the limit Examples Operand F for MOVEL MOVEC and MOVETRV Time Specification Error A speed related operand e g operands F V has exceeded the limit Examples Operand F for MOVEL MOVEC and MOVETRV O 8 Troubleshooting Detailed description Number Specification Error 17 mb 8 de N bh O amp oO Ol O CO N co Section 15 1 A number related operand e g operands C E and S has exceeded the limit Examples Operand C for WORK OFFPOS Operand S or E for CAM CAMBOX Specification Error in Number of Times An operand related to num
44. ber of times and data numbers Operands L or N has exceeded the limit Example PARALLEL N lt Number of branches gt SFTR Mode Error Illegal Variable Data Type Variable Address Range Exceeded Immediate Value Range Exceeded SFTL N lt Shift amount gt A mode related operand operand Q has exceeded the limit Examples Operand Q for MOVELINK CAMBOX An immediate value range 2147483648 to 2147483647 or digit number 10 digit has overflowed A variable that cannot be used in commands or a substitutions has been defined A data type that cannot be used in commands or substitutions has been defined A variable S C an indirect specification of OWO300 to OWOAFF that cannot be on the left side of a substitution has been set A variable that cannot be written in the operand W for FOR has been set A variable that cannot be written has been set for the variable to edit for XFER CLEAR SFTR and SFTL The data type character of a variable was not B W L or E Neither hexadecimal operand parameters nor axis parameter values have been set The hexadecimal digit number has exceeded eight digits The acronym followed by Y was not S M C O T A or I The hexadecimal digit number for a bit variable was not five digits The hexadecimal digit number of variables other than bit vari ables was not four digits An odd numbered address was set for the variable S O M C or l The ma
45. bled M16 General output 1 enabled 8 17 General output 2 enabled Editing Symbols E Displaying the Window With the project tree displayed either double click the desired MC Unit s sym bol or select the desired MC Unit s symbol and press the Enter Key E Switching between Edit Symbols Tabs Either system parameters or variables can be edited by clicking the corre sponding tab E Editing in the System Parameters Tab To edit the names of system parameters click the System Parameters Tab and either double click the desired parameter or right click the desired param eter and select Edit from the pop up menu E Editing in the Variables Tab To edit the names of variables click the Variables Tab and either double click the desired parameter or right click the desired parameter and select Edit from the pop up menu A new variable can be added by right clicking on the Variables Tab Page and selecting Insert from the pop up menu Select or input the name variable type data type address and comment in the displayed New Symbol Dialog Box and then press the OK Button Editing Position Data E Displaying the Window With the project tree displayed either double click the desired MC Unit s posi tion data or select the desired MC Unit s position data and press the Enter Key Editing Unit Settings E Displaying the Window With the project tree displayed either double click the desired MC Unit s Unit parameter
46. computer and Motion Control Unit Servo Driver and to write data transferred to the Motion Control Unit to the Motion Control Unit s flash memory Note Be sure that the personal computer is connected to the PLC via a connecting cable and that online communications are established before transferring data comparing data or writing data to flash memory 7 1 Initial Settings for Online Connection 0 0 54 72 Setting Changing Communications Specifications 04 54 7 3 Transferring Comparing and Saving Data ooooooooooo o 56 53 Initial Settings for Online Connection Section 7 1 7 1 Initial Settings for Online Connection Initial Settings for the CPU Unit and MC Unit 1 2 3 1 Setthe MC Unit s unit number using the rotary switch on the front panel 2 Set the DIP switch on the CPU Unit or the Controller Section of the NSJ Controller a For Communications via Toolbus e When using the peripheral port set SW4 to OFF or set SW4 to ON and make appropriate setting of PLC Setup set Programming Con sole Address 144 to 0400 Hex e When using the RS 232C port set SW5 to ON or set SW5 to OFF and make appropriate setting of PLC Setup set Programming Console Ad dress 160 to 0400 Hex b For Communications via SYSMAC WAY Host Link e When using the peripheral port set SW4 to ON or set SW4 to OFF and make appropriate setting of PLC Setup Set Programming Con sole Address 144 to its defa
47. ction 3 1 Starting the CX Motion MCH Using Start Special Application Start Only from the I O Table Window Opened from the CX Programmer That Was Installed from the CX One Right click a Motion Control Unit in the I O Table Window and select Start Special Application Start Only from the pop up menu The following win dow will be displayed eae OSa 44 RS see 2elaia e aaa a FOR ee gt PS RARER eeax we sr Starting the CX Motion MCH from Windows Start Menu Select Start Programs OMRON CX One CX Motion MCH CX Motion MCH The same window as when selecting Start Only will be dis played Quitting the CX Motion MCH 1 2 3 1 Select File Exit or click the X at the top right corner of the window After editing a project if the project has not been saved the following dialog box will be displayed CX Motion MCH xj AN Save changes to MewProject e J coa 2 Click the Yes Button to save the changes made Click the No Button if it is not necessary to save the changes Click the Cancel Button to return to the Basic Window without quitting CX Motion MCH Contents Keyboard shortcut Used to create or save projects Alt F Used to edit the MC Unit s data Alt E View Used to display or hide the Toolbars Windows or the Alt V Status Bar Main Menus ee or all table into a project 15 Basic Operations Main Menu Items 16 Section 3 1 Cont
48. d 18 Row added for Find in Programs Pages 17 and 24 Rows added for Backup and Restore and Read Protection Page 18 Toolbar illustration replaced Page 26 Bottom screen capture replaced Page 27 50 and 52 Top screen capture replaced Page 46 Section added Page 51 Middle screen capture replaced Page 52 New step 2 and steps 4 to 6 added Page 71 New sections 11 and 12 added 115 Revision History Revision code Dae Revised content 04 June 2008 Page xi Changed applicable OS s Page xvi Added version upgrade information Page 2 Added CJ2 CPU Units corrected model numbers and corrected software version Page 10 Added new section 2 2 3 05 December 2009 Made revisions for the upgrade to version 2 24 including revisions accompanying the upgrade from CX One version 3 2 to 4 03 and for support for Windows 7 116 Authorized Distributor
49. d EP ade XiX 5 APplicatomPrecautions oi ida XiX SECTION 1 Overview of the CX Motion MCH I tel Whatis the GC X MoGoOn NICH fs awn ane tense kag Seek os owe hee ee eho teu w ee ee 2 t2 System Cont Ural ee de oa oes 3 Eo A O IE 4 Las Operation Procedure AAA IS 6 SECTION 2 SED cirrosis 7 2 1 Installing and Uninstalling the Software o o oooooooooomooorrra o 8 2 gt Conmeen tora PEC titi bates 8 SECTION 3 Basic Operations soriana nasa IS E Basic Operon orcas ea bee it baad oh om eb estaras 14 3 2 Operations Listed by PUOSC catre dad os 25 SECTION 4 Creating Projets a4 446506sieuseteisveoteunccsenwes 29 4 1 Creating a New Project i240 toy tens A eA eee Lae id deme eee 30 4 2 Adding and Deleting MC Units 0 2 0 ee eens 31 4 3 Adding and Deleting Tasks o o ooooooooooooorrrrr e 32 4 4 Adding and Deleting Axes iii dea aid a 33 4 5 Adding and Deleting Programs 34 4 6 Adding and Deleting Subprograms 0 ccc cc eens 35 4 7 Adding and Deleting CAMS dada hee a ao ke hee OS a SECTION 5 Faine Data ciar dadas OF dal PUn Data ca sisi des 40 vii Vill TABLE OF CONTENTS SECTION 6 Saving and Reading ProjectS oooooooooo o oo Gel Savino a Project us ee wane re aed eke eke kee hacker wed aed Sake a oa edison 02 Reading a PrOJE CL cites DEIS ae RES eee Be Eee eh aes 625 Importine Piles 24 5 4 0 2808050 2aded eiCed ee ied e
50. de Doing either of these without confirming safety may result in injury Operating Environment Precautions 4 N Caution Do not save data i e do not write data to flash memory while the motion program is being executed or the motor is operating Unexpected operation may result 4 Operating Environment Precautions N Caution Do not operate the MC Unit in the following locations e Locations subject to direct sunlight e Locations subject to temperatures or humidity outside the range specified in the specifications e Locations subject to condensation as the result of severe changes in tem perature e Locations subject to corrosive or flammable gases e Locations subject to dust especially iron dust or salts e Locations subject to exposure to water oil or chemicals e Locations subject to shock or vibration N Caution Take appropriate and sufficient countermeasures when installing the MC Unit in the following locations e Locations subject to static electricity or other forms of noise e Locations subject to strong electromagnetic fields e Locations subject to possible exposure to radioactivity e Locations close to power supplies 5 Application Precautions Observe the following precautions when using the CX Motion MCH e Confirm that the correct unit number is specified for the destination node before transferring parameters or other data to the Motion Control Unit e Confirm that programs set parameters
51. ding errors or omissions XIV Version Upgrade Information Improvements from Version 2 2 to Version 2 24 New functions are listed in the following table Applicable OS Windows 2000 Applicable OS Windows 2000 XP Vista or 7 XP or Vista Improvements from Version 2 1 to Version 2 2 New functions are listed in the following table Ver 2 1 Ver 2 2 Motion Control Units in CS CJ Motion Control Units in CS CJ series PLCs series PLCs excluding CJ2 including CJ2 PLCs are supported PLCs were supported Version Upgrade from Version 2 0 to Version 2 1 New functions are listed in the following table The CX Motion MCH could not The CX Motion MCH can execute Backup from backup data from MC Units MC Units Restore to MC Units and Verify restore data to MC Units and ver backup files with MC Units ify backup files with MC Units The CX Motion MCH could not The CX Motion MCH can set release Read Pro provide read protection tection The CX Motion MCH can set passwords and switch user status The CX Motion MCH could not The CX Motion MCH can find words in all pro search in programs grams The CX Motion MCH could com The CX Motion MCH can compare data with MC pare data with MC Units in detail Units in detail The CX Motion MCH can display comparison results in Overview Detail View The CX Motion MCH can save results of com paring programs Note All new functions can be used with Motion Co
52. e Read Protection 85 protection Set Release Protection Switching user Select the MC Unit and select Online Read Protection Switch User Displaying settings Displaying hiding Tool Select View ToolBar and select Standard Insert 18 bar Online View or Servo Settings Displaying hiding the Select View Windows Project Workspace Alt 1 iz 22 Project Workspace a Displaying hiding the Select View Windows Output Window Output Window Displaying hiding Sta Select View Status Bar tus Bar Displaying hiding the Select View Window Debug Watch Window Debug Watch Window Displaying hiding the Select View Window Test Run Alt 6 Test Run Displaying the MC Select the MC Unit and select Online Unit Information Unit s model and ver sion Displaying help Select Help Help Contents Select Help Search for Help On A EE Displaying the CX Select Help About CX Motion MCH 24 Motion MCH 27 Operations Listed by Purpose Section 3 2 28 SECTION 4 Creating Projects This section provides information on creating projects and adding MC Units tasks axes programs subprograms and CAM tables 4 1 Creating a New Project ociaun ieee Seco see tee Pea ia 30 4 2 Adding and Deleting MC Units 0 0 0 cece eee 31 4 3 Adding and Deleting TaskS o oooooooooooooooororooo 32 4 4 Adding and Deleting ARES a A Se es 33 4 5 Adding and Deleting Programs
53. e project tree and either select File Export or click per in the tool bar It is also possible to right click one of the above icons and select Export from the pop up menu 49 Exporting File Section 6 4 Export Motion Programs NewMCO 0 x Er A Motion Programs El WTA Programs vse w F NewProgramQ 0 m w F NewProgran 1 El mt Sub Programs E NewSubProgramS00 500 4 E MewSubPrograms01 501 Browse Export Cancel 2 Select the programs and subprograms to be exported select the destina tion folder and then click the Export Button 2 x Save in E Project e 0 E Or MS Cancel CAM Data Files This procedure exports a CAM data file csv filename extension ti 1 2 3 1 Select an CAM table icon in the project tree and either select File Export or click par in the toolbar It is also possible to right click the CAM table icon and select Export from the pop up menu aixi Save in E Project ci Ed w CAMFile csv ai PositionFile csv ai SymbolSysParam Sy File coy ai SymbolvarcS File csy Save as type Comma Separated Values csv Y Cancel E 50 Exporting File Section 6 4 2 Enter the destination folder file name and file type and then click the Save Button 51 Exporting File Section 6 4 52 SECTION 7 Transferring and Comparing Data This section describes the operations used to transfer or compare data between the personal
54. e User Section 12 4 12 4 Switching the User A current user can be switched to a different user Switching to the primary or secondary user requires the primary password or the secondary password 1 2 3 1 Select Online Read Protection Switch User in online mode The fol lowing window will be displayed to request entering the primary password in secondary normal user status PRIMARY Password Verification NewMCO 0 _ x Authenticate PRIMARY Password for accessing Read Protect functionality Password cos The following window will be displayed when the primary password is en tered Switch User NewMCO 0 my x Current User NORMAL Switch To C PRIMARY User C SECONDARY User NORMAL User Password Cancel 2 Select the user to be switched to Enter the primary password to switch to 86 the primary user or the secondary password to switch to the secondary us er and then click the OK Button SECTION 13 Printing This section describes the operations used to print project data Sel PENUNO ts heat ide bee es Kae a eee eda hed Sas 88 87 Printing Section 13 1 13 1 Printing Printing Data and To print project data select File Print and select the desired data from the Parameters following Print Choice Dialog Box Print Choice Dialog A Es a W Project Tree e MC Unit Mew MED All Data C e Specified Data e Unit Parameter bW S
55. e operations used to back up data from MC Units and restore data to MC Units Note e Be sure that the personal computer is connected to the PLC via a Connecting Cable and that online communications are established before backing up and restoring data e Backing up and restoring data is supported for MC Units with unit version 3 1 or later Liat Backup rom ME sana eds Oh boa ead Ra reser enou 78 H Restonnoto MIS aa ae ek be EN Sa 78 11 3 Verifying Backup File with MC Unit 0 0 cee eee eee 79 77 Backup from MC Section 11 1 11 1 Backup from MC Use the following procedure to backup an MC Unit on the CX Motion MCH 1 2 3 1 Select Online Backup and Restore Backup from MC in online mode The following window will be displayed Save in a Project e E 6 EB Filename NewMCO 0 BackupFile Save as ype MC _BackupFilef bkh gt Cancel y 2 After entering or selecting the destination folder file name and file type click the Save Button Use the default file type bkh because the MC Unit data is being saved in a CX Motion MCH backup file 11 2 Restoring to MC Use the following procedure to restore a backup file to an MC Unit 1 2 3 1 Select Online Backup and Restore Restore to MC in online mode The following message will be displayed x AN Are vou sure you want to Restore data from Backup file to MC Unit Iv White to Flash Memory This operation will stop all the Ases rea
56. e specified program does not exist e An error has occurred in the pro gram memory CAM Read e The specified CAM table does not exist e An error has occurred in the CAM data memory Servo Parameter Read e The specified data has not been written Clear Program e The specified program does not exist Clear CAM e The specified CAM data does not exist e The content of parameter data is incorrect e An attempt was made to transfer a parameter value that was too large An attempt was made to transfer the servo parameters but there is no servo information in the MC Unit This error occurs when e Servo drive is not connected e Mismatch of axis numbers in project and the servo drives connected to MC Unit e Series or models in the project and servo drive are different An attempt was made to read the data from a servo drive but servo drive is not connected to MC Unit Servo parameters and motor parame ter are not set in the servo and thus cannot be read An attempt was made to read or write data to or from an MC Unit from a dif ferent MC series Communications with the PLC were disconnected for more than a certain period of time while the CX Motion MCH was in monitor mode Check the hardware unit number and correct it accordingly Make sure the data exist in MC Unit Check the parameter values before transfer Configure the MC Unit with the proper servo parameter and motor parame
57. e toolbar It is also possible to right click the Axes Icon and select Insert Axis from the pop up menu SS NewProject CX Motion MCH File Edit View Insert Online Tools Windows Help E NewPLG E sub Program fi El cam cS ees Position Data E 422 Parameter 2 The Insert Axis Dialog Box will be displayed Set the Axis name axis num ber physical axis number and device type Also set the Servo Driver se ries Servo Driver model Servo Driver version and motor model if Servo is set as the device type cla Mame MC Axis Mo Jo Physical Asis No fh Device Type Servo servo Drive Details Series W Series amp Drive Model RasD 4T01H ver 0030 Motor Model Other Motor cae 3 Click the OK Button The individual axis will be added to the MC Unit 33 Adding and Deleting Programs Section 4 5 Deleting an Axis from The following procedure deletes a registered axis from an MC Unit an MC Unit SE NewProject CX Motion MCH NewMCO 0 Axis Settings Pla ES El File Edit View Insert Online Tools Windows Help 18 x Den ar Ra reje PE V p maRe a ABBA CAP ee ra Elf NewMco 0 R Symbol Position Data E z Parameter fal Unit Settines A Tasks El i Axes T E rr 4 Settings Eg Servo Settings 1 5 Motor Settings 1 E EN NewAxis2 J02 Settings Eg Servo Settings 2 5 Motor Settin
58. ed MC Unit s motor parameters and press the Enter Key Editing Programs or Subprograms E Displaying the Window With the project tree displayed either double click the desired MC Unit s pro gram subprogram or select the desired MC Unit s program subprogram and press the Enter Key E Characteristics e Instructions and comments are displayed in different colors e Symbol names in the symbols and position data names can be used when writing programs is added to the front of names e Syntax checks can be performed in advance by compiling programs offline Editing CAM Tables E Displaying the Window With the project tree displayed either double click the desired MC Unit s CAM table or select the desired MC Unit s CAM table and press the Enter Key 42 SECTION 6 Saving and Reading Projects This section describes the operations used to save and read new projects Gal Savio 4 Projects since nauk we cule eae ween dda bw a ea ewe ee 44 0 2 Readino a Projet asa 44 0 npor nA lesa ponia 45 G4 Expor ple cad oboe oe het tee Sh heh Gol on a oe eS Lew SES 48 43 Saving a Project Section 6 1 6 1 Saving a Project To save a project select File Save or File Save As When editing a project that was saved before and saving it again with the same name select File Save The project will be overwritten When saving a new project or saving a project with a different name select File Save As Saving a
59. editing methods E Direct Input A IA MA A ed IATA ATA POOOUE NO OF PARALLEL BRANCHES al PPO MECH TRE IM Ord IO A THRE ALOE hI In Input data directly The allowed setting range is displayed on the left side of the Status Bar as shown in the following diagram SS Ee Sips manors og Min Value 1 Max Value 8 E Drop down List JPW LAL UY MELIA LI LULA IY PCR LS 112414 SP ool Po0004 bit 01 CIRCULAR INTERPOLATION CENTER POSITION _ Either click the W button or press the Alt W Keys Click the desired setting directly from the drop down list to select it MEETS yO Al ity relative positions POON bit 02 SPEED COMMAND VALUE Po0004 bit 057 COMMUNICATIONS CYCLE SUPPORT DA ecify relative positions fa Specity relative or absolute positions ANN cht May POITIOBINIS COMED ETE SIMA SEL ET 40 rr Turns OFF when statina the ansitinn Editing Data Section 5 1 E Drop down List Check Boxes Either click the W button or press the Alt Keys Select the box to the left of the desired setting to select that option eee te ee ae PODODE GENERAL INPUT OUTPUT SIGNALS WALID STEH POOOO SLID TASK SvMITCH Poggi VALID AXES SWITCH POOO0S MECHATROLINK COMMUNICA TION SETTING P0001 0 MECHATROLINK DELAY TIME MS Mii Deceleration stop input enabled 01 Reserved M02 General input 1 enabled 03 General input 2 ena
60. elect the PLC icon in the project tree and either select Online Batch Transfer To All MC or click a in the toolbar It is also possible to right click the PLC icon in the project tree and select Batch Transfer To MC from the pop up menu 2 Select the destination MC Unit in the Select MC Drop down List Select the data to be transferred and click the OK Button Batch Transfer MC Unit to Computer 1 2 3 1 Select the PLC icon in the project tree and either select Online Batch Transfer From All MC or click tim in the toolbar It is also possible to right click the PLC icon in the project tree and select Batch Transfer From MC from the pop up menu 2 Select the source MC Unit in the Select MC Drop down List Select the data to be transferred and click the OK Button 61 Transferring Comparing and Saving Data Section 7 3 Range Transfer Computer to MC Unit 1 2 3 1 Right click in the Edit Parameters Window or Edit Position Data Window and select Range Transfer To MC from the pop up menu IT UI MLL IN ACS A pose Sa a SUTPUT ALLOCATION SUTPUT ALLOCATION 16PONTS O 5 PRESENT POSITION ADDRES 0000H ca 31 PRESENT POSITION COPY EN 0000He Paste INK RETRY SETTING jo To ME From ME 2 The data of the selected Value will be transferred to the MC Unit Range Transfer MC Unit to Computer 1 2 3 1 Right click in the Edit Parameters Window or Edit Positi
61. en the computer and the servo drive timed out The CX Server is corrupted or might not be installed The CX Server is currently process ing the maximum number of requests The communications system is busy and cannot handle any more requests The operating mode is set to the wrong mode Or the mode was changed by another application like the CX Programmer while CX Motion MCH was writing or saving data Parameter Read e No of words read is zero e Beginning read address is for an odd numbered byte For system parameter and position data the byte address is not a multiple of 4 e No of read words is an odd number of bytes For system parameter and position data the byte size is not a multiple of 4 Parameter Write e The beginning write address or num ber of write words does not have the correct access unit for the area e Command sequence error Program Write e Number of data in the program infor mation and the size of the program transmitted do not match each other e There is no program information CAM Data Write e When writing the last frame the phase and displacement were not written together e The number of data in the CAM information and the size of the data transmitted do not match each other Wait until the other process releases the access right Or stop the other process so that access will be released 1 Check the network setup and check the power supply to the MC Unit
62. ents Keyboard shortcut Used to change the arrangement of open windows Used to display help and version information Alt H The names and functions for all of the menus are given in the table below When an item is selected the dialog box for that function is displayed Follow the instructions in the dialog box Contents Keyboard shortcut File New Creates a new project file mnh Ctrl N Opens an existing project file mnh Closes the project file mnh Save Saves the active project file mnh by overwriting the previous o Save As Saves the active project data in a project file mnh with a new name Import Imports MC Miel for MCH files posi tion data motion programs or CAM data Export Exports position data motion pro grams or CAM data Shows a print preview image Prints project data Quits CX Motion MCH Alt F4 Basic Operations Section 3 1 Contents Keyboard shortcut Edit Undo Restores the previous data that was Ctrl Z edited in the parameter data position data motion program or CAM data editing window Restores the edited data that was Ctrl Y undone in the parameter data posi tion data motion program or CAM data editing window Cuts the data selected in the program Ctrl X editing window Copies the data selected in the Ctrl C parameter data position data motion program or CAM data editing win dow Pastes the copied data in the param Ctrl V eter data position d
63. ents in the CX Motion MCH MC Unit Alarm Codes Errorlog Alarm Cause and remedy Error Detail code code code Main board code error 0370h 0003h 0003h System code area error on the main board Main board RAM error 0004h 0004h_ RAM error in the main board board and sub board sub board Sub board code error User program error PLC WDT error 0001h 0000h 0030h WDT error on CPU Unit occurred Follow the instructions in the applicable PLC manual PLC cyclic service monitor 0002h Monitor 0031h CPU Unit did not execute end refresh processing within error Time cyclic service monitor time ms Check end refresh prohibition in CPU system setup If pro hibited cancel it and turn the power OFF once and then ON again Increase CPU Unit cyclic service monitor time and turn the power OFF once then ON again Bus error PC21bus error OOOEh 0000h 0032h Bus error occurred between CPU Unit and MC Unit CPU fatal error 0015h 0000h 0033h CPU fatal error occurred Follow the instructions in the applicable PLC manual CPU non fatal error 0016h 0000h ENS Follow the instructions in the applicable PLC manual 101 Error Codes Section 15 2 Errorlog Alarm Cause and remedy Error Detail code code code Flash memory error 0370h 0040h 0040h The following data could not be written in the Flash mem ory e Protect data e ABS origin position data e System parameters e Servo parameters e Position data e User program
64. ervo Drive W CAM Data M Zone Parameter f All Individual ie All Individual W Task Parameter All Thdividual o i Position Data 0 Motion Programe Can e gog haug net Ancla Parameter 1 ie All r Individual pela Sar Ue Serta rao E all Individual ros To i le Print Address and Values only The following data and parameters can be selected for printing Project Tree If this option is selected the project tree is printed B MC Unit If this option is selected the specified MC Unit parameters are printed C All Data or Specified Data These options specify the range of MC Unit parameters to print All Data Print all of the data Specified Data Print only selected data and parameters Select this option to print the Unit Parameters Select this option to print the zone parameters Task Parameter Al nn Axis Parameter Al ae Servo Drive Al Sere Parte a a Includes subprograms Individual a aa Select Range Print Address Print only the address and value not comment and name and Values only Symbol Print the symbols 88 Printing Section 13 1 Printing the Error Log The Error Log can be printed To print the error log display the Error Log Window and select File Print from the Error Log Window s menu bar Bs NewMCO 0 ErrorLog A x File Options Help Print Print Preview __ E Maximum Error Log Capacity 20 89 Printing Section 13 1
65. est Run Window and Stop Axes Button will be displayed 2 will be displayed in the toolbar The Stop Axes Button can be used in Monitor Mode and will come to the front of the displayed window All axes will decelerate to a stop if the Stop Axes Button is clicked Test Run Section 9 2 m File Edit View Insert Online Program Debug Tools Windows Help fosdaj r RS Broca e IEEE 0001 PROG POO1 000000000 Ele NewPLG poooz NOFS f 0003 i cep i fi Nem MOO 0 Monitor Mo 00d canes 101181320 Li 0192 Ane Mo 0 Position o io 2 Symbol poos NOFS OFF B 33 Position Data 2006 NOPS es E r Parameter e fal Unit Settings Bae E Zone Settings Asie Operation 007 GOSUB P500 Joos NOPE Serva 0009 NOPS Pan o e 5 89 Tasks 0011 OPS os Mew Task 4 0012 OPS g wie Override a fy Axes O i D04 NOPS a Motion Programa 0015 END E ne Programs 0016 bees i BI MewProgramd PB ha Pl MewmPrograml E 2 Sub Programs E E NewSubPrograms H re GAM Taski 0000 _Reset Axis ICT ooo Reset Ed Unit 0000 _Reset Absolute Origin Setting ABS Offset fl o a af External 10 Stat Project 4 Test Run e l AROE Compile Edit Note The Status Monitor Window will not be displayed in Monitor Mode Also the MC Unit cannot be controlled from the ladder program in Monitor Mode 9 1 2 Ending Monitor Mode 1 2 3
66. gs 2 E B Motion Programs 2 Programs ZA Sub Programs CAM P1 AAD2 EQUIPMENT TYPE pore Not imp oF Not imp Project Axis Allocation Axis Speed A Ads gt xj f RA Compile Transfer 7 Edit OFFLI_Z 1 2 3 1 Select the unwanted axis icon i in the project tree and select Edit De lete click x in the toolbar or press the Delete Key It is also possible to right click the unwanted axis icon and select Delete from the pop up menu 2 A dialog box will be displayed to confirm the deletion Click the Yes Button to delete the axis The selected axis will be deleted from the axes regis tered in the MC Unit 4 5 Adding and Deleting Programs Adding a Program to The following procedure adds an individual program to a project s MC Unit an MC Unit Individual programs can be added with program numbers from 0 to 499 1 2 3 1 Select the MC Unit or the Motion Programs or Program Icon in the project tree and select Insert Program or click A in the toolbar It is also pos sible to right click the Motion Programs or Programs Icon and select Insert Program from the pop up menu SE NewProject Cx Motion MCH Ble Edie view File Edit View Insert Online Tools Windows Help DEH EELEE mi FI Task 280 A S o Axis oe El E NewPLG HewPLG E Sub Program 6 ET Bon
67. gs the axis in the negative direction Task Error Display the error code occurred in Task Click the Reset Button to reset the error Axis Error Displays any error code for any error that has occurred for the axis Click the Reset Button to reset the error Unit Error Displays any error code for any error that has occurred in the MC Unit Click the Reset Button to reset the error Clear All Errors Resets all errors that have occurred in the task axis and unit 68 Debugging the Program Section 9 3 Absolute Origin ABS Offset Displays the value of the Absolute Origin Offset Setting set in the Axis Parameters of the MC Unit Set Sets the absolute origin Teaching Type Sets either a Feedback Present Position or Command Present Position Address Sets the first address in which to store data position data number Range 0 to 10239 Executes teaching After execution the address will be incremented automatically External I O Status Asis No 401 Fosition 37 Busy EA Main Power On Torque control Positioning proximity In position control mode Speed control In torque control mode Forward rotation drive prohibit input Co Reverse rotation dive prohibit input OFF Origin search deceleration limit salt Input Encoder phase lt input No 1 external latch input No 2 external latch input Mo 3 external latch input Brake output Test Run adh Extemal lO Status 9 3 Debugg
68. h was already ON when a one direction mode origin search was executed 0399h Check the status of the limit switch in the origin search start direc tion Also check and correct the origin search start position Origin proximity reverse 300Fh 300Fh The limit reversal mode origin search cannot be performed alarm because the limit switch in the direction of the search turned ON Cause and remedy while the search was reversing Check the status of the limit switch in the origin search start direc tion And check and correct the positions of the origin proximity limit switch and the limit switch Over travel reverse alarm 3010h 3010h The limit reversal mode origin search cannot be performed because the limit switch or deceleration LS in the opposite direc tion of the search turned ON while the search was reversing due to over travel signal ON in the direction of the origin search Check the status of the limit switch in the origin search start direc tion And check and correct the positions of the origin proximity limit switch and the limit switch Synchronous slave axis 3011h 3011h With synchronous commands MOVELINK CAMBOX CON speed over NECT SYNC ADDAX the speed of the slave axis exceeded the speed specified in P2AA01 Maximum rapid feed rate Check if the setting value in the parameter is correct If it is correct correct the program With CAMBOX check also the displacement of the CAM data Excessive error alarm 3
69. he data trace function Section 11 describes the operations used to back up data from MC Units and restore data to MC Units Section 12 describes the operations used to set and release protection on programs or cam data in MC Units set and change primary and secondary passwords and switch the user Section 13 describes the operations used to print project data Section 14 provides information on the error log generated by the MC Unit Section 15 provides information on the troubleshooting methods for the MC Unit 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 1 The warranty period for the Software is one year from either the date of purchase or the date on which the Software is delivered to the specified location 2 If the User discovers a defect in the Software i e substantial non conformity with the manual and returns it to OMRON within the above warranty period OMRON will replace the Software without charge by offering media or downloading services from the Internet And if the User discovers a defect in the media which is attributable to OMRON and returns the Software to OMRON within the above warranty period OMRON will replace the defective media without charge If OMRON is unable to replace the defective media or correct the Software the liability
70. heck PLC Communications Settings again e If a transfer operation fails when transferring servo parameters for many axes a timeout may have occurred Increase the response monitoring time in the PLC Setup 94 Troubleshooting Section 15 1 e A communications error may occur in the servo driver after the MC Unit is restarted If this occurs restore the power supply to the Servo driver and the MC Unit The following table shows the probable causes and remedies of messages that may be displayed during online operations Error Messages and Remedies Probable cause 12289 No access right Another tool is occupying MCH General or READ WRITE is not permitted 35355 Communications to the device could not be established or the connec tion has been broken Check the commu nication settings and connection method to the device 32775 CX Server has not been initialized by the application 34845 CX Server is currently processing the maximum number of requests This error indicates the application is thrashing the maximum possible communications throughput of the device s connection 8720 Operation mode of MC Unit is wrong 4364 Invalid data Failed to transfer The CX Motion MCH tried to get the access right to the MC Unit but another process tool has the access right 1 Communications between the computer and the MC Unit have been disconnected or the MC Unit power supply has been cut off Communications betwe
71. heck if the program No specified by GOSUB is correct Sub program nest 2002h 2002h There are six or more sub program nesting levels Check the applicable ing error program and correct the nesting to five levels or less Variable address 2003h 2003h Attempted to access the addresses other than PLOOOO to PL27FF error when specifying position data indirectly Check the applicable program and correct the position data area specified indirectly to PLOOOO to PL27FF Divide by 2004h 2004h Zero division has occurred in an operation command Check if the calcu een ene lation formula or the assigned values are correct Operation overflow 2005h 2005h Operation result cannot be stored Check if the calculation formula or the assigned values are correct Program error 2006h 2006h The program to be executed is corrupted Download the applicable pro gram with the Support Tool save it to the F ROM and restore the power The followings can be the causes of the program destruction e Destruction of data in memory due to external noise e The power of PLC MC Unit was turned OFF while writing to Flash memory was in progress 102 Error Codes Section 15 2 Errorlog Alarm Cause and remedy Error Detail code code code Axis reservation dis 0372h 2007h 2007h The axis that was declared in a program could not be reserved able e The operating mode is set to Manual Mode Make sure the applicable 0379h axis
72. his procedure imports a system parameter or variable file under the Symbol Icon csv filename extension 1 2 3 1 Select the Symbol Icon in the project tree and either select File Import or click fm in the toolbar It is also possible to right click the Symbol Icon and select Import from the pop up menu Import Symbol l x System Parameter File Mame Symbol Variables File Mame OF Cancel 2 Select the target system parameter or variable to be imported enter or se lect the file name and click the OK Button Position Data Files This procedure imports a position data file csv filename extension 1 2 3 1 Select the Position Data Icon in the project tree and either select File Im port or click jay in the toolbar It is also possible to right click the Position Data con and select Import from the pop up menu 45 Importing Files Program Files 1 2 3 Note Subprogram Files 1 2 3 46 Section 6 3 Look in a MCProject qe es Eg aa CAMPile csv A PositionFile cs Files of type Comma Separated Values csv Cancel 2 2 Enter the destination folder file name and file type and then click the Open Button File name This procedure imports a program file txt filename extension 1 Select the Programs Icon or an individual program icon in the project tree and either select File Import or click gt in the t
73. imit setting and the motor parameter 900C Multi turn limit After the setting is completed restore the power reset the alarm and perform the origin setting e After origin setting the following values related to B A were changed Note B No of encoder pulses x P5AA05 A P5AA04 x P5AA06 B A is integer calculation and the result is to be reduced After the change was made saving to F ROM restore the power reset the alarm and perform origin setting e The multi turn limit value in the driver parameter or the motor parameter was changed after origin setting After the change was made saving to F ROM restore the power reset the alarm and perform origin setting When the multi turn value of the driver parameter was changed make sure to perform Absolute encoder multi turn amount setting change on the driver e Servo driver is set as an incremental encoder Set the driver parameter Pn002 digit No 2 to 0 used as an absolute encoder and restore the power e Disconnection breakage of encoder cable Check the encoder cable e Communications error caused by noise Remove the cause of the noise When this error persists even after providing these remedies the encoder or MC Unit may be broken Replace the broken one with a new unit 110 Error Codes Section 15 2 Errorlog Alarm lt Detail code code code Over travel already ON 037Ah 300Eh 300Eh The limit switch in the direction of the searc
74. ing the Program The CX Motion MCH can be used to debug the motion program in an MC Unit Before switching to Monitor Mode click To MC or From MC to transfer the motion program between the MC Unit and CX Motion MCH so that both the MC Unit and CX Motion MCH have the same program Note Debugging motion program is supported for MC Units with unit version 3 0 or later 9 3 1 Setting Break Points 1 2 3 1 Display the program to debug 2 Move the cursor to the step to set the break point and click dh A break point mark will be displayed 3 Click lt again the break point will be removed 69 Section 9 3 Debugging the Program 9 3 2 Debugging the Program 1 2 3 70 4 2 O 4 a Display the program Servolock the axis to be used if the program operates the axis In the toolbar select the number of the task to debug Click in the toolbar the MC Unit will execute the program Program ex ecution will stop at the first break point Set variables in the General Watch Window as required Click in the toolbar to debug the program again from the first break point Click py in the toolbar to debug the program one step at a time A CX Motion MCH NewMCO 0 NewProgram1 1 0 x a File Edit View Insert Online Program Debug Tools Windows Help 18 xi A A IO i GOB Be es 0007 PROG POO ooooooogS 7 ggz EA NewPLC s o Ef MewMCO 0 Monitor Mode 0004 4H MOVE J01 81920 J02 8192
75. input signal Servomotor oe a l Origin proximity input signal Interrupt input signal Servo Driver P 24 V DC power supply for interface MECHATROLINK II 30 axes max Function List Section 1 3 1 3 Function List Group Function OO tas Roerne Ealing projects Add delete program Editing data Edit system parameters Used to edit system parameters unit settings tasks page 40 and settings Saving and read ng project files Importing and Import Used to import MC Miel for MCH files position data page 45 exporting data programs and CAM data Used to export position data programs and CAM page 48 data Used to print various project data page 88 Online Initial setting Used to setup CPU Unit or MC Unit page 54 Communications setting Used to make settings for communications with the page 54 PLC Download Used to download compare or upload system Upload parameters servo parameters position data pro page 56 grams and CAM data Compare Write to flash memory Used to write RAM data inside the MC Unit to flash page 60 memory inside the MC Unit Status monitor Used to display the error information program num page 64 ber in progress and axes present positions General monitor Used to display and change the MC Unit s variables page 64 such as the system variables global variables input variables output variables position data and task variables Test Run Used
76. it until the backup has been performed completed and then write to flash memory 97 Troubleshooting Section 15 1 The following table provides a description and detailed description of the com pilation errors that may be displayed while compiling programs 2 _ NoDeseripton SSS 3 NoDeseripton OOS 3 4 Too Many Characters in one Block Number of characters in one block exceeded 128 including CR LF Illegal Program Start Specification of operand P value at a subprogram s PROG command is greater than 1000 and lower than 499 Specification of operand P value at the main program s PROG command is greater than 500 and below 0 Illegal Program End The END command was used outside of the main program The RETURN command was used outside of a subprogram No ENDIF for IF No NEXT for FOR No WEND for WHILE No SEND for SWITCH Illegal Motion Task Instruction A command has been used that cannot be specified in a motion task Illegal Argument Necessary operands have not been established to respond to the command Insufficient axis data to respond to the com mand O Too Many Arguments The total number of operands exceeded 11 The number of axes to respond to the command has exceeded the number of programmable axes The total number of variables or immediate values has exceeded the number of programmable axes An illegal operand was used The same operands were overlapped in one block Data for both
77. l commu nications mode CPU Unit Built in IBM PC AT D SUB 9 SYSMAC WAY CS1W CN226 peripheral compatible pin male Host Link CS1W CN626 port Built in RS IBM PC AT D SUB 9 SYSMAC WAY XW2Z XW2Z 200S CV CV 12m H anti static 232C port compatible pin male Host Link XW27Z en cv 5m connector D SUB 9 pin female Serial RS 232C port IBM PC AT D SUB 9 SYSMAC WAY XW2Z 200S CV 2 m Uses anti static Communi D SUB 9 compatible pin male Host Link XW2Z 500S CV 5 m connector Unit Note When connecting the connectors of the above cables to the PLC s RS 232C port discharge any static build up e g by touching a grounded metal object before touching the connectors Although XW2Z LULILIS CV Cables use the anti static XM2S 0911 E Connector Hood thus reducing the possibility of Static build up be sure to discharge any static as a safety precaution Connecting to a PLC Section 2 2 2 2 2 Connecting to CP series PLCs Connecting to USB Port on CPU Unit with Commercially Available US Cable Computer Port on Serial communi Model number Length computer cations mode network type CPU Unit USB port IBM PC AT USB port USB Commercially available 5 m B connector compatible A connector USB 1 1 or 2 0 cable max IBM PC AT or compatible USB port CP series CPU Unit Commercially available USB cable Peripheral USB port Connecting to RS 232C Port on Serial Comm
78. limit on machine gt 2147483647 on motor x P5AA04 Command unit 1 machine rotation x P5AAO6 on machine 9001h No of encoder pulses 1 motor rotation x P5AA05 on motor Correct the applicable position to satisfy the formula above When spec ifying with real numbers check the setting value of the axis parameter P5AA02 Position command decimal point position e With Traverse MOVETRAV command This error occurs when the operand Winding axis rotations 0 Cor rect the program so that Winding axis rotations is not O 103 Error Codes Speed specification error Time specification error Number specifica tion error Count specification error 104 Errorlog Alarm Erros Detail code code code 0372h 0379h 200Ah 200Ah 200Bh 200Bh 200Ch 200Ch 200Dh 200Dh Section 15 2 Cause and remedy The following operands have exceeded the allowable range e F MOVEL MOVEC MOVETRAV V MOVEI MOVET SPEED com mand Correct the applicable operands When specifying with real numbers check the setting value of the task parameter POOM10 Interpolation feed decimal point position The following operands have exceeded the allowable range e T MOVET CAM SPEED TORQUE SPEEDR TORQUER DWELL Correct the applicable operands e With Time specified Positioning MOVET command Speed of each axis Travel distance of each axis Positioning time This error occurs when the
79. limit reversal mode there was no deceleration limit switch in between over travel of both directions Provide the origin proximity limit switch or check if the limit switches themselves or wiring is normal During an origin search the deceleration limit switch and the over travel in direction of the search were turned ON simultaneously Check if the origin proximity signal or over travel signals for both directions are wired correctly During an origin search the over travel signal turned ON while waiting for the origin signal while waiting for the rise of phase Z after the fall ON to OFF of the origin proximity limit switch Check if the settings of the axis parameter P4AA06 Origin deter mine signal and the servo parameter Pn511 Input signal select 5 are correct if the applicable signal is enabled If the settings are correct check the followings e Problem on Phase Z of the encoder e Breakage of encoder cable e Too small distance between the origin proximity limit switch and the limit switch These causes are to be removed The axis speed has exceeded maximum rapid feed rate during the following command execution e MOVEL Axes except for the one with the longest travel distance e MOVEC Linear axis if not specified with the tangential speed of the circular interpolation portion e MOVETRAV Traverse axis e CAM Check if the speed set in P2AA01 Maximum rapid feed rate is correct If it is not co
80. methods for the MC Unit Sal TrOubleshGOUN eis w ics Pe divech UE A ase had eee Aes aces 94 152 ENO C Ode cs lidad 101 93 Troubleshooting Section 15 1 15 1 Troubleshooting Error Processing of The following error message may be displayed when attempting to connect Online Errors online on the CX Motion MCH Basic Window Use the following flow chart to help identify and correct the error CX Motion MCH x AN Failed to Connect bo khe PLE Please check the Following The device selected in Cx Motion MEH matches the type of PLC it s connected to The network settings of Change PLE dialog The power Supply bo the PLE The connection between the PLC and PC ee The Failed to Connect to the PLC error message displayed Is the cable between the e Check whether the cable is disconnected or broken computer and PLC e Check whether the communications settings are the naci n correctly same for the computer s COM and CX Server No Is the connected PLC turned ON Turn ON the PLC Yes Was the I O table created after the No MC Unit was mounted Create l O table using the CX Programmer or Programming Console Yes Check whether PLC model including CPU Unit model and the network type setting match among all the Programming Devices that use CX Server Is another Programming Device No that uses CX Server such as CX Programmer communicating online Yes C
81. mory e Do not turn OFF the power to the personal computer while installing or uninstalling CX Motion MCH Doing so may result in corrupted data in the personal computer XX SECTION 1 Overview of the CX Motion MCH This section provides an overview of the CX Motion MCH and describes the functions and system configuration required to operate the CX Motion MCH Be sure to read this section before using the CX Motion MCH 1 1 What is the CX Motion MCH co o cc eeee 1 2 System Configuration 1 3 Function List nN FW N 1 4 Operation Procedure What is the CX Motion MCH Section 1 1 1 1 What is the CX Motion MCH Introduction Applicable MC Units Applicable Computers Checking the Package The CX Motion MCH is a software package that can be used to set create and print various data required to control MC Units such as system parame ters position data motion task programs and CAM data transfer the data to and from the MC Unit compare the data in the computer with the data in the MC Unit and monitor the operating status of the MC Unit The CX Motion MCH runs on Windows 2000 XP Vista or 7 CS1W MCH71 Set and transfer the Computer with Windows CJ1W MCH71 various data and operating system programs required to control the MC Unit Monitor the MC Unit s operating status e g error information or each axis present position The CX Motion MCH supports the following MC Units
82. must read this section and understand the information contained before attempting to set up or operate the CX Motion MCH 1 Intended Audic ie sucia cada dsd ta aes xviii 2 General Precautions erreren a rias xviii 3 Sale ly Precautions e aeaa e r Beate eB I E EARE xviii 4 Operating Environment Precautions 0 0 00 cece eee eee XiX 5 Application Precautions 1 ii iria ghue wd does XiX xvii Intended Audience 1 2 3 xviii Intended Audience This manual is intended for the following personnel who must also have knowledge of electrical systems an electrical engineer or the equivalent e Personnel in charge of installing FA systems e Personnel in charge of designing FA systems e Personnel in charge of managing FA systems and facilities General Precautions N WARNING The user must operate the product according to the performance specifica tions described in the operation manuals Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems railroad systems aviation systems vehicles combustion systems medical equipment amuse ment machines safety equipment and other systems machines and equip ment that may have a serious influence on lives and property if used improperly consult your OMRON representative Make sure that the ratings and performance characteristics of the product are sufficient for the systems machines and equi
83. nd select Online Transfer Com A parameters with Servo pare Servo Parameter with Servo or right click and select Driver Transfer Compare Servo Parameter with Servo Initializing memory Select the MC Unit and select Online Clear Memory o la E Writing to flash mem Select the MC Unit and select Online Write To Flash a ory Monitoring the MC Select the MC Unit and select View Windows Status Alt 5 ES 64 Unit s status or errors Monitor ion Monitoring variables Select the MC Unit and select View Windows General Alt 3 64 Watch Window Displaying error log Select the MC Unit and select Online Error Log JB 2o Debugging the pro Select the MC Unit and select Online Monitor Mode NI gram Executing Test Run Select the MC Unit and select Online Monitor Mode eN operations such as JOG operations Tracing data Select the MC Unit and select Online Data Trace NP Backing up the MC Select the MC Unit and select Online Backup and 78 Unit Restore Backup from MC Restoring a backup Select the MC Unit and select Online Backup and 78 file to the MC Unit Restore Restore to MC Verifying a backup file Select the MC Unit and select Online Backup and 79 with the MC Unit Restore Verify Backup files with MC Setting and changing Select the MC Unit and select Online Read Protection CEE passwords for protec Set Change Password tion Setting and releasing Select the MC Unit and select Onlin
84. ng operand has exceeded the range STOI eepe e Q MOVEC MOVETRAV MOVELINK CAMBOX 0379h Correct the applicable operands Other operand error 200Fh 200Fh The following operands have exceeded the range e K CAM CAMBOX e B MOVELINK CAMBOX CONNECT SYNC ADDAX e TORQUE e SIN COS ASIN ACOS SQT LGN BIN BCD Correct the applicable operands emgem SSS Circular interpola 2011h 2011h Travel distance specified in MOVEC is too great tion travel distance e The tangent arc length has exceeded 2147483647 Check the program OYE and correct the setting value so that it will not exceed the allowable range When specifying with variables check if the substitution for mula is correct e The radius has exceeded 2147483647 Check the program and correct the setting value so that it will not exceed the allowable range When specifying with variables check if the substitution formula is correct Circular interpola 2012h The following instructions have been given in MOVEC tion radius error In Radius specification The radius is specified to O e Check the program and correct the radius to the value larger than 0 When specifying with variables check if the substitution formula is cor rect e In Center specification The start or end point and the center are at the same position Check the program and correct it so that the start or end position are not on the center 105 Error Codes Section 15 2 Errorl
85. ng to Monitor Mode Starting Monitor Mode 1 2 3 k Select a PLC icon in the project tree and select Online Work Online or right click a PLC icon and select Work Online from the pop up menu It is also possible to click in the toolbar The CX Motion MCH will be con nected to the PLC Select the MC Unit in the project tree and then select Online Monitor Mode or click 2 in the toolbar The following warning dialog box will be displayed Read the contents of the warning carefully Click the OK Button only after confirming safety CX Motion MCH E xl This function le a dangerous function accompanied by motor operation Be AN sure to read operations manual before execution Satety Check Please check the safety operation for Test Run On pressing the move operation buttons motor will start moving at the specified speed To avoid any hazardous incident please ensure to follow the safety instructions Please set up emergency stop equipment externally You may not be able to stop the motor from PO Please install external emergency stop equipment to be able to stop motor immediately Mow Ex Motion MGA wil run in monitor mode All the axes will be stopped while entering into the monitor mode All the programs will be non editable W Compare Programe Do vou want to continue Cancel 3 The CX Motion MCH will switch to Monitor Mode and the following T
86. nsert CAM Dialog Box will be displayed Set the CAM name CAM number and displacement decimal point position xj CAM Name CAM Mo Phase Dec Point Disp Dec Point Te cae 3 Click the OK Button The CAM table will be added to the MC Unit 37 Adding and Deleting CAMs Section 4 7 Deleting CAM Tables The following procedure deletes a registered CAM table from an MC Unit from an MC Unit NewProject CX Motion MCH File Edit View Insert Online Tools Windows Help OSA o nRE Bro cata eN AS RAAE t 645 xi a oes nnn a raras IE ao B BE E E NewPLC Sf NewMCo 0 Symbol EH Position Data E2 Parameter E Motion Programs El Programs E E NewProgram 0 UN R NewPrograml 1 E A Sub Programs n EB NewSubProgram500 500 gt CAM 8 ME Delete the item from tree 1 2 3 1 Select the unwanted CAM table icon E in the project tree and select Edit Delete click x in the toolbar or press the Delete Key It is also possible to right click the unwanted CAM table icon and select Delete from the pop up menu 2 A dialog box will be displayed to confirm the deletion Click the Yes Button to delete the CAM table The selected CAM table will be deleted from the CAMs registered in the MC Unit 38 SECTION 5 Editing Data This section describes the operations used to edit data This manual shows how to edit data but does not describe the functions of
87. ntrol Units with unit version 3 1 or later Version Upgrade from Version 1 0 to Version 2 0 New functions are listed in the following table The CX Motion MCH could not The CX Motion MCH can execute data traces execute data traces The results of a trace are displayed graphically The CX Motion MCH could not The CX Motion MCH can execute the test run execute test runs operations such as the following Servo locks JOG operations STEP operations origin searches origin returns forced origins setting an absolute origin teaching and resetting errors XV XVI The CX Motion MCH could not execute motion programs The CX Motion MCH could be used to set only the previous parameters The CX Motion MCH can execute motion pro grams Motion programs can be debugged by setting break points and by using single step execution New parameters have been added to use the fol lowing functions e Zones e A setting for the number of the parallel branches in each motion task e Establishing the origin using the present posi tion preset e Changing the motor to Servo OFF state using an external input signal Note All new functions can be used in Motion Control Units with unit version 3 0 or later PRECAUTIONS This section provides general precautions for using the CX Motion MCH software package The information contained in this section is important for the safe and reliable application of the CX Motion MCH You
88. o that any slave axis is not shared between commands e When a command requiring a latch input was executed and the latch range parameter is being written another latch requiring command was executed on the same axis Correct the program so that any latch requiring command will not be executed on the same axis or the tim ings do not overlap ampon SSS SyS Synchronous slave 2018h 2018h The axis that is specified as a slave axis has already been used as the axis specification master axis When an axis is to be operated as a slave axis of an axis error and the slave axis is to be used as a master axis of another axis the program to change the order of specification has to be arranged so that the axis is specified as a slave axis of an axis first and then as a master of another axis 106 Error Codes Section 15 2 Errorlog Alarm Cause and remedy Error Detail code code code Parameter setting 0372h 2019h 2019h lt PARAM gt error asro System parameters e Attempted to change a parameter that cannot be changed after restor ing the power e Attempted incorrect parameter setting Check the program so that correct values can be set When specifying with variables check if the substitution formula is correct Servo parameters e Attempted to change a parameter that cannot be changed after restor ing the power e Attempted to set incorrect setting value e Attempted to set incorrect number e Attempted
89. og Alarm Cause and remedy Error Detail code code code Control mode error 0372h 2014h 2014h A position control command MOVE etc or speed control command SPEED was executed during Torque control TORQUE Correct the 0379h program so that position control commands or speed control command will not be executed during TORQUE execution e SPEED or TORQUE was executed during position control command execution Correct the program so that SPEED or TORQUE will not be executed during position control command execution e Position control commands other than MOVE was executed during SPEED command execution Correct the program so that any position control command other than MOVE will not be executed during SPEED command execution pois 20189 Same axis specifica 2016h 2016h e Multiple commands were executed on the same one axis using parallel tion multiplicity branches Or when a main program is trying to use the axis being used by the subprogram called by the main program etc Correct the program so that multiple commands are not executed on one axis from multiple rows in the program e Axis movement command was executed on the axis which is in syn chronous execution as a slave axis Correct the program so that any axis movement command will not be executed during synchronization e The axis which was specified as a slave axis has been a slave axis of the different type of synchronous command Correct the program s
90. ogram All O Individual _ Esh ata ft All S Individual cae 57 Transferring Comparing and Saving Data Section 7 3 2 Select the data to be transferred and click the OK Button The progress of the transfer will be displayed as shown in the following diagram ransferring the MC data from MC to computer ransferring the MC 0 Data Checking MC Version Done ransferring the Unit and Zone Parameter Done ransferring the Task Parameter Done ransferring Axis Parameter Done ransferring the Position Data Ser Held Compile A Traster HO 10 Done Comparing Data with the MC Unit 1 2 3 1 Select the MC Unit icon in the project tree and either select Online Trans fer Compare or click pi in the toolbar It is also possible to right click the MC Unit icon in the project tree and select Transfer Compare from the pop up menu Compare Data With MC Unit x Select MC EANN All Data Specified Data Sustem Parameter Compare Servo parameters with f MC Unit C Servo Drive Individual EAM Data O All Individual E 2 Select the data to be compared and then click OK Button 58 Transferring Comparing and Saving Data Section 7 3 3 When the transfer from the MC Unit is completed the Compare MC Win dow will be displayed showing the comparison results G NewMCO 0 Compare MC ioj xj le Unit ee Eo re Cen AA A l Motion Programs L
91. on Data Window and select Range Transfer From MC from the pop up menu 2 The data of the selected Value will be transferred from the MC Unit 62 SECTION 8 Monitoring This section provides information on monitoring the MC Units The error status axis s present position and variable values are displayed in the Monitor Windows Note Be sure that the computer and PLC are connected with the connection cable and the communications between them are established before starting monitoring operations Sak Status MODO Lis eds als e858 Rs ea a EES 64 8 2 General Watch Window 64 63 Section 8 1 Status Monitor 8 1 Status Monitor Starting the Status Monitor Use the Status Monitor to monitor MC Unit errors the present position of each axis and the program number in progress Click E in the toolbar S NewMCO 0 Status Watch Monitor Axis Present Position Error Code Present Position Error Code Present Position Error Code Present Position Error Code Task Task 1 Task 2 Task 3 Task 4 Task 5 Task 6 Task 7 Task 8 Error Code Program No Block No Single Block No Multiple Unit Error Code C Axis Task s which are active in the MC unit C Axis Task s which are not active in the MC unit If the CX Motion MCH is connected online monito
92. on the personal computer may not stop the motor Provide an emergency stop device externally to enable stopping the motor imme diately at any time 71 Debugging the Program Section 9 3 72 This section describes the data trace function Note Data traces are supported for MC Units with unit version 3 0 or later 10 1 Data Traces o o o 10 1 1 Executing a Data Trace 10 1 2 Changing the Graph Display SECTION 10 Data Traces 74 74 75 73 Data Traces Section 10 1 10 1 Data Traces 10 1 1 Executing a Data Trace 1 2 3 1 Select the PLC icon in the project tree and select Online Work Online or right click the PLC icon and select Work Online from the pop up menu It is also possible to click 4 in the toolbar The CX Motion MCH will be connected to the PLC 2 Select the MC Unit icon in the project tree and then select Online Data Trace or click t inthe toolbar The Data Trace Window will be displayed HA NewMCO 0 Data Trace File Operation View Options Windows Help Edit OFFLINE re 3 Click fa in the Data Trace Window The Data Trace Configuration dialog box will be displayed NewMCO 0 Group 1 Data Trace Configuration xj Trigger Settings Trace Objects Trigger Manual Trigger F Triggeri Lett Operand F Trigger 2 Left Operand ee ae I Advanced Insert Option Note Write To Flash Memory to save the Data Trace Configuration in MC Unit
93. onal computer is connected to the PLC via a Connecting Cable and that online communications are established before setting or releasing read protection setting or changing passwords or switching the user e Read protection is supported for MC Units with unit version 3 1 or later 121 Read Provechon sra roads crac odds 82 Ziel Read Proteccion te coke adie ahead asa oes 82 Wate NCC basa sae ae ora e 82 12 1 3 Setting and Releasing Read Protection 82 12 2 Setting and Changing Passwords 00 eee cece eee eee 83 12 3 Setting and Releasing Protection 0 ccc cece 85 12 4 SWV enne the User acostada bo 86 81 Section 12 1 Read Protection 12 1 Read Protection 12 1 1 Read Protection Note 12 1 2 User The CX Motion MCH can be used to protect all of programs and cam data in an MC Unit from being read Protection cannot be set for reading parameters It also cannot be set for writ ing parameters programs or cam data There are 3 types of user Read protection can be set only by the primary user What data can be read depends on the user User What can be done What cannot be done Primary user Setting the primary password and the secondary password Setting and releasing protection Specifying programs or cam data that can be read through the secondary password Reading all programs and cam data Secondary user Reading only the programs and cam Setting and releasing dat
94. oolbar It is also possible to right click the Programs Icon or the individual program icon and select Import Program or Import from the pop up menu When a file is imported to an individual program the existing program will be overwritten Program Mame Program Mo k Select Program Browse onei 2 Enter the program name program number and select program and then click the OK Button This procedure imports a subprogram file txt filename extension 1 Select the Sub Programs Icon or an individual subprogram icon in the project tree and either select File Import or click in the toolbar It is also possible to right click the Sub Programs Icon or the individual subpro gram icon and select Import Sub Program or Import from the pop up menu Importing Files CAM Files Note 1 2 3 Note Section 6 3 When a file is imported to an individual subprogram the existing subprogram will be overwritten Import SbF agram E Program Mame Program Ho 501 select Program Browse once 2 Enter the subprogram name subprogram number and select subprogram and then click the OK Button This procedure imports a CAM file csv filename extension 1 Select the CAM Icon or an individual CAM table icon in the project tree and either select File Import or click in the toolbar It is also possible to right click the CAM Icon or the individual CAM table icon and select Import
95. ot SYSMAC BUS Master gt 7 05 0000 Empty Slot 06 0000 Empty Slot J 07 0000 Empty Slot 08 0000 Empty Slot Unit Setup Save Parameters Load Parameters y 09 0000 Empty Slot Start Special Application Start with Settings Inherited E A 0000 Rack 01 Start Only 14 0000 Rack 02 Cut Ctrl H A 0000 Rack 03 Copy Ctrl C Paste GE Delete 2 The CX Motion MCH will be started a new project will be created and a Motion Control Unit will be added automatically The Motion Control Unit model will be inherited as shown below lol File Edit View Options Help el alla sale 317 ea Fl CJ1H CPU67H 4 Inner Board 43 0000 Main Rack Y 00 1500 CJ1W MCH 1 Motion Control Unit Unit 0 y 01 1525 CJ1W NCF 1 Position Control Unit Unit 1 02 oo 03 oo 04 oor File Edit Yiew Insert Online Tools Windows Help 05 00 E PA rn Ds por OE As Rathee aaa I o T E EE NT Bx Hla y 09 00 r 0000 R 255 NewPLC1 dy 0000 Ri 3 ff TargetSIOU 0 dy 0000 Ri Symbol Position Data E 43 Parameter fa Unit Settings BY Tasks E NewTask1 1 Tp Axes A Motion Programs 2 Programs Sub Programs CAM L E NewProject CX Motion MCH S BOARD MG Name flareetSIOU MG Type cstemcHa y MG Version 8 0 and later y Unit No gt Cancel 3 14 Basic Operations Se
96. ous version Revision code Das November 2005 l Revised content Original production The following changes and corrections were made in updating from software version 1 0 to version 2 0 Page xvi Caution added Page 4 Test run and program debugging functions added to online operations and data trace function added Page 6 Version upgrade information added Pages 12 and 13 Procedures altered Page 13 Program and Debug commands added Page 15 Debug Watch Window and Test Run commands added Page 16 Monitor Mode command added to Online operations and Program and Debug menus added Pages 17 to 19 Toolbars updated for new functionality Page 22 Debugging text run and data trace items added Pages 34 and 35 Zone settings added Page 47 Note added Pages 48 to 50 Screen shots replaced Page 57 New sections 9 and 10 added Page 58 Screen shot replaced and zone settings added Cover Model numbers added and SYSMAC removed Page ix Middle row of table removed and CS1W added to bottom row two loca tions Pages ix and 2 Windows XP and Vista added Pages ix and 2 CX One version changed to 2 1 Page xiii Version information moved from page 6 and new version information added Page 2 CP series PLCs added to top table Page 4 Functions added to table after Data Trace Page 6 Information moved to page xiii Page 8 Heading added Page 9 Section added Pages 15 an
97. plays the parameter reference an help Value Reference Displays the value reference help Troubleshooting Displays the troubleshooting help Online Registration Connects to the OMRON online user registration About CX Motion MCH Displays the version information Toolbars Functions can be executed directly by clicking on the appropriate icon on the toolbar The functions that can be executed from the toolbars are given below la Standard Toolbar Create a new project Open an existing project Save the active project by overwriting the existing project file Import from file Display the print preview Export to file 21 Basic Operations Section 3 1 View Toolbar a A Insert Toolbar 6 Insert a CAM table Online Toolbar Transfer to MC Unit Transfer from MC Unit Transfer from Servo Driver 22 Basic Operations Section 3 1 4 Compare with MC Unit Program Toolbar Compile the program Insert remove a break point Remove all break points Debug Toolbar a Servo Settings Toolbar Show Modified Only Show Different Only Show Invalid Only 23 Basic Operations Section 3 1 Status Bar The following information is displayed on the status bar 3 Done TV S amp dSY 2 col OnLine CAP NUM 1 2 3 4 5 6 Displays messages regarding the st
98. pment and be sure to provide the systems machines and equipment with double safety mechanisms This manual provides information for programming and operating the Unit Be sure to read this manual before attempting to use the Unit and keep this man ual close at hand for reference during operation It is extremely important that the CX Motion MCH and related devices be used for the specified purpose and under the specified conditions especially in applications that can directly or indirectly affect human life You must con sult with your OMRON representative before applying Motion Control Units and related devices to the above mentioned applications Safety Precautions N WARNING N WARNING N WARNING Caution Caution Do not attempt to take any Unit apart while the power is being supplied Doing so may result in electric shock Never touch any of the terminals while power is being supplied Doing so may result in serious electric shock Always back up programs parameter data position data or cam data to the flash memory after it has been transferred to the Motion Control Unit If trans ferred data is not backed up in flash memory the previous settings may be used the next time the power is turned ON resulting in a malfunction Check that the axis number is correct before operating an axis from the CX Motion MCH Confirm safety at the destination node before transferring parameters or other data to another no
99. r 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 OMRON 2005 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of 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 TABLE OF CONTENTS PRECAUTIONS cosas XVI 1 intended MIdISACE ida iia dida rior cold rda xviii 2 General PrecaulONS nc fg caked crane tod week E r E A E ae eae ies xviii 3 Sale PECI ONS aane Dee aad ASS SA Dia xviii 4 Operating Environment Precautions lt t
100. ravel distance of the axis 108 Error Codes Section 15 2 Errorlog Alarm i Detail Code code code Software limit negative 037Ah 3006h 3006h The axis entered the software limit area in negative direction dur direction ing axis movement with the origin defined Check if the setting 0399h value of the axis parameter P3AA02 Negative direction software limit is correct The error may occur when executing circular interpolation right on the software limit values If the setting Cause and remedy value is incorrect set a larger limit value When the value is cor rect correct the program or travel distance of the axis Servo OFF 3007h 3007h e The axis that received a movement command is in Servo OFF state In operations with programs this alarm will occur when the applicable axis is specified at the beginning of the block and a movement command is executed for the axis that is in Servo OFF state Switch the axis to Servo lock state e Servo OFF was executed for the axis receiving a movement com mand Do not execute Servo Unlock during axis movement one with a new unit Communications alarm 300Bh 300Bh Detected MECHATROLINK communications errors twice in a row Or the No of error detections specified in P1AA06 MECHA TROLINK II communications error detection setting has been exceeded The followings are the possible causes e Disconnection breakage of MECHATROLINK cable Check the MECHATROLINK cable
101. ring will start automatically if the CX Motion MCH is offline monitoring will stop 8 2 General Watch Window Starting the General Watch Window 64 The General Watch Window can be used to check and change variable values excluding system variables Click Ed in the toolbar M6 nome var name Agarose vor tve Jona type vue comment IS IS E OS If the CX Motion MCH is connected online monitoring will start automatically if the CX Motion MCH is offline monitoring will stop To check a variable select Insert from the Context Menu and register the vari able To change a variable s value change the value directly in the variable s Value column and press the Enter Key to confirm the change The variables registered in the General Watch Window can also be refer enced again by saving the project SECTION 9 Operation This section describes various operations on the axes of the MC Unit including test run operations and program debugging Note Operation from Support Tool is supported for MC Units with unit version 3 0 or later 9 1 9 2 9 3 Switching to Monitor Mode 9 1 1 Starting Monitor Mode 9 1 2 Ending Monitor Mode TS RUD ratos 9 2 1 Executing a Test Run 9 2 2 Test Run Window Debugging the Program 9 3 1 Setting Break Points 9 3 2 Debugging the Program 66 66 67 67 67 68 69 69 70 65 Switching to Monitor Mode 9 1 9 1 1 66 Section 9 1 Switchi
102. roject tree and select Transfer To MC from the pop up menu Transfer Data To MC Unit X Select MC REAA 0 Al Data Specified Data System Parameter i With Servo Parameter C without Servo Parameter Position Data Program Cal Individual EAM Data Individual 2 Select the data to be transferred and then click the OK Button CX Motion MCH E x AN Are vou sure you want to Transfer ALL data from computer to MC Unit s le Write to Flash Memory Thiz operation will stop all the Anes cancel 56 Transferring Comparing and Saving Data Section 7 3 3 If the Write to Flash Memory Option is selected the transferred data will be saved in flash memory The transfer will start when the OK Button is clicked The progress of the transfer will be displayed as shown in the fol lowing diagram E Start transferring the MC data ransferring the Unit and Zone Parameter Done ransferring the Task Parameter Done ransferring Axis Parameter Transferring from the MC Unit 1 2 3 1 Select the MC Unit icon in the project tree and either select Online Trans fer From MC or click in the toolbar It is also possible to right click the MC Unit icon in the project tree and select Transfer From MC from the pop up menu AllData Specified Data System Parameter Upload Servo parameters from f MC Unit C Servo Drive Position Data Pr
103. rrect set a higher speed If it is correct lower the feed rate of the program or lower the speed using override With DATUM MOVE MOVELINK CAMBOX SYNC and LATCH commands attempted to execute the functions simultaneously that require the counter latch Check the axis specified for the Latch and correct the program so that there are no redundant specifications executing LATCH com mand on the axis already executing LATCH command executing LATCH command on the axis waiting for the synchronization start conditions to be satisfied or etc Relations between the No of encoder pulses and command unit is not normal When the following expression is not satisfied the error will occur 1 7FFFFFFFh lt B A lt 7FFFFFFFh Note B No of encoder pulses x PSAA05 A P5AA04 x P5AA06 B A is integer calculation and the result is to be reduced Set the parameters so that the formula above is satisfied Error Codes Section 15 2 MLK Device Alarm Codes rare Cause and remedy Detail code Depending on the device Depending on the device t Follow the directions of the applicable manuals Alarm code of each device 113 Error Codes Section 15 2 114 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No W448 E1 05 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previ
104. rt Axis Deleting an axis Select the axis and select Edit Delete or right click and select Delete x P B amp Adding a program Select Motion Programs or Programs and select Insert Program or right click and select Insert Program Deleting a program Select the program and select Edit Delete or right click and select Delete Adding a subprogram Select Motion Programs or Sub Programs and select x 32 32 33 34 34 35 5 Insert Sub Program or right click and select Insert Sub Program 2 un Operations Listed by Purpose Section 3 2 Function Purpose Operation Keyboard Toolbar Page shortcut icon Deleting a subpro Select the subprogram and select Edit Delete or right x 36 gram click and select Delete l Adding a CAM table Select CAM and select Insert CAM or right click and 37 select Insert CAM Deleting a CAM table Select the CAM table and select Edit Delete or right click x 38 and select Delete l Displaying a print pre Select File Print Preview El 21 view Printing parameters or Select File Print Ctrl P E 92 programs Editing parameters Editing Unit Parame ters Editing axis parame ters Edit or double click Editing servo parame Select servo settings and select Edit Edit right click and ters select Edit or double click Editing motor parame Select motor settings and select Edit Edit right click and ters select Edit or double click BON
105. s have been used Illegal operands have been used Illegal characters for axis parameters or operand parameters have been used Something other than a variable or immediate value has been set for an axis parameter or operand The first data in the INC or ABL was not operand data Immediate Value Error Immediate value with a decimal point has been used at a com mand for which decimal point setting is disabled Immediate value without a decimal point has been used for a decimal point settable command Axis Name Error There was no J after the After the J a character other than a numeric value has been set or nothing has been set at all There was no F The axis number x x is more than 2 digits The axis number was not between 1 and 32 Rotation Direction Error MOVEC Q lt Rotation direction gt has exceeded the limit NSTOP Mismatch Error Other data for axes and operands has been set before the NSTOP command Q argument of PROG is missing No operand Q existed at the Motion program s PROG com mand A dal NIO 00 IF ELSE ENDIF Error ENDIF and ELSE existed but no IF Only the ELSE has been set WHILE WEND Error WHILE missing for WEND FOR NEXT Error FOR missing for NEXT LOOP LEND Error LOOP missing for LEND PARALLEL JOINT JWAIT Error PARALLEL missing for JOINT and JWAIT Only JOINT has been set Only JWAIT has been set PARALLEL JOINT JWAIT has been set in the mo
106. s or select the desired MC Unit s Unit parameters and press the Enter Key Editing Zone Settings E Displaying the Window With the project tree displayed either double click the desired MC Unit s zone parameters or select the desired MC Unit s zone parameters and press the Enter Key 41 Editing Data Section 5 1 Editing Tasks E Displaying the Window With the project tree displayed either double click the desired MC Unit s task or select the desired MC Unit s task and press the Enter Key All of the current motion task parameters will be displayed in the Edit Motion Task Parameters Window Editing Settings E Displaying the Window With the project tree displayed either double click the desired MC Unit s axis parameters or select the desired MC Unit s axis parameters and press the Enter Key All of the current axis parameters are displayed in the Edit Axis Parameters Window E Switching between Edit Axis Parameters Tabs The axis Allocation Speed Position Origin and Machine Parameters can be edited by clicking the corresponding tab Editing Servo Settings E Displaying the Window With the project tree displayed either double click the desired MC Unit s servo parameters or select the desired MC Unit s servo parameters and press the Enter Key Editing Motor Settings E Displaying the Window With the project tree displayed either double click the desired MC Units motor parameters or select the desir
107. t 5 Monitor Window Displays hides the Test Run Window Alt 6 18 Basic Operations Section 3 1 Contents Keyboard shortcut View Servo Parame ters Servo Parame ter Value Status Bar Displays hides the Status Bar poe Properties Opens the Properties Window for a PLC MC Unit motion task axis motion program or CAM table All Con Displays all of the parameters in the stants servo parameters editing window Function Selection Constants Gain Related Constants Position Related Constants Speed Related Constants Torque Related Constants Sequence Related Constants Other Con stants Show Modi fied Only Show Dif Displays only the function selection constants in the servo parameters editing window Displays only the gain related con stants in the servo parameters editing window Displays only the position related constants in the servo parameters editing window Displays only the speed related con stants in the servo parameters editing window Displays only the torque related con stants in the servo parameters editing window Displays only the sequence related constants in the servo parameters editing window Displays only those parameters with changed values from the default in the servo parameters editing window Displays only those parameters with ferent Only values different between the com Show Invalid Only puter and MC Unit in the servo p
108. t click the PLC icon in the project tree and select Insert MC from the pop up menu 2 Set the MC Units name model number and unit number unit number as a CPU Bus Unit in the Insert MC Dialog Box Insert MC X ME Name Nemo MC Type CweMcH7T l MC Version 31 andlater rl UnitNe fT Cancel 3 Click the OK Button The MC Unit will be added to the project SE NewProject CX Motion MCH File Edit View Insert Online Tools Windows Help ras ld ioe B Z Position Data O L2 Parameter Unit Settings EM Tasks fa NewTask1 1 Tp Axes S A Motion Programs 2 Programs A Sub Programs amp CAM i Deleting MC Units 1 2 3 1 Select the unwanted MC Unit icon iil in the project tree and select Edit Delete click x in the toolbar or press the Delete Key It is also possi ble to right click the unwanted MC Unit icon in the project tree and select Delete from the pop up menu 2 A dialog box will be displayed to confirm the deletion Click the Yes Button to delete the MC Unit The selected MC Unit will be deleted from the project tree 31 Adding and Deleting Tasks Section 4 3 4 3 Adding and Deleting Tasks Adding a Task to an MC Unit 1 2 3 Deleting a Task from an MC Unit The following procedure adds an individual task to a projects MC Unit Up to 8 individual tasks can be added to one MC Unit Each MC Unit must have at least one task 1 Select the MC Unit or
109. the data and parameters For details on the various data settings refer to the MC Unit s Operation Manual del dine Dala rr idea ara ae 40 39 Editing Data 5 1 Editing Data Overview of the Editing Windows Editing Data Section 5 1 This section describes how to edit data only For details on the MC Unit s set ting contents Unit parameters and Servo Parameters refer to the CS1W MCH71 Motion Control Unit Operation Manual W419 or CJ1W MCH71 Motion Control Unit Operation Manual W435 The following table provides an overview of the editing windows Ealing window Symbol Names and comments can be set for system parameters and variable addresses Those names can be used to reference parameters in the General Watch Window programs and subprograms Position Data Position data can be edited The names edited here can be used to reference the data in the General Watch Window pro grams and subprograms Unit Settings Unit parameters can be edited Zone Settings Zone parameters can be edited This function can be used in an MC Unit with the unit version 3 0 or later Tasks Motion task parameters can be edited All of the current motion task parameters are displayed in the Edit Motion Task Parameters Window Settings Axis parameters can be edited All of the current axis parameters are displayed in the Edit Axis Parameters Window Parameters in the Servo Driver can be edited This section describes the main
110. tion subpro gram SWITCH CASE BREAK SEND Error SWITCH missing for CASE DEFAULT BREAK and SEND Another command has been set between SWITCH and the first CASE DEFAULT order is incorrect Illegal Condition Expression At the command WHILE STOPOP IF or WAIT the format was not conditional expression lt Left side gt lt Conditional expres sion gt lt Right side gt O 09 A dl E E gt E E BR RY A O oO OO ee NO co O Substitution Expression Format Error The substitution expression format is incorrect Unusable axis data or operand data for a substitution expres sion has been set Notation was incorrect such as MW0000 1 100 The operator is a conditional expression Too many operators Program Header Block Number Over Number of program header blocks exceeded 800 flow N pd 00 Error Codes Section 15 2 Detailed description 48 Program Header Block Number Mis Number of program header blocks and number of actual matched blocks do not match 49 Program Header Program Number Mis The program number of the program header and the program matched number of the PROG command s operand P do not watch 15 2 Error Codes For details on the probable causes of error codes and methods used to clear errors refer to Troubleshooting in the CS1W MCH71 Motion Control Units Operation Manual W419 or CU1W MCH71 Motion Control Units Operation Manual W435 or click Help Help Cont
111. to execute the following operations Servo locks JOG operations STEP operations origin searches origin returns forced origins setting an absolute origin teaching and resetting errors Used to debug the motion program Motion programs page 67 Debug the Program page 69 can be debugged by setting break points and by using single step execution Data Trace Data Trace Used to set the trigger conditions and trace objects The results of the trace operation are displayed graphically Backup and Backup from MC Used to backup the MC Unit page 78 Restore Restore to MC Used to restore the selected backup file to the MC page 78 page 74 Unit Verify Backup file with MC Unit Used to verify the backup file with the MC Unit page 79 Function List Section 1 3 O Group Funcion O IS reference Read Protection Set Change Password Used to set change passwords for read protection page 83 Set Release Protection Used to set release protection on programs and cam page 85 data and select data items that can be read through the secondary password Switch User Used to switch the user page 86 Used to display the error log page 92 Used to display error code and error name Operation Procedure Section 1 4 1 4 Operation Procedure The following flowchart shows the procedures required to install CX Motion MCH and CX Server create various data transfer that data to MC Units and use in actual operations Inst
112. ult 0000 Hex If the default setting has not been changed leave the setting as it is e When using the RS 232C port set SW5 to OFF or set SW5 to ON and make appropriate setting of PLC Setup Set Programming Console Address 160 to its default 0000 Hex If the default setting has not been changed leave the setting as it is 3 Create the I O tables using the CX Programmer or a Programming Con sole 7 2 Setting Changing Communications Specifications Communications Settings 1 2 3 1 Right click the PLC icon in the project tree and select Properties from the pop up menu Select the Target PLC Setting on the PLC Properties Dialog Box The following dialog box will be displayed Set the Device Type to be connected to the PLC Change PLC r Device Name NewPLe m Device Type MH gt settings a Network Tome Toolbus Settings r Comment OF Cancel Help 2 Set the Network Type Click the Network Type Drop down List to display the list and select the de sired communications method 54 Setting Changing Communications Specifications Section 7 2 3 Make the network settings To check or change the network settings click the Settings Button in the Network Type Area a Make settings in the Network Tab Page Network Settings
113. unications Board with RS 232C Cable Computer Porton Serial communi Model number Length computer cations mode network type CP1W CIFO1 RS 232C IBMPC AT D Sub 9 Toolbus Periph XW2Z 200S CV 500S CV 2 m 5 m Uses anti Serial Com port D compatible pin male eral or SYSMAC static con munications sub 9 pin WAY Host Link nector Board female SYSMAC WAY XW2Z 2008 V 5008S V 2 m 5m Host Link 10 Connecting to a PLC Section 2 2 2 2 3 Connecting to CJ2 PLCs USB or RS 232C Connection Computer Port on Serial communi Model number Length computer cations mode emor type CPU Unit USB port IBM PC AT USB port Commercially available in m B connector compatible A connector USB 1 1 or 2 0 cable Built in RS IBM PC AT D sub 9 pin Toolbus See Al 200S CV 500S Uses 232C port D compatible note anti static sub 9 pin connec female tor Note A Host Link SYSMAC WAY connection to an RS 232C port on the CPU Unit or a Serial Communications Unit is not possible for CJ2 PLCs IBM PC AT or IBM PC AT or compatible compatible CJ2 CPU Unit sub connector pin male Commercially available USB cable USB port XW2Z 200S CV 500S CV Serial port Connecting Cable RS 232C D sub connector 9 pin female Ethernet Connection Port on computer Serial communi Model number Length cations mode network type Built in EtherNet Ethernet port 100Base TX Commercially 10
114. vel positive direc 3002h 3002h The over travel signal in positive direction has turned ON during tion 0399h axis movement e After resetting the alarm attempted to operate the axis in the positive direction with the positive direction over travel signal ON Move the axis in the negative direction manually Over travel negative 3003h 3003h The over travel signal in negative direction has turned ON during direction axis movement e After resetting the alarm attempted to operate the axis in the negative direction with the negative direction over travel signal ON Move the axis in the positive direction manually Over travel both direc 3004h 3004h The over travel signals in both directions have turned ON during tions axis movement or when the axis was about to move e After resetting the alarm attempted to operate the axis with the over travel signals in both directions ON Check if the over travel signals for both directions are wired cor rectly Software limit positive 3005h 3005h The axis entered the software limit area in positive direction dur direction ing axis movement with the origin defined Check if the setting value of the axis parameter P3AA02 Positive direction software limit is correct The error may occur when executing circular interpolation right on the software limit values If the setting value is incorrect set a larger limit value When the value is cor rect correct the program or t
115. ximum value of the variable addresses has overflowed The individual data types of variables have exceeded the max imum value Illegal Expression Multiple terms have been used in an operation command Illegal Nesting Illegal Subprogram Specification num ber Radius Specification Multi circumfer ence Specification No Description Sync Trailing Axis Specification Error NSTOP INC ABL Duplication Error The number of nesting levels of IF ELSE ENDIF exceeded the limit The number of nesting levels of FOR NEXT exceeded the limit The number of nesting levels of WHILE WEND exceeded the limit Specification of operand P value at the subprogram s SUB command is higher than 1000 or lower than 499 The operands R and L were specified simultaneously for the MOVEC command More than two of the same axis numbers have been set in one block Commands are overlapped as the result of repeating the same command such as NSTOP NSTOP INC INC ABL ABL 9 Troubleshooting Section 15 1 Detailed description 30 Illegal Instruction Another command has been set prior to the NSTOP INC ABL The INC ABL command has been set prior to the NSTOP command An unrecognizable command command code has been set Instruction Duplication Error The same commands were overlapped in one block 32 5 missing ss There is no in one block within 128 characters 32 33 Illegal Argument Illegal characters for program
116. ype Comma Separated Values csv Cancel Hi 2 Enter the destination folder file name and file type and then click the Save Button This procedure exports a program file txt filename extension 1 Select an individual program icon in the project tree and either select File Export or click 4 in the toolbar It is also possible to right click the in dividual program icon and select Export from the pop up menu Exporting File Section 6 4 ax Save int y MCProject do ce Eg File name PragramT extFile Save as type Program Text Files Ext Lancel d 2 Enterthe destination folder file name and file type and then click the Save Button Subprogram Files This procedure exports a subprogram file txt filename extension 1 2 3 1 Select an individual subprogram icon in the project tree and either select File Export or click del in the toolbar It is also possible to right click the individual subprogram icon and select Export from the pop up menu Tre Save int y MCProject E ce Eg File name PragramT extFile Save as type Program Text Files Ext Lancel 2 2 Enter the destination folder file name and file type and then click the Save Button Multiple Program This procedure exports selected multiple program subprogram files at the Subprogram Files same time txt filename extension 1 2 3 1 Select the Motion programs Programs or Sub Programs icon in th

CX-Motion Operation Manual

Contents

Download Pdf Manuals

Related Search

Related Contents